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pcg_gazebo.parsers.sdf

pcg_gazebo.parsers.sdf¶

Accel¶

Accel(self)

Noise parameters for linear accelerations.

Child elements

mean
stddev
bias_mean
bias_stddev

SDF versions

1.4

Source

<accel> (SDF 1.4)

bias_mean¶

Return the bias mean value SDF element, to read the value use obj.bias_mean.value

bias_stddev¶

Return the bias standard deviation value SDF element, to read the value use obj.bias_stddev.value

mean¶

Return the mean value SDF element, to read the value use obj.mean.value

stddev¶

Return the standard deviation value SDF element, to read the value use obj.stddev.value

Accuracy¶

Accuracy(self, default=0.001)

Actor¶

Actor(self)

AllowAutoDisable¶

AllowAutoDisable(self, default=False)

Altimeter¶

Altimeter(self)

AlwaysOn¶

AlwaysOn(self, default=False)

Ambient¶

Ambient(self, default=[0, 0, 0, 1])

AngularVelocity¶

AngularVelocity(self)

Angular¶

Angular(self, default=0)

Animation¶

Animation(self)

Attenuation¶

Attenuation(self)

AutoStart¶

AutoStart(self, default=True)

Axis¶

Axis(self)

Axis2¶

Axis2(self)

Background¶

Background(self, default=[0, 0, 0, 1])

BiasMean¶

BiasMean(self, default=0)

BiasStdDev¶

BiasStdDev(self, default=0)

Bounce¶

Bounce(self)

Box¶

Box(self)

Bullet¶

Bullet(self, mode='physics')

CFMDamping¶

CFMDamping(self, default=False)

CFM¶

CFM(self, default=0)

Camera¶

Camera(self, mode='sensor')

CastShadows¶

CastShadows(self, default=True)

CategoryBitmask¶

CategoryBitmask(self, default=65535)

Center¶

Center(self, default=False)

Child¶

Child(self, default='none')

Clip¶

Clip(self)

Clouds¶

Clouds(self)

Coefficient¶

Coefficient(self, default=1)

CollideBitmask¶

CollideBitmask(self, default=65535)

CollideWithoutContact¶

CollideWithoutContact(self, default=False)

CollideWithoutContactBitmask¶

CollideWithoutContactBitmask(self, default=True)

Collision¶

Collision(self)

Color¶

Color(self, default=[1, 1, 1, 1])

Constant¶

Constant(self, default=0)

Constraints¶

Constraints(self, engine='ode')

Contact¶

Contact(self, mode='simbody')

ContactMaxCorrectingVel¶

ContactMaxCorrectingVel(self, default=100)

ContactSurfaceLayer¶

ContactSurfaceLayer(self, default=0.001)

Cylinder¶

Cylinder(self)

Damping¶

Damping(self, default=0)

DelayStart¶

DelayStart(self, default=0)

Density¶

Density(self, default=0)

DepthCamera¶

DepthCamera(self)

Diffuse¶

Diffuse(self, default=[0, 0, 0, 1])

Direction¶

Direction(self, default=[0, 0, -1])

Dissipation¶

Dissipation(self, default=100)

Distortion¶

Distortion(self)

DynamicFriction¶

DynamicFriction(self, default=0.9)

Dynamics¶

Dynamics(self)

ERP¶

ERP(self, default=0.2)

Effort¶

Effort(self, default=-1)

ElasticModulus¶

ElasticModulus(self, default=-1)

Emissive¶

Emissive(self, size=4)

Empty¶

Empty(self)

EnableWind¶

EnableWind(self, default=False)

End¶

End(self, default=0)

FDir1¶

FDir1(self, default=[0, 0, 0])

3-tuple specifying direction of mu1 in the collision local reference frame

Args: default (list): Direction unit vector

Attributes: value (list): Stored direction unit vector

FallOff¶

FallOff(self, default=0)

Far¶

Far(self, default=0)

Filename¶

Filename(self, default='none')

Fog¶

Fog(self, mode='')

ForceTorque¶

ForceTorque(self)

Format¶

Format(self, default='R8G8B8')

Frame¶

Frame(self, default='')

Friction¶

Friction(self, mode='scalar', default=1, min_value=0)

Configuration of the surface friction parameters.

Args: default (float): Coefficient of friction

Attributes: value (float): Stored coefficient of friction

Friction2¶

Friction2(self, default=1)

FrictionModel¶

FrictionModel(self)

GUI¶

GUI(self)

Geometry¶

Geometry(self, mode='empty')

Granularity¶

Granularity(self, default=1)

Gravity¶

Gravity(self, default=True)

Grid¶

Grid(self, default=True)

Height¶

Height(self, default=1)

Horizontal¶

Horizontal(self)

HorizontalFOV¶

HorizontalFOV(self, default=1.047)

Humidity¶

Humidity(self, default=0.5)

IMU¶

IMU(self)

IXX¶

IXX(self, default=0)

IXY¶

IXY(self, default=0)

IXZ¶

IXZ(self, default=0)

IYY¶

IYY(self, default=0)

IYZ¶

IYZ(self, default=0)

IZZ¶

IZZ(self, default=0)

Image¶

Image(self, mode='geometry')

Include¶

Include(self)

Inertia¶

Inertia(self)

Inertial¶

Inertial(self)

InheritYaw¶

InheritYaw(self, default=False)

InitialPosition¶

InitialPosition(self, default=0)

InnerAngle¶

InnerAngle(self, default=0)

InterpolateX¶

InterpolateX(self, default=False)

Iters¶

Iters(self, default=50)

Joint¶

Joint(self)

K1¶

K1(self, default=0)

K2¶

K2(self, default=0)

K3¶

K3(self, default=0)

Kd¶

Kd(self, default=1)

Kinematic¶

Kinematic(self, default=False)

Kp¶

Kp(self, default=1000000000000.0)

LaserRetro¶

LaserRetro(self, default=0)

Length¶

Length(self)

Light¶

Light(self)

Lighting¶

Lighting(self, default=False)

Limit¶

Limit(self, mode='axis')

Linear¶

Linear(self, default=0, min_value=None, max_value=None)

LinearAcceleration¶

LinearAcceleration(self)

Link¶

Link(self)

Localization¶

Localization(self, default='CUSTOM')

Loop¶

Loop(self, default=False)

Lower¶

Lower(self, default=-1e+16)

Mass¶

Mass(self)

Material¶

Material(self)

Max¶

Max(self, default=0)

MaxAngle¶

MaxAngle(self, default=0)

MaxContacts¶

MaxContacts(self, default=20)

MaxDist¶

MaxDist(self, default=0)

MaxStepSize¶

MaxStepSize(self, default=0.001)

MaxTransientVelocity¶

MaxTransientVelocity(self, default=0.01)

MaxVel¶

MaxVel(self, default=0.01)

Mean¶

Mean(self)

MeanSize¶

MeanSize(self, default=0)

MeasureDirection¶

MeasureDirection(self, default='child_to_parent')

Mesh¶

Mesh(self)

Min¶

Min(self, default=0)

MinAngle¶

MinAngle(self, default=0)

MinDepth¶

MinDepth(self, default=0)

MinDist¶

MinDist(self, default=0)

MinStepSize¶

MinStepSize(self, default=0.0001)

Model¶

Model(self)

Mu¶

Mu(self, default=1)

Coefficient of friction in the range of [0, 1]

Args: default (float): Coefficient of friction

Attributes: value (float): Stored coefficient of friction

Mu2¶

Mu2(self, default=1)

Second coefficient of friction in the range of [0, 1]

Args: default (float): Coefficient of friction

Attributes: value (float): Stored coefficient of friction

MustBeLoopJoint¶

MustBeLoopJoint(self, default=False)

Name¶

Name(self, default='none')

Near¶

Near(self, default=0)

Noise¶

Noise(self, type='none', use_type_as='attribute')

Normal¶

Normal(self)

NormalMap¶

NormalMap(self, default='')

ODE¶

ODE(self, mode='physics')

OrientationReferenceFrame¶

OrientationReferenceFrame(self)

OriginVisual¶

OriginVisual(self, default=True)

OuterAngle¶

OuterAngle(self, default=0)

Output¶

Output(self, default='depths')

OverrideImpactCaptureVelocity¶

OverrideImpactCaptureVelocity(self, default=0.001)

OverrideStictionTransitionVelocity¶

OverrideStictionTransitionVelocity(self, default=0.9)

P1¶

P1(self, default=0)

P2¶

P2(self, default=0)

Parent¶

Parent(self, default='parent')

PatchRadius¶

PatchRadius(self, default=0)

Path¶

Path(self, default='__default__')

Physics¶

Physics(self, mode='ode')

Plane¶

Plane(self)

PlasticCoefRestitution¶

PlasticCoefRestitution(self, default=0.5)

PlasticImpactVelocity¶

PlasticImpactVelocity(self, default=0.5)

Plugin¶

Plugin(self, default={})

Point¶

Point(self, vec_length=2)

PoissonsRatio¶

PoissonsRatio(self, default=0.3)

Polyline¶

Polyline(self)

Pose¶

Pose(self)

PreConIters¶

PreConIters(self, default=0)

Precision¶

Precision(self)

ProvideFeedback¶

ProvideFeedback(self, default=False)

Quadratic¶

Quadratic(self, default=0)

Radius¶

Radius(self, default=0)

Range¶

Range(self)

Rate¶

Rate(self, type='none')

Ray¶

Ray(self)

RealTimeFactor¶

RealTimeFactor(self, default=1)

RealTimeUpdateRate¶

RealTimeUpdateRate(self, default=1)

Resolution¶

Resolution(self, default=0)

RestitutionCoefficient¶

RestitutionCoefficient(self, default=0)

RollingFriction¶

RollingFriction(self, default=1)

SDF¶

SDF(self, mode='world')

Samples¶

Samples(self, default=640)

Save¶

Save(self)

Scale¶

Scale(self, size=3)

Scan¶

Scan(self)

Scene¶

Scene(self)

Script¶

Script(self, mode='material')

SelfCollide¶

SelfCollide(self, default=False)

Sensor¶

Sensor(self, mode='altimeter')

Shader¶

Shader(self)

Shadows¶

Shadows(self, default=True)

Simbody¶

Simbody(self, mode='physics')

Size¶

Size(self, vec_length=3)

Skin¶

Skin(self)

Sky¶

Sky(self)

Slip¶

Slip(self, default=0)

Force dependent slip direction 1 in collision local frame, between the range of [0,1].

Args: default (float): Slip coefficient

Attributes: value (float): Stored slip coefficient

Slip1¶

Slip1(self, default=0)

Force dependent slip direction 1 in collision local frame, between the range of [0,1].

Args: default (float): Slip coefficient

Attributes: value (float): Stored slip coefficient

Slip2¶

Slip2(self, default=0)

Force dependent slip direction 1 in collision local frame, between the range of [0,1].

Args: default (float): Slip coefficient

Attributes: value (float): Stored slip coefficient

SoftCFM¶

SoftCFM(self, default=0)

SoftERP¶

SoftERP(self, default=0.2)

Solver¶

Solver(self, engine='ode')

Sor¶

Sor(self, default=1.3)

Specular¶

Specular(self, default=[0.1, 0.1, 0.1, 1])

Speed¶

Speed(self, default=0.6)

Sphere¶

Sphere(self)

SplitImpulse¶

SplitImpulse(self, default=True)

SplitImpulsePenetrationThreshold¶

SplitImpulsePenetrationThreshold(self, default=-0.01)

Spot¶

Spot(self)

SpringReference¶

SpringReference(self, default=0)

SpringStiffness¶

SpringStiffness(self, default=0)

Start¶

Start(self, default=0)

Static¶

Static(self, default=False)

StaticFriction¶

StaticFriction(self, default=0.9)

StdDev¶

StdDev(self)

Stiffness¶

Stiffness(self, default=100000000.0)

SubMesh¶

SubMesh(self)

Sunrise¶

Sunrise(self, default=0)

Sunset¶

Sunset(self, default=0)

Surface¶

Surface(self)

SurfaceRadius¶

SurfaceRadius(self, default=0)

Threshold¶

Threshold(self, default=0)

Time¶

Time(self, default=0)

Topic¶

Topic(self, default='none')

Torsional¶

Torsional(self)

TrackVisual¶

TrackVisual(self)

Trajectory¶

Trajectory(self)

Transparency¶

Transparency(self, default=0)

Type¶

Type(self, default='')

URDF¶

URDF(self, mode='model')

URI¶

URI(self, default='')

UpdateRate¶

UpdateRate(self, default=0)

Upper¶

Upper(self, default=1e+16)

UseDynamicMOIRescaling¶

UseDynamicMOIRescaling(self, default=False)

UseModelFrame¶

UseModelFrame(self, default=False)

UseParentModelFrame¶

UseParentModelFrame(self, default=False)

UsePatchRadius¶

UsePatchRadius(self, default=True)

Velocity¶

Velocity(self, default=-1)

Vertical¶

Vertical(self)

VerticalPosition¶

VerticalPosition(self)

VerticalVelocity¶

VerticalVelocity(self)

ViewController¶

ViewController(self, default='orbit')

ViscousFriction¶

ViscousFriction(self, default=0)

Visual¶

Visual(self)

Visualize¶

Visualize(self, default=False)

Waypoint¶

Waypoint(self)

Width¶

Width(self, default=320)

World¶

World(self)

X¶

X(self)

XYZ¶

XYZ(self, default=[0, 0, 1])

Y¶

Y(self)

Z¶

Z(self)