README

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.