SDFormat v1.5 Bindings


If you want to use these bindings explicitly, you need to import them first:

import skbot.ignition.sdformat.bindings.v15 as v15

Scikit-bot’s SDFormat bindings are realized as a set of dataclasses. Each class corresponds to a unique element found within SDFormat XML and has an attribute for every attribute and child of the corresponding SDFormat element. Names generally match the names used within SDFormat; however, are adapted to python convention where needed.

Elements[static, skin, animation, ...])


v15.collision.Collision([laser_retro, ...])

The collision properties of a link.

v15.geometry.Geometry([empty, box, ...])

The shape of the visual or collision object.

v15.joint.Joint([parent, child, ...])

A joint connections two links with kinematic and dynamic properties.

v15.light.Light([cast_shadows, diffuse, ...])

The light element describes a light source.[gravity, self_collide, ...])

A physical link with inertia, collision, and visual properties.

v15.material.Material([script, shader, ...])

The material of the visual element.

v15.model.Model([static, self_collide, ...])

The model element defines a complete robot or any other physical object.

v15.physics.Physics([max_step_size, ...])

The physics tag specifies the type and properties of the dynamics engine.

v15.scene.Scene([ambient, background, sky, ...])

Specifies the look of the environment.

v15.sdf.Sdf([world, model, actor, light, ...])

SDFormat base element.

v15.sensor.Sensor([always_on, update_rate, ...])

The sensor tag describes the type and properties of a sensor.

v15.state.State([sim_time, wall_time, ...])


v15.state.Model([joint, model, frame, pose, ...])

Model state.

v15.visual.Visual([cast_shadows, ...])

The visual properties of the link.[audio, include, gui, ...])

The world element encapsulates an entire world description including: models, scene, physics, joints, and plugins.