SDFormat v1.6 Bindings


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

import skbot.ignition.sdformat.bindings.v16 as v16

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, ...])

A special kind of model which can have a scripted motion.

v16.collision.Collision([laser_retro, ...])

The collision properties of a link.

v16.geometry.Geometry([empty, box, ...])

The shape of the visual or collision object.

v16.joint.Joint([parent, child, ...])

A joint connects two links with kinematic and dynamic properties.

v16.light.Light([cast_shadows, diffuse, ...])

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

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

v16.material.Material([script, shader, ...])

The material of the visual element.

v16.model.Model([static, self_collide, ...])

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

v16.physics.Physics([max_step_size, ...])

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

v16.scene.Scene([ambient, background, sky, ...])

Specifies the look of the environment.

v16.sdf.Sdf([world, model, actor, light, ...])

SDFormat base element that can include 0-N models, actors, lights, and/or worlds.

v16.sensor.Sensor([always_on, update_rate, ...])

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

v16.state.State([sim_time, wall_time, ...])


v16.state.Model([joint, model, scale, ...])

Model state.

v16.visual.Visual([cast_shadows, ...])

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

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