SDFormat v1.8 Bindings¶
Warning
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 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
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A special kind of model which can have a scripted motion. |
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The collision properties of a link. |
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The shape of the visual or collision object. |
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A joint connects two links with kinematic and dynamic properties. |
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The light element describes a light source. |
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A physical link with inertia, collision, and visual properties. |
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The material of the visual element. |
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The model element defines a complete robot or any other physical object. |
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The physics tag specifies the type and properties of the dynamics engine. |
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Specifies the look of the environment. |
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SDFormat base element that can include one model, actor, light, or worlds. |
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The sensor tag describes the type and properties of a sensor. |
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Model state. |
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The visual properties of the link. |
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The world element encapsulates an entire world description including: models, scene, physics, and plugins. |