This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v18.world.World.Include(uri='__default__', name=None, static=False, placement_frame=None, pose=None, plugin=<factory>)

Include resources from a URI.

Included resources can only contain one ‘model’, ‘light’ or ‘actor’ element. The URI can point to a directory or a file. If the URI is a directory, it must conform to the model database structure (see /tutorials?tut=composition&amp;cat=specification&amp;#defining-models-in-separate-files).

uri: URI to a resource, such as a model
name: Override the name of the included entity.
static: Override the static value of the included entity.
placement_frame: The frame inside the included entity whose pose

will be set by the specified pose element. If this element is specified, the pose must be specified.

pose: A position (x,y,z) and orientation (roll, pitch yaw) with

respect to the frame named in the relative_to attribute.

plugin: A plugin is a dynamically loaded chunk of code. It can

exist as a child of world, model, and sensor.

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.


A plugin is a dynamically loaded chunk of code.

v18.world.World.Include.Pose([value, ...])