Jerry
149 lines
3.9 KiB
Markdown
149 lines
3.9 KiB
Markdown
# SDF examples
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These examples illustrate the intended style: explicit frames, source-relative assumptions, simple helpers, and structured assumptions.
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## Minimal model with raw ElementTree
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```python
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import xml.etree.ElementTree as ET
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def text(parent, tag, value, attrib=None):
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child = ET.SubElement(parent, tag, attrib or {})
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child.text = str(value)
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return child
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def gen_sdf():
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sdf = ET.Element("sdf", {"version": "1.12"})
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model = ET.SubElement(sdf, "model", {"name": "calibration_box"})
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text(model, "pose", "0 0 0 0 0 0", {"relative_to": "world"})
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link = ET.SubElement(model, "link", {"name": "body"})
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visual = ET.SubElement(link, "visual", {"name": "body_visual"})
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geometry = ET.SubElement(visual, "geometry")
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box = ET.SubElement(geometry, "box")
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text(box, "size", "0.1 0.1 0.1")
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collision = ET.SubElement(link, "collision", {"name": "body_collision"})
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c_geometry = ET.SubElement(collision, "geometry")
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c_box = ET.SubElement(c_geometry, "box")
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text(c_box, "size", "0.1 0.1 0.1")
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inertial = ET.SubElement(link, "inertial")
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text(inertial, "mass", "1.0")
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inertia = ET.SubElement(inertial, "inertia")
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text(inertia, "ixx", "0.0016666667")
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text(inertia, "iyy", "0.0016666667")
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text(inertia, "izz", "0.0016666667")
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text(inertia, "ixy", "0")
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text(inertia, "ixz", "0")
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text(inertia, "iyz", "0")
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return {
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"xml": sdf,
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"assumptions": ["Box inertia uses a uniform-density primitive approximation."],
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}
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```
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## Minimal world
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```python
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import xml.etree.ElementTree as ET
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def text(parent, tag, value, attrib=None):
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child = ET.SubElement(parent, tag, attrib or {})
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child.text = str(value)
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return child
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def gen_sdf():
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sdf = ET.Element("sdf", {"version": "1.12"})
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world = ET.SubElement(sdf, "world", {"name": "empty_lit_world"})
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light = ET.SubElement(world, "light", {"name": "sun", "type": "directional"})
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text(light, "pose", "0 0 10 0 0 0", {"relative_to": "world"})
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text(light, "cast_shadows", "true")
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return {
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"xml": sdf,
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"metadata": {"document_kind": "world"},
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"assumptions": ["World intentionally contains no inline model."],
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}
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```
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## Model with builder helpers
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```python
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from sdf.builder import (
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box,
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collision,
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inertial,
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joint,
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link,
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model,
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pose,
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sdf_root,
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visual,
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)
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BASE_MASS_KG = 2.0
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ARM_MASS_KG = 0.5
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def gen_sdf():
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sdf = sdf_root("1.12")
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robot = model(sdf, "two_link_demo")
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pose(robot, relative_to="world")
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base = link(robot, "base_link")
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box(visual(base, "base_visual"), (0.4, 0.3, 0.1))
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box(collision(base, "base_collision"), (0.4, 0.3, 0.1))
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inertial(base, BASE_MASS_KG, (0.02, 0.03, 0.04, 0, 0, 0))
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arm = link(robot, "arm_link")
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box(visual(arm, "arm_visual"), (0.3, 0.05, 0.05))
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box(collision(arm, "arm_collision"), (0.3, 0.05, 0.05))
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inertial(arm, ARM_MASS_KG, (0.001, 0.004, 0.004, 0, 0, 0))
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joint(
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robot,
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"shoulder_pan",
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"revolute",
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"base_link",
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"arm_link",
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axis_xyz=(0, 0, 1),
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axis_expressed_in="base_link",
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)
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return {
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"xml": sdf,
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"assumptions": [
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"Primitive inertials are approximate placeholders.",
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"Positive shoulder_pan rotates counterclockwise when viewed from +Z."
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],
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}
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```
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## Plugin block from documentation
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When a plugin block is copied from target simulator documentation, preserve its explicit parameters and report the source:
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```python
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import xml.etree.ElementTree as ET
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def add_known_plugin(parent):
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plugin = ET.SubElement(
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parent,
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"plugin",
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{"name": "example_control", "filename": "libexample_control.so"},
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)
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ET.SubElement(plugin, "namespace").text = "robot1"
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return plugin
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```
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Do not invent plugin fields. If the documentation source is not available, mark the plugin as unverified in the generator envelope.
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