SDFormat v1.8 Bindings


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

import skbot.ignition.sdformat.bindings.v18 as v18

Scikit-bot’s version-specific 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[skin, animation, script, ...])

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

v18.collision.Collision([laser_retro, ...])

The collision properties of a link.

v18.geometry.Geometry([empty, box, capsule, ...])

The shape of the visual or collision object.

v18.joint.Joint([parent, child, ...])

A joint connects two links with kinematic and dynamic properties.

v18.light.Light([cast_shadows, intensity, ...])

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

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

v18.material.Material([script, shader, ...])

The material of the visual element.

v18.model.Model([static, self_collide, ...])

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

v18.physics.Physics([max_step_size, ...])

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

v18.scene.Scene([ambient, background, sky, ...])

Specifies the look of the environment.

v18.sdf.Sdf([world, model, actor, light, ...])

SDFormat base element that can include one model, actor, light, or worlds.

v18.sensor.Sensor([always_on, update_rate, ...])

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

v18.state.State([sim_time, wall_time, ...])


v18.state.Model([joint, model, scale, ...])

Model state.

v18.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, and plugins.