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.

Links

• 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 for package sdformat_test_files

1.0.1 (2022-06-21)

1.0.0 (2022-06-21)

• Support for universal and ball joint as floating joints #13
• Contributors: Dharini Dutia

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