This package contains a list of SDFormat files for testing tools that work with SDFormat XML.
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.
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.
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.
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.
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.
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.
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.