bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
108 lines
3.9 KiB
ReStructuredText
108 lines
3.9 KiB
ReStructuredText
SDF
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===
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Introduction
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-------------
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The `SDF format <http://sdformat.org/>`_ is an extension of URDF extensively used in ROS.
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* When using SDF, frames will be exported as ``<frame>`` items.
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* The links and joints always using ``relative_to`` attribute to specify the parent frame, keeping the same coordinates system as in URDF.
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* Additionally to the ``robot.sdf`` file, a ``model.config`` file will be produced, adding metadata useful for Gazebo.
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``config.json`` entries (SDF)
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-----------------------------
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Here is an example of complete ``config.json`` file, with details below:
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.. code-block:: javascript
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{
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"url": "document-url",
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"output_format": "sdf",
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// ...
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// General import options (see config.json documentation)
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// ...
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// Additional XML file to be included in the URDF (default: "")
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"additional_xml": "my_custom_file.xml",
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// Override joint properties (default: {})
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"joint_properties": {
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// Default properties for all joints
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"*": {
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"max_effort": 10.0,
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"max_velocity": 6.0,
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"friction": 0.5
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},
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// Set the properties for a specific joint
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"joint_name": {
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"max_effort": 20.0,
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"max_velocity": 10.0,
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"friction": 0.1,
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"limits": [0.5, 1.2]
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},
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"wheel": {
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"type": "continuous"
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}
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},
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// Override geometry properties (default: {})
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"geom_properties": {
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// Set properties for specific links using pattern matching
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"tibia": {
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"collision": {
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"mu": "1.2",
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"mu2": "0.8"
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}
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},
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// Wildcard patterns are supported
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"leg_*": {
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"collision": {
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"bounce": "0.5",
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"max_contacts": "10"
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}
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}
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},
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}
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``joint_properties`` *(default: {})*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Allow to specify the properties of the joints produced in the URDF output. The key should be joint names. The special ``default`` key will set default values for each joints.
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Possible values are:
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* ``max_effort``: The maximum effort that can be applied to the joint (added in the ``<joint effort=...>`` tag)
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* ``max_velocity``: The maximum velocity of the joint (added in the ``<joint velocity=...>`` tag)
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* ``friction``: The friction of the joint (added in the ``<joint_properties friction=...>`` tag)
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* ``type``: Sets the joint type (changing the ``<joint type="...">`` tag)
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* ``limits``: Override the joint limits, should be a list of two values (min, max)
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``geom_properties`` *(default: {})*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Allow to specify the properties of the geometries (collision and visual) produced in the SDF output. The key should be part names with support for wildcard pattern matching.
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Properties can be specified separately for ``visual`` and ``collision`` geometries, or applied to both if not nested.
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Wildcard patterns (``*``, ``?``, ``[seq]``) are supported for matching part names. When multiple patterns match, properties are merged in order with later matches overriding earlier ones.
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All properties are added as nested XML elements within the ``<visual>`` or ``<collision>`` tags. Common SDF geometry properties include:
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* ``mu``, ``mu2``: Friction coefficients for collision geometries
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* ``bounce``: Restitution coefficient for collision geometries
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* ``max_contacts``: Maximum number of contact points for collision geometries
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* ``kp``, ``kd``: Contact stiffness and damping parameters
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``additional_xml`` *(default: "")*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If you want to include additional XML in the URDF, you can specify the path to the file here. This file will be included in the produced SDF file.
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.. note::
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Alternatively, ``additional_xml`` can be a list of files
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