SDFUtils
Gazebo SDF utils. Write smaller and simpler xacro and get richer and complex SDF files.
basic usage:
python3 xacro2sdf.xacro2sdf input_xacro_file output_sdf_file
XACRO
- properties
- macro
- include
- pure python
properties
- declare variable to use by other sdf section
source sdf with xacro tags
<sdf xmlns:xacro="http://xacro">
<xacro:property name="width" value=".2" />
<xacro:property name="bodylen" value=".6" />
<xacro:property name="x" value="1" />
<xacro:property name="y" value="2" />
<xacro:property name="z" value="3" />
<link name="base_link">
<pose>${x} ${y} ${z} 0 0 0</pose>
<visual>
<geometry>
<cylinder radius="${2*width}" length="${bodylen}" />
</geometry>
</visual>
</link>
</sdf>output sdf
<sdf >
<link name="base_link">
<pose>1.0 2.0 3.0 0 0 0</pose>
<visual>
<geometry>
<cylinder radius="0.4" length="0.6"/>
</geometry>
</visual>
</link>
</sdf>include
include other xacro files to use
-
file://: load files relative to sdf/xacro file -
package://: load files fromhelperfolder under script source folder
<xacro:include uri="file://data.xacro" />
<xacro:include uri="package://common.xacro" />
<xacro:include uri="package://color.xacro" />-
data.xacro: custom file hold data properties for example -
common.xacro: common macro's like inertia and basic geometry -
color.xacro: color and texture macro's
pure python
- use python inside your models, ident the same as in python (starting from column 0)!
- store your needed variables in "return_values" dictionary and use them later in the model by the given keys.
<xacro:python>
<![CDATA[
import numpy as np
def foo():
if 2 > 5:
return 5,4,3,2,1
global np
b = np.array([0,1])
x = 3433
y = 324
z = 3
m = 1
return x,y,z,m,b
temp = foo()
return_values = {'x': temp[0], 'y': temp[1], 'z': temp[2], 'm': temp[3], 'b': temp[4]}
]]>
</xacro:python> common
macros
- inertia_box
- inertia_sphere
- inertia_cylinder
- geometry_cylinder
- geometry_box
- geometry_sphere
color
macro
- color
