sdformat_test_files package from sdformat_urdf repo

sdformat_test_files sdformat_urdf

Package Summary

Tags No category tags.
Version 0.1.0
License Apache 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/sdformat_urdf.git
VCS Type git
VCS Version ros2
Last Updated 2020-11-02
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Example SDFormat XML files for testing tools using hthis format.

Additional Links

Maintainers

  • Shane Loretz

Authors

  • Shane Loretz

SDFormat Test files

This package contains a list of SDFormat files for testing tools that work with SDFormat XML.

Models

Geometry

  • geometry_box
    • A single-link model using the box geometry type for both the visual and collision.
  • geometry_cylinder
    • A single-link model using the cylinder geometry type for both the visual and collision.
  • geometry_heightmap
    • A single-link model using heightmap geometry for both the visual and collision.
  • geometry_mesh_collada
    • A single link using mesh geometry with a COLLADA mesh.
  • geometry_mesh_obj
    • A single link using a Wavefront OBJ mesh.
  • geometry_mesh_scaled
    • A single-link model using a mesh scaled differently on x, y, and z axes for both the visual and collision.
  • geometry_mesh_stl
    • A single-link model using an STL mesh.
  • geometry_plane
    • A single-link model using the plane geometry type for both the visual and collision.
  • geometry_sphere
    • A single-link model using the sphere geometry type for both the visual and collision.

Materials

  • material_blinn_phong
    • A single link with a material that uses ambient/diffuse/specular/emissive components to color it.
  • material_dynamic_lights
    • A link with two visuals: one with dynamic lights on, and the other with dynamic lights off.

Joints

  • joint_ball
    • A model with two links connected by a ball joint.
  • joint_continuous
    • A model with two links connected by a continuous joint.
  • joint_fixed
    • A model with two links connected by a fixed joint.
  • joint_gearbox
    • A model with 3 links total. Two links are connected to a reference link with revolute joints and a gearbox joint enforces that one revolute joint rotates faster than the other.
  • joint_prismatic
    • A model with two links connected by a prismatic joint.
  • joint_revolute
    • A model with two links connected by a revolute joint.
  • joint_revolute2
    • A model with two links connected by a revolute2 joint.
  • joint_revolute_axis
    • A model with two links connected by a revolute joint with an axis having different values for x, y, and z.
  • joint_revolute_axis_in_frame
    • A model with two links connected by a revolute joint with an axis having different values for x, y, and z, and specified in a frame on the model.
  • joint_revolute_default_limits
    • A model with two links connected by a revolute joint, having no joint limits specified on its axis.
  • joint_revolute_two_joints_two_links
    • A model with two links connected by two revolute joints, effectively rigidly connecting the two.
  • joint_screw
    • A model with two links connected by a screw joint.
  • joint_universal
    • A model with two links connected by a universal joint.
  • link_inertia
    • A link having an inerta with a different value for each of it's 6 components.
  • link_light_point
    • A model with a single link having a point light attached to it.
  • link_multiple_collisions
    • A model with a single link having multiple collision elements on it.
  • link_multiple_visuals
    • A model with a single link having multile visual elements on it.
  • link_sensor_imu
    • A model with a single link having an IMU sensor attached to it.

Kinematic structures

  • graph_chain
    • A model having a chain of 3 links connected in series with revolute joints.
  • graph_chain_non_canonical_root
    • A model having a chain of 3 links connected in series with revolute joints, but the canonical link is not the root of the chain.
  • graph_four_bar
    • A four-bar linkage made with four links connected by 4 revolute joints.
  • graph_loop
    • A model having three links connected by 3 joints to form a triangle.
  • graph_tree
    • A model with multiple links connected by joints forming a tree.
  • graph_tree_non_canonical_root
    • A model with multiple links connected by joints forming a tree, but the canonical link is not the root of the tree.

Poses and Frames

  • pose_chain
    • A chain of links connected by joints, where every link and joint in the chain has a non-zero pose.
  • pose_collision
    • A single-link model where only the collision has a non-zero pose.
  • pose_collision_in_frame
    • A single-link model where only the collision has a non-zero pose, and that pose is given in a frame on the model.
  • pose_inertial
    • A single-link model where only the inertial has a non-zero pose.
  • pose_inertial_in_frame
    • A single-link model where only the inertial has a non-zero pose, and that pose is given in a frame on the model.
  • pose_joint
    • A model having two links and a revolute joint, where only the joint has a non-zero pose.
  • pose_joint_all
    • A model having two links and a revolute joint, with non-zero poses on all including the inertials, visuals, and collisions.
  • pose_joint_in_frame
    • A model having two links and a revolute joint, where only the joint has a non-zero pose, and that pose is given in a frame on the model.
  • pose_link
    • A single-link model where only the link has a non-zero pose.
  • pose_link_all
    • A single-link model where the link, visual, collision, and inertial elements all have poses.
  • pose_link_in_frame
    • A single-link model where only the link has a non-zero pose, and that pose is given in a frame on the model.
  • pose_model
    • A single-link model where the model itself has a non-zero pose.
  • pose_visual
    • A single-link model where only the visual has a non-zero pose.
  • pose_visual_in_frame
    • A single-link model where only the visual has a non-zero pose, and that pose is given in a frame on the model.

Models

  • model_two_models
    • An SDFormat XML file having two models in it.
  • model_zero_models
    • An SDFormat XML file that does not have a model in it.
CHANGELOG

Changelog for package sdformat_test_files

0.1.0 (2020-11-02)

  • Initial urdf parser plugin that parses sdformat (#1)
  • Contributors: Shane Loretz, Addisu Z. Taddese, Steve Peters, Chris Lalancette, Eric Cousineau

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sdformat_test_files at answers.ros.org

No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.