diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 3268e9fb..00000000 --- a/LICENSE +++ /dev/null @@ -1,11 +0,0 @@ -Copyright 2013-2020 Willow Garage, Inc. - -Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/README.md b/README.md new file mode 100644 index 00000000..0545d705 --- /dev/null +++ b/README.md @@ -0,0 +1,13 @@ +# SDFormat XML Robot Descriptions + +This repo enables using SDFormat XML as a robot description format instead of URDF XML. +It does this by providing a `urdf_parser_plugin` for SDFormat that reads SDFormat and outputs URDF C++ DOM structures. +To use it, install `sdformat_urdf` and use a valid SDFormat XML file (with some limitations) for your robot description. +See the [README in the `sdformat_urdf` package](./sdformat_urdf/README.md) for more info on the limitations. + +## Packages + +* [`sdformat_urdf`](./sdformat_urdf/README.md) + * provides a library and a `urdf_parser_plugin` using that library to convert SDFormat XML to URDF C++ DOM structures +* [`sdformat_test_files`](./sdformat_test_files/README.md) + * provides SDFormat models using different parts of the SDFormat XML specification for testing diff --git a/sdformat_test_files/CMakeLists.txt b/sdformat_test_files/CMakeLists.txt new file mode 100644 index 00000000..66e87ffe --- /dev/null +++ b/sdformat_test_files/CMakeLists.txt @@ -0,0 +1,103 @@ +cmake_minimum_required(VERSION 3.5) +project(sdformat_test_files) + +set(sdformat_test_files_VERSION 0.1.0) + +# Decide where to install stuff +include(GNUInstallDirs) + +set(INSTALL_SHARE_DIR "${CMAKE_INSTALL_DATAROOTDIR}/sdformat_test_files" CACHE PATH + "Installation directory for arch independent data files") + +set(INSTALL_CMAKE_DIR "${CMAKE_INSTALL_DATAROOTDIR}/sdformat_test_files/cmake" CACHE PATH + "Installation directory for CMake files") + +# Install models +set(model_names + "geometry_box" + "geometry_cylinder" + "geometry_heightmap" + "geometry_mesh_collada" + "geometry_mesh_obj" + "geometry_mesh_scaled" + "geometry_mesh_stl" + "geometry_plane" + "geometry_sphere" + "graph_chain" + "graph_chain_non_canonical_root" + "graph_four_bar" + "graph_loop" + "graph_tree" + "graph_tree_non_canonical_root" + "joint_ball" + "joint_continuous" + "joint_fixed" + "joint_gearbox" + "joint_prismatic" + "joint_revolute" + "joint_revolute2" + "joint_revolute_axis" + "joint_revolute_axis_in_frame" + "joint_revolute_default_limits" + "joint_revolute_two_joints_two_links" + "joint_screw" + "joint_universal" + "link_inertia" + "link_light_point" + "link_multiple_collisions" + "link_multiple_visuals" + "link_sensor_imu" + "material_blinn_phong" + "material_dynamic_lights" + "model_two_models" + "model_zero_models" + "pose_chain" + "pose_collision" + "pose_collision_in_frame" + "pose_inertial" + "pose_inertial_in_frame" + "pose_joint" + "pose_joint_all" + "pose_joint_in_frame" + "pose_link" + "pose_link_all" + "pose_link_in_frame" + "pose_model" + "pose_visual" + "pose_visual_in_frame" +) + +foreach(model ${model_names}) + # Install models to share/project-name/model-name + install(DIRECTORY "models/${model}" DESTINATION "${INSTALL_SHARE_DIR}/models") +endforeach() + +set(_arch_independent "") +if(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.14.0") + set(_arch_independent "ARCH_INDEPENDENT") +endif() + +# Create projectConfigVersion.cmake +include(CMakePackageConfigHelpers) +write_basic_package_version_file( + "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfigVersion.cmake" + VERSION "${sdformat_test_files_VERSION}" + COMPATIBILITY SameMajorVersion + ${_arch_independent}) + +# Create projectConfig.cmake +configure_package_config_file("sdformat_test_filesConfig.cmake.in" + "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfig.cmake" + INSTALL_DESTINATION "${INSTALL_CMAKE_DIR}" + PATH_VARS "INSTALL_CMAKE_DIR" "INSTALL_SHARE_DIR") + +# Create file with CMake functions +configure_file("sdformat_test_files_functions.cmake.in" + "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_files_functions.cmake" @ONLY) + +# Install cmake files +install(FILES + "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfig.cmake" + "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfigVersion.cmake" + "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_files_functions.cmake" + DESTINATION "${INSTALL_CMAKE_DIR}") diff --git a/sdformat_test_files/README.md b/sdformat_test_files/README.md new file mode 100644 index 00000000..d699ef00 --- /dev/null +++ b/sdformat_test_files/README.md @@ -0,0 +1,129 @@ +# 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. + diff --git a/sdformat_test_files/_scripts/README.md.in b/sdformat_test_files/_scripts/README.md.in new file mode 100644 index 00000000..73f305ef --- /dev/null +++ b/sdformat_test_files/_scripts/README.md.in @@ -0,0 +1,33 @@ +# SDFormat Test files + +This package contains a list of SDFormat files for testing tools that work with SDFormat XML. + +## Models + +### Geometry + +$geometry + +### Materials + +$materials + +### Joints + +$joints + +### Links + +$links + +### Kinematic structures + +$graphs + +### Poses and Frames + +$poses + +### Models + +$models diff --git a/sdformat_test_files/_scripts/make_readme.py b/sdformat_test_files/_scripts/make_readme.py new file mode 100644 index 00000000..ab6ecf01 --- /dev/null +++ b/sdformat_test_files/_scripts/make_readme.py @@ -0,0 +1,60 @@ +import string +import os +import xml.etree.ElementTree as ET + + +def get_model_name_and_description(path_to_model_dir): + tree = ET.parse(os.path.join(path_to_model_dir, 'model.config')) + root = tree.getroot() + name = root.findall('name')[0].text.strip() + description = root.findall('description')[0].text.strip() + return (name, description) + + +def models_in_dir(path_to_dir): + for path in os.listdir(path_to_dir): + abspath = os.path.abspath(os.path.join(path_to_dir, path)) + if os.path.isdir(abspath) and os.path.isfile(os.path.join(abspath, 'model.config')): + yield abspath + + +if __name__ == '__main__': + this_dir = os.path.abspath(os.path.dirname(__file__)) + models_dir = os.path.join(this_dir, '..', 'models') + + template_mapping = { + 'geometry': [], + 'materials': [], + 'joints': [], + 'links': [], + 'graphs': [], + 'poses': [], + 'models': [] + } + + for model_path in sorted(models_in_dir(models_dir)): + name, desc = get_model_name_and_description(model_path) + entry = f'* `{name}`\n * {desc}' + if name.startswith('geometry'): + template_mapping['geometry'].append(entry) + elif name.startswith('material'): + template_mapping['materials'].append(entry) + elif name.startswith('joint'): + template_mapping['joints'].append(entry) + elif name.startswith('link'): + template_mapping['links'].append(entry) + elif name.startswith('graph'): + template_mapping['graphs'].append(entry) + elif name.startswith('pose'): + template_mapping['poses'].append(entry) + elif name.startswith('model'): + template_mapping['models'].append(entry) + else: + raise RuntimeError(f'Unknown model type {name} at {model_path}') + + for key in template_mapping.keys(): + template_mapping[key] = '\n'.join(template_mapping[key]) + + with open(os.path.join(this_dir, 'README.md.in'), 'r') as fin: + template = string.Template(fin.read()) + print(template.substitute(template_mapping)) diff --git a/sdformat_test_files/models/geometry_box/geometry_box.sdf b/sdformat_test_files/models/geometry_box/geometry_box.sdf new file mode 100644 index 00000000..b8181828 --- /dev/null +++ b/sdformat_test_files/models/geometry_box/geometry_box.sdf @@ -0,0 +1,32 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/geometry_box/model.config b/sdformat_test_files/models/geometry_box/model.config new file mode 100644 index 00000000..cce70316 --- /dev/null +++ b/sdformat_test_files/models/geometry_box/model.config @@ -0,0 +1,15 @@ + + + geometry_box + 1.0 + geometry_box.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model using the box geometry type for both the visual and collision. + + diff --git a/sdformat_test_files/models/geometry_cylinder/geometry_cylinder.sdf b/sdformat_test_files/models/geometry_cylinder/geometry_cylinder.sdf new file mode 100644 index 00000000..feab1f23 --- /dev/null +++ b/sdformat_test_files/models/geometry_cylinder/geometry_cylinder.sdf @@ -0,0 +1,34 @@ + + + + + + + + 0.2 + 0.125 + + + + + + + 0.2 + 0.125 + + + + + 1.23 + + 0.0076875 + 0 + 0 + 0.0076875 + 0 + 0.0076875 + + + + + diff --git a/sdformat_test_files/models/geometry_cylinder/model.config b/sdformat_test_files/models/geometry_cylinder/model.config new file mode 100644 index 00000000..146ce8aa --- /dev/null +++ b/sdformat_test_files/models/geometry_cylinder/model.config @@ -0,0 +1,15 @@ + + + geometry_cylinder + 1.0 + geometry_cylinder.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model using the cylinder geometry type for both the visual and collision. + + diff --git a/sdformat_test_files/models/geometry_heightmap/geometry_heightmap.sdf b/sdformat_test_files/models/geometry_heightmap/geometry_heightmap.sdf new file mode 100644 index 00000000..fd506ed4 --- /dev/null +++ b/sdformat_test_files/models/geometry_heightmap/geometry_heightmap.sdf @@ -0,0 +1,34 @@ + + + + + + + + heightmap.png + 1 1 0.5 + + + + + + + heightmap.png + 1 1 0.5 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/geometry_heightmap/heightmap.png b/sdformat_test_files/models/geometry_heightmap/heightmap.png new file mode 100644 index 00000000..5a83b408 Binary files /dev/null and b/sdformat_test_files/models/geometry_heightmap/heightmap.png differ diff --git a/sdformat_test_files/models/geometry_heightmap/model.config b/sdformat_test_files/models/geometry_heightmap/model.config new file mode 100644 index 00000000..339712e2 --- /dev/null +++ b/sdformat_test_files/models/geometry_heightmap/model.config @@ -0,0 +1,15 @@ + + + geometry_heightmap + 1.0 + geometry_heightmap.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model using heightmap geometry for both the visual and collision. + + diff --git a/sdformat_test_files/models/geometry_mesh_collada/geometry_mesh_collada.sdf b/sdformat_test_files/models/geometry_mesh_collada/geometry_mesh_collada.sdf new file mode 100644 index 00000000..d50c63b7 --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_collada/geometry_mesh_collada.sdf @@ -0,0 +1,34 @@ + + + + + + + + model://geometry_mesh_collada/torus.dae + 0.1 0.1 0.1 + + + + + + + model://geometry_mesh_collada/torus.dae + 0.1 0.1 0.1 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/geometry_mesh_collada/model.config b/sdformat_test_files/models/geometry_mesh_collada/model.config new file mode 100644 index 00000000..7b20bc55 --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_collada/model.config @@ -0,0 +1,15 @@ + + + geometry_mesh_collada + 1.0 + geometry_mesh_collada.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single link using mesh geometry with a COLLADA mesh. + + diff --git a/sdformat_test_files/models/geometry_mesh_collada/torus.dae 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521 1096 3290 521 1097 3291 533 1097 3292 534 1097 3293 534 1098 3294 535 1098 3295 523 1098 3296 523 1099 3297 535 1099 3298 536 1099 3299 536 1100 3300 537 1100 3301 525 1100 3302 537 1101 3303 538 1101 3304 526 1101 3305 526 1102 3306 538 1102 3307 539 1102 3308 539 1103 3309 528 1103 3310 516 1103 3311 528 1104 3312 540 1104 3313 541 1104 3314 529 1105 3315 541 1105 3316 542 1105 3317 530 1106 3318 542 1106 3319 543 1106 3320 531 1107 3321 543 1107 3322 544 1107 3323 544 1108 3324 545 1108 3325 533 1108 3326 533 1109 3327 545 1109 3328 546 1109 3329 546 1110 3330 547 1110 3331 535 1110 3332 547 1111 3333 548 1111 3334 536 1111 3335 548 1112 3336 549 1112 3337 537 1112 3338 549 1113 3339 550 1113 3340 538 1113 3341 550 1114 3342 551 1114 3343 539 1114 3344 551 1115 3345 540 1115 3346 528 1115 3347 552 1116 3348 553 1116 3349 541 1116 3350 553 1117 3351 554 1117 3352 542 1117 3353 554 1118 3354 555 1118 3355 543 1118 3356 555 1119 3357 556 1119 3358 544 1119 3359 556 1120 3360 557 1120 3361 545 1120 3362 557 1121 3363 558 1121 3364 546 1121 3365 546 1122 3366 558 1122 3367 559 1122 3368 547 1123 3369 559 1123 3370 560 1123 3371 560 1124 3372 561 1124 3373 549 1124 3374 549 1125 3375 561 1125 3376 562 1125 3377 562 1126 3378 563 1126 3379 551 1126 3380 551 1127 3381 563 1127 3382 552 1127 3383 564 1128 3384 565 1128 3385 553 1128 3386 553 1129 3387 565 1129 3388 566 1129 3389 554 1130 3390 566 1130 3391 567 1130 3392 555 1131 3393 567 1131 3394 568 1131 3395 556 1132 3396 568 1132 3397 569 1132 3398 557 1133 3399 569 1133 3400 570 1133 3401 570 1134 3402 571 1134 3403 559 1134 3404 571 1135 3405 572 1135 3406 560 1135 3407 572 1136 3408 573 1136 3409 561 1136 3410 573 1137 3411 574 1137 3412 562 1137 3413 574 1138 3414 575 1138 3415 563 1138 3416 575 1139 3417 564 1139 3418 552 1139 3419 0 1140 3420 1 1140 3421 565 1140 3422 1 1141 3423 2 1141 3424 566 1141 3425 2 1142 3426 3 1142 3427 567 1142 3428 3 1143 3429 4 1143 3430 568 1143 3431 568 1144 3432 4 1144 3433 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/sdformat_test_files/models/geometry_mesh_obj/geometry_mesh_obj.sdf b/sdformat_test_files/models/geometry_mesh_obj/geometry_mesh_obj.sdf new file mode 100644 index 00000000..e456e50b --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_obj/geometry_mesh_obj.sdf @@ -0,0 +1,34 @@ + + + + + + + + model://geometry_mesh_obj/torus.obj + 0.1 0.1 0.1 + + + + + + + model://geometry_mesh_obj/torus.obj + 0.1 0.1 0.1 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/geometry_mesh_obj/model.config b/sdformat_test_files/models/geometry_mesh_obj/model.config new file mode 100644 index 00000000..8b0d7d96 --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_obj/model.config @@ -0,0 +1,15 @@ + + + geometry_mesh_obj + 1.0 + geometry_mesh_obj.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single link using a Wavefront OBJ mesh. + + diff --git a/sdformat_test_files/models/geometry_mesh_obj/torus.mtl b/sdformat_test_files/models/geometry_mesh_obj/torus.mtl new file mode 100644 index 00000000..ac53ddfe --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_obj/torus.mtl @@ -0,0 +1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl Material +Ns 323.999994 +Ka 1.000000 1.000000 1.000000 +Kd 0.000000 0.028922 0.800000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/sdformat_test_files/models/geometry_mesh_obj/torus.obj b/sdformat_test_files/models/geometry_mesh_obj/torus.obj new file mode 100644 index 00000000..1f398c43 --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_obj/torus.obj @@ -0,0 +1,2083 @@ +# Blender v2.83.3 OBJ File: '' +# www.blender.org +mtllib torus.mtl 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b/sdformat_test_files/models/geometry_mesh_scaled/geometry_mesh_scaled.sdf @@ -0,0 +1,34 @@ + + + + + + + + model://geometry_mesh_scaled/torus.stl + 0.1 0.2 0.4 + + + + + + + model://geometry_mesh_scaled/torus.stl + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/geometry_mesh_scaled/model.config b/sdformat_test_files/models/geometry_mesh_scaled/model.config new file mode 100644 index 00000000..5a2e8d01 --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_scaled/model.config @@ -0,0 +1,15 @@ + + + geometry_mesh_scaled + 1.0 + geometry_mesh_scaled.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model using a mesh scaled differently on x, y, and z axes for both the visual and collision. + + diff --git a/sdformat_test_files/models/geometry_mesh_scaled/torus.stl b/sdformat_test_files/models/geometry_mesh_scaled/torus.stl new file mode 100644 index 00000000..09ef325f Binary files /dev/null and b/sdformat_test_files/models/geometry_mesh_scaled/torus.stl differ diff --git a/sdformat_test_files/models/geometry_mesh_stl/geometry_mesh_stl.sdf b/sdformat_test_files/models/geometry_mesh_stl/geometry_mesh_stl.sdf new file mode 100644 index 00000000..0c3f4534 --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_stl/geometry_mesh_stl.sdf @@ -0,0 +1,34 @@ + + + + + + + + model://geometry_mesh_stl/torus.stl + 0.1 0.1 0.1 + + + + + + + model://geometry_mesh_stl/torus.stl + 0.1 0.1 0.1 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/geometry_mesh_stl/model.config b/sdformat_test_files/models/geometry_mesh_stl/model.config new file mode 100644 index 00000000..2b7bdf13 --- /dev/null +++ b/sdformat_test_files/models/geometry_mesh_stl/model.config @@ -0,0 +1,15 @@ + + + geometry_mesh_stl + 1.0 + geometry_mesh_stl.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model using an STL mesh. + + diff --git a/sdformat_test_files/models/geometry_mesh_stl/torus.stl b/sdformat_test_files/models/geometry_mesh_stl/torus.stl new file mode 100644 index 00000000..09ef325f Binary files /dev/null and b/sdformat_test_files/models/geometry_mesh_stl/torus.stl differ diff --git a/sdformat_test_files/models/geometry_plane/geometry_plane.sdf b/sdformat_test_files/models/geometry_plane/geometry_plane.sdf new file mode 100644 index 00000000..b9f0d822 --- /dev/null +++ b/sdformat_test_files/models/geometry_plane/geometry_plane.sdf @@ -0,0 +1,35 @@ + + + + + + + + 0 0 1 + 0.1 0.2 + + + + + + + 0 0 1 + 0.1 0.2 + + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/geometry_plane/model.config b/sdformat_test_files/models/geometry_plane/model.config new file mode 100644 index 00000000..5cbfd6f6 --- /dev/null +++ b/sdformat_test_files/models/geometry_plane/model.config @@ -0,0 +1,15 @@ + + + geometry_plane + 1.0 + geometry_plane.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model using the plane geometry type for both the visual and collision. + + diff --git a/sdformat_test_files/models/geometry_sphere/geometry_sphere.sdf b/sdformat_test_files/models/geometry_sphere/geometry_sphere.sdf new file mode 100644 index 00000000..c502d77b --- /dev/null +++ b/sdformat_test_files/models/geometry_sphere/geometry_sphere.sdf @@ -0,0 +1,32 @@ + + + + + + + + 0.125 + + + + + + + 0.125 + + + + + 1.23 + + 0.0076875 + 0 + 0 + 0.0076875 + 0 + 0.0076875 + + + + + diff --git a/sdformat_test_files/models/geometry_sphere/model.config b/sdformat_test_files/models/geometry_sphere/model.config new file mode 100644 index 00000000..8b24ea1b --- /dev/null +++ b/sdformat_test_files/models/geometry_sphere/model.config @@ -0,0 +1,15 @@ + + + geometry_sphere + 1.0 + geometry_sphere.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model using the sphere geometry type for both the visual and collision. + + diff --git a/sdformat_test_files/models/graph_chain/graph_chain.sdf b/sdformat_test_files/models/graph_chain/graph_chain.sdf new file mode 100644 index 00000000..97229672 --- /dev/null +++ b/sdformat_test_files/models/graph_chain/graph_chain.sdf @@ -0,0 +1,103 @@ + + + + + 0 0 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0 0.4 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + link_1 + link_2 + + 1 0 0 + + + + link_2 + link_3 + + 1 0 0 + + + + diff --git a/sdformat_test_files/models/graph_chain/model.config b/sdformat_test_files/models/graph_chain/model.config new file mode 100644 index 00000000..0454bef6 --- /dev/null +++ b/sdformat_test_files/models/graph_chain/model.config @@ -0,0 +1,15 @@ + + + graph_chain + 1.0 + graph_chain.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model having a chain of 3 links connected in series with revolute joints. + + diff --git a/sdformat_test_files/models/graph_chain_non_canonical_root/graph_chain_non_canonical_root.sdf b/sdformat_test_files/models/graph_chain_non_canonical_root/graph_chain_non_canonical_root.sdf new file mode 100644 index 00000000..2dd43776 --- /dev/null +++ b/sdformat_test_files/models/graph_chain_non_canonical_root/graph_chain_non_canonical_root.sdf @@ -0,0 +1,103 @@ + + + + + 0 0 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0 0.4 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + link_2 + link_1 + + 1 0 0 + + + + link_3 + link_2 + + 1 0 0 + + + + diff --git a/sdformat_test_files/models/graph_chain_non_canonical_root/model.config b/sdformat_test_files/models/graph_chain_non_canonical_root/model.config new file mode 100644 index 00000000..1d44f5b0 --- /dev/null +++ b/sdformat_test_files/models/graph_chain_non_canonical_root/model.config @@ -0,0 +1,15 @@ + + + graph_chain_non_canonical_root + 1.0 + graph_chain_non_canonical_root.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + 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. + + diff --git a/sdformat_test_files/models/graph_four_bar/graph_four_bar.sdf b/sdformat_test_files/models/graph_four_bar/graph_four_bar.sdf new file mode 100644 index 00000000..2c7b7c80 --- /dev/null +++ b/sdformat_test_files/models/graph_four_bar/graph_four_bar.sdf @@ -0,0 +1,146 @@ + + + + + 0 0 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.1 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.4 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.3 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + link_1 + link_2 + + 1 0 0 + + + + link_2 + link_3 + + 1 0 0 + + + + link_3 + link_4 + + 1 0 0 + + + + link_4 + link_1 + + 1 0 0 + + + + + diff --git a/sdformat_test_files/models/graph_four_bar/model.config b/sdformat_test_files/models/graph_four_bar/model.config new file mode 100644 index 00000000..c12ffd3b --- /dev/null +++ b/sdformat_test_files/models/graph_four_bar/model.config @@ -0,0 +1,15 @@ + + + graph_four_bar + 1.0 + graph_four_bar.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A four-bar linkage made with four links connected by 4 revolute joints. + + diff --git a/sdformat_test_files/models/graph_loop/graph_loop.sdf b/sdformat_test_files/models/graph_loop/graph_loop.sdf new file mode 100644 index 00000000..a2e62ee9 --- /dev/null +++ b/sdformat_test_files/models/graph_loop/graph_loop.sdf @@ -0,0 +1,110 @@ + + + + + 0 0.1 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.2 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + link_1 + link_2 + + 1 0 0 + + + + link_2 + link_3 + + 1 0 0 + + + + link_3 + link_1 + + 1 0 0 + + + + diff --git a/sdformat_test_files/models/graph_loop/model.config b/sdformat_test_files/models/graph_loop/model.config new file mode 100644 index 00000000..16df6225 --- /dev/null +++ b/sdformat_test_files/models/graph_loop/model.config @@ -0,0 +1,15 @@ + + + graph_loop + 1.0 + graph_loop.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model having three links connected by 3 joints to form a triangle. + + diff --git a/sdformat_test_files/models/graph_tree/graph_tree.sdf b/sdformat_test_files/models/graph_tree/graph_tree.sdf new file mode 100644 index 00000000..f2b5b05d --- /dev/null +++ b/sdformat_test_files/models/graph_tree/graph_tree.sdf @@ -0,0 +1,208 @@ + + + + + 0 0.3 0.4 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.1 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.4 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.3 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.5 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + link_1 + link_2 + + 1 0 0 + + + + link_1 + link_3 + + 1 0 0 + + + + link_2 + link_4 + + 1 0 0 + + + + link_3 + link_5 + + 1 0 0 + + + + link_3 + link_6 + + 1 0 0 + + + + diff --git a/sdformat_test_files/models/graph_tree/model.config b/sdformat_test_files/models/graph_tree/model.config new file mode 100644 index 00000000..7ef072fc --- /dev/null +++ b/sdformat_test_files/models/graph_tree/model.config @@ -0,0 +1,15 @@ + + + graph_tree + 1.0 + graph_tree.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with multiple links connected by joints forming a tree. + + diff --git a/sdformat_test_files/models/graph_tree_non_canonical_root/graph_tree_non_canonical_root.sdf b/sdformat_test_files/models/graph_tree_non_canonical_root/graph_tree_non_canonical_root.sdf new file mode 100644 index 00000000..3988db97 --- /dev/null +++ b/sdformat_test_files/models/graph_tree_non_canonical_root/graph_tree_non_canonical_root.sdf @@ -0,0 +1,208 @@ + + + + + 0 0.4 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.1 0.2 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.3 0.4 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.3 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.5 0 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + link_3 + link_2 + + 1 0 0 + + + + link_3 + link_1 + + 1 0 0 + + + + link_2 + link_5 + + 1 0 0 + + + + link_1 + link_4 + + 1 0 0 + + + + link_1 + link_6 + + 1 0 0 + + + + diff --git a/sdformat_test_files/models/graph_tree_non_canonical_root/model.config b/sdformat_test_files/models/graph_tree_non_canonical_root/model.config new file mode 100644 index 00000000..0cd5d51e --- /dev/null +++ b/sdformat_test_files/models/graph_tree_non_canonical_root/model.config @@ -0,0 +1,15 @@ + + + graph_tree_non_canonical_root + 1.0 + graph_tree_non_canonical_root.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with multiple links connected by joints forming a tree, but the canonical link is not the root of the tree. + + diff --git a/sdformat_test_files/models/joint_ball/joint_ball.sdf b/sdformat_test_files/models/joint_ball/joint_ball.sdf new file mode 100644 index 00000000..cd00c496 --- /dev/null +++ b/sdformat_test_files/models/joint_ball/joint_ball.sdf @@ -0,0 +1,65 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + + link_1 + link_2 + + + diff --git a/sdformat_test_files/models/joint_ball/model.config b/sdformat_test_files/models/joint_ball/model.config new file mode 100644 index 00000000..98f157f2 --- /dev/null +++ b/sdformat_test_files/models/joint_ball/model.config @@ -0,0 +1,15 @@ + + + joint_ball + 1.0 + joint_ball.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a ball joint. + + diff --git a/sdformat_test_files/models/joint_continuous/joint_continuous.sdf b/sdformat_test_files/models/joint_continuous/joint_continuous.sdf new file mode 100644 index 00000000..ce8bdff4 --- /dev/null +++ b/sdformat_test_files/models/joint_continuous/joint_continuous.sdf @@ -0,0 +1,68 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 1 0 0 + + + + diff --git a/sdformat_test_files/models/joint_continuous/model.config b/sdformat_test_files/models/joint_continuous/model.config new file mode 100644 index 00000000..fc713f2a --- /dev/null +++ b/sdformat_test_files/models/joint_continuous/model.config @@ -0,0 +1,15 @@ + + + joint_continuous + 1.0 + joint_continuous.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a continuous joint. + + diff --git a/sdformat_test_files/models/joint_fixed/joint_fixed.sdf b/sdformat_test_files/models/joint_fixed/joint_fixed.sdf new file mode 100644 index 00000000..5b49e6c5 --- /dev/null +++ b/sdformat_test_files/models/joint_fixed/joint_fixed.sdf @@ -0,0 +1,65 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + + diff --git a/sdformat_test_files/models/joint_fixed/model.config b/sdformat_test_files/models/joint_fixed/model.config new file mode 100644 index 00000000..5387c2cc --- /dev/null +++ b/sdformat_test_files/models/joint_fixed/model.config @@ -0,0 +1,15 @@ + + + joint_fixed + 1.0 + joint_fixed.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a fixed joint. + + diff --git a/sdformat_test_files/models/joint_gearbox/joint_gearbox.sdf b/sdformat_test_files/models/joint_gearbox/joint_gearbox.sdf new file mode 100644 index 00000000..67ffb9a6 --- /dev/null +++ b/sdformat_test_files/models/joint_gearbox/joint_gearbox.sdf @@ -0,0 +1,117 @@ + + + + + 0 0 0.2 0 0 0 + + + + 0.2 0.2 0.4 + + + + + + + 0.2 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.205 + 0 + 0.082 + + + + + 0 -0.2 0.4 0 0 0 + + + + 0.1 0.1 0.1 + + + + + + + 0.1 0.1 0.1 + + + + + 1.23 + + 0.00205 + 0 + 0 + 0.00205 + 0 + 0.00205 + + + + + 0 0.3 0.4 0 0 0 + + + + 0.3 0.3 0.3 + + + + + + + 0.3 0.3 0.3 + + + + + 1.23 + + 0.01845 + 0 + 0 + 0.01845 + 0 + 0.01845 + + + + + + link_1 + link_2 + + 0 1 0 + + + + link_1 + link_3 + + 0 1 0 + + + + + link_3 + link_2 + -27 + link_1 + + 0 1 0 + + + 0 1 0 + + + + diff --git a/sdformat_test_files/models/joint_gearbox/model.config b/sdformat_test_files/models/joint_gearbox/model.config new file mode 100644 index 00000000..9b8c0aa7 --- /dev/null +++ b/sdformat_test_files/models/joint_gearbox/model.config @@ -0,0 +1,15 @@ + + + joint_gearbox + 1.0 + joint_gearbox.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + 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. + + diff --git a/sdformat_test_files/models/joint_prismatic/joint_prismatic.sdf b/sdformat_test_files/models/joint_prismatic/joint_prismatic.sdf new file mode 100644 index 00000000..cd3b0d2f --- /dev/null +++ b/sdformat_test_files/models/joint_prismatic/joint_prismatic.sdf @@ -0,0 +1,72 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 0 1 0 + + -0.2 + 0.2 + + + + + diff --git a/sdformat_test_files/models/joint_prismatic/model.config b/sdformat_test_files/models/joint_prismatic/model.config new file mode 100644 index 00000000..6425ff80 --- /dev/null +++ b/sdformat_test_files/models/joint_prismatic/model.config @@ -0,0 +1,15 @@ + + + joint_prismatic + 1.0 + joint_prismatic.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a prismatic joint. + + diff --git a/sdformat_test_files/models/joint_revolute/joint_revolute.sdf b/sdformat_test_files/models/joint_revolute/joint_revolute.sdf new file mode 100644 index 00000000..560167d3 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute/joint_revolute.sdf @@ -0,0 +1,72 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/joint_revolute/model.config b/sdformat_test_files/models/joint_revolute/model.config new file mode 100644 index 00000000..3fcc1f61 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute/model.config @@ -0,0 +1,15 @@ + + + joint_revolute + 1.0 + joint_revolute.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a revolute joint. + + diff --git a/sdformat_test_files/models/joint_revolute2/joint_revolute2.sdf b/sdformat_test_files/models/joint_revolute2/joint_revolute2.sdf new file mode 100644 index 00000000..192df261 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute2/joint_revolute2.sdf @@ -0,0 +1,80 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + 0.707 0 0.707 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/joint_revolute2/model.config b/sdformat_test_files/models/joint_revolute2/model.config new file mode 100644 index 00000000..8ca26adf --- /dev/null +++ b/sdformat_test_files/models/joint_revolute2/model.config @@ -0,0 +1,15 @@ + + + joint_revolute2 + 1.0 + joint_revolute2.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a revolute2 joint. + + diff --git a/sdformat_test_files/models/joint_revolute_axis/joint_revolute_axis.sdf b/sdformat_test_files/models/joint_revolute_axis/joint_revolute_axis.sdf new file mode 100644 index 00000000..277de538 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_axis/joint_revolute_axis.sdf @@ -0,0 +1,72 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 0.1 1.23 4.567 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/joint_revolute_axis/model.config b/sdformat_test_files/models/joint_revolute_axis/model.config new file mode 100644 index 00000000..d9809e62 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_axis/model.config @@ -0,0 +1,15 @@ + + + joint_revolute_axis + 1.0 + joint_revolute_axis.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a revolute joint with an axis having different values for x, y, and z. + + diff --git a/sdformat_test_files/models/joint_revolute_axis_in_frame/joint_revolute_axis_in_frame.sdf b/sdformat_test_files/models/joint_revolute_axis_in_frame/joint_revolute_axis_in_frame.sdf new file mode 100644 index 00000000..3cf3fe48 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_axis_in_frame/joint_revolute_axis_in_frame.sdf @@ -0,0 +1,75 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 0.1 1.23 4.567 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/joint_revolute_axis_in_frame/model.config b/sdformat_test_files/models/joint_revolute_axis_in_frame/model.config new file mode 100644 index 00000000..aa721773 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_axis_in_frame/model.config @@ -0,0 +1,15 @@ + + + joint_revolute_axis_in_frame + 1.0 + joint_revolute_axis_in_frame.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + 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. + + diff --git a/sdformat_test_files/models/joint_revolute_default_limits/joint_revolute_default_limits.sdf b/sdformat_test_files/models/joint_revolute_default_limits/joint_revolute_default_limits.sdf new file mode 100644 index 00000000..69399b87 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_default_limits/joint_revolute_default_limits.sdf @@ -0,0 +1,68 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 1 0 0 + + + + diff --git a/sdformat_test_files/models/joint_revolute_default_limits/model.config b/sdformat_test_files/models/joint_revolute_default_limits/model.config new file mode 100644 index 00000000..55dc7bb7 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_default_limits/model.config @@ -0,0 +1,15 @@ + + + joint_revolute_default_limits + 1.0 + joint_revolute_default_limits.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a revolute joint, having no joint limits specified on its axis. + + diff --git a/sdformat_test_files/models/joint_revolute_two_joints_two_links/joint_revolute_two_joints_two_links.sdf b/sdformat_test_files/models/joint_revolute_two_joints_two_links/joint_revolute_two_joints_two_links.sdf new file mode 100644 index 00000000..20fe45c2 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_two_joints_two_links/joint_revolute_two_joints_two_links.sdf @@ -0,0 +1,84 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + 0 0.1 0 0 0 0 + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/joint_revolute_two_joints_two_links/model.config b/sdformat_test_files/models/joint_revolute_two_joints_two_links/model.config new file mode 100644 index 00000000..cb70b395 --- /dev/null +++ b/sdformat_test_files/models/joint_revolute_two_joints_two_links/model.config @@ -0,0 +1,15 @@ + + + joint_revolute_two_joints_two_links + 1.0 + joint_revolute_two_joints_two_links.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by two revolute joints, effectively rigidly connecting the two. + + diff --git a/sdformat_test_files/models/joint_screw/joint_screw.sdf b/sdformat_test_files/models/joint_screw/joint_screw.sdf new file mode 100644 index 00000000..da1ea21a --- /dev/null +++ b/sdformat_test_files/models/joint_screw/joint_screw.sdf @@ -0,0 +1,73 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.2 0.3 + + + + + + + 0.1 0.2 0.3 + + + + + 1.23 + + 0.013325 + 0 + 0 + 0.01025 + 0 + 0.005125 + + + + + + link_1 + link_2 + + 0 0 1 + + -1.5 + 1.5 + + + 10 + + + diff --git a/sdformat_test_files/models/joint_screw/model.config b/sdformat_test_files/models/joint_screw/model.config new file mode 100644 index 00000000..fac45367 --- /dev/null +++ b/sdformat_test_files/models/joint_screw/model.config @@ -0,0 +1,15 @@ + + + joint_screw + 1.0 + joint_screw.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a screw joint. + + diff --git a/sdformat_test_files/models/joint_universal/joint_universal.sdf b/sdformat_test_files/models/joint_universal/joint_universal.sdf new file mode 100644 index 00000000..d2360035 --- /dev/null +++ b/sdformat_test_files/models/joint_universal/joint_universal.sdf @@ -0,0 +1,72 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 12.3 + + 0.205 + 0 + 0 + 0.17425 + 0 + 0.05125 + + + + + 0.1 0 0.1 0 0 0 + + + + 0.1 0.1 0.2 + + + + + + + 0.1 0.1 0.2 + + + + + 1.23 + + 0.005125 + 0 + 0 + 0.005125 + 0 + 0.00205 + + + + + + link_1 + link_2 + 0 0 0.1 0 0 0 + + 1 0 0 + + + 0 0 1 + + + + diff --git a/sdformat_test_files/models/joint_universal/model.config b/sdformat_test_files/models/joint_universal/model.config new file mode 100644 index 00000000..901c3107 --- /dev/null +++ b/sdformat_test_files/models/joint_universal/model.config @@ -0,0 +1,15 @@ + + + joint_universal + 1.0 + joint_universal.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with two links connected by a universal joint. + + diff --git a/sdformat_test_files/models/link_inertia/link_inertia.sdf b/sdformat_test_files/models/link_inertia/link_inertia.sdf new file mode 100644 index 00000000..cb1298b3 --- /dev/null +++ b/sdformat_test_files/models/link_inertia/link_inertia.sdf @@ -0,0 +1,32 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 116.0 + + 5.652232699207 + -0.009719934438 + 1.293988226423 + 5.669473158652 + -0.007379583694 + 3.683196351726 + + + + + diff --git a/sdformat_test_files/models/link_inertia/model.config b/sdformat_test_files/models/link_inertia/model.config new file mode 100644 index 00000000..c8581db1 --- /dev/null +++ b/sdformat_test_files/models/link_inertia/model.config @@ -0,0 +1,15 @@ + + + link_inertia + 1.0 + link_inertia.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A link having an inerta with a different value for each of it's 6 components. + + diff --git a/sdformat_test_files/models/link_light_point/link_light_point.sdf b/sdformat_test_files/models/link_light_point/link_light_point.sdf new file mode 100644 index 00000000..05ff17e3 --- /dev/null +++ b/sdformat_test_files/models/link_light_point/link_light_point.sdf @@ -0,0 +1,33 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + + diff --git a/sdformat_test_files/models/link_light_point/model.config b/sdformat_test_files/models/link_light_point/model.config new file mode 100644 index 00000000..974fe4c0 --- /dev/null +++ b/sdformat_test_files/models/link_light_point/model.config @@ -0,0 +1,15 @@ + + + link_light_point + 1.0 + link_light_point.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with a single link having a point light attached to it. + + diff --git a/sdformat_test_files/models/link_multiple_collisions/link_multiple_collisions.sdf b/sdformat_test_files/models/link_multiple_collisions/link_multiple_collisions.sdf new file mode 100644 index 00000000..f9ad39ec --- /dev/null +++ b/sdformat_test_files/models/link_multiple_collisions/link_multiple_collisions.sdf @@ -0,0 +1,39 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.15 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/link_multiple_collisions/model.config b/sdformat_test_files/models/link_multiple_collisions/model.config new file mode 100644 index 00000000..836c5eb4 --- /dev/null +++ b/sdformat_test_files/models/link_multiple_collisions/model.config @@ -0,0 +1,15 @@ + + + link_multiple_collisions + 1.0 + link_multiple_collisions.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with a single link having multiple collision elements on it. + + diff --git a/sdformat_test_files/models/link_multiple_visuals/link_multiple_visuals.sdf b/sdformat_test_files/models/link_multiple_visuals/link_multiple_visuals.sdf new file mode 100644 index 00000000..2c1123f9 --- /dev/null +++ b/sdformat_test_files/models/link_multiple_visuals/link_multiple_visuals.sdf @@ -0,0 +1,39 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.15 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/link_multiple_visuals/model.config b/sdformat_test_files/models/link_multiple_visuals/model.config new file mode 100644 index 00000000..d55e38bb --- /dev/null +++ b/sdformat_test_files/models/link_multiple_visuals/model.config @@ -0,0 +1,15 @@ + + + link_multiple_visuals + 1.0 + link_multiple_visuals.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with a single link having multile visual elements on it. + + diff --git a/sdformat_test_files/models/link_sensor_imu/link_sensor_imu.sdf b/sdformat_test_files/models/link_sensor_imu/link_sensor_imu.sdf new file mode 100644 index 00000000..749c67f5 --- /dev/null +++ b/sdformat_test_files/models/link_sensor_imu/link_sensor_imu.sdf @@ -0,0 +1,35 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + + + + diff --git a/sdformat_test_files/models/link_sensor_imu/model.config b/sdformat_test_files/models/link_sensor_imu/model.config new file mode 100644 index 00000000..121df1db --- /dev/null +++ b/sdformat_test_files/models/link_sensor_imu/model.config @@ -0,0 +1,15 @@ + + + link_sensor_imu + 1.0 + link_sensor_imu.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model with a single link having an IMU sensor attached to it. + + diff --git a/sdformat_test_files/models/material_blinn_phong/material_blinn_phong.sdf b/sdformat_test_files/models/material_blinn_phong/material_blinn_phong.sdf new file mode 100644 index 00000000..e4cfa2b8 --- /dev/null +++ b/sdformat_test_files/models/material_blinn_phong/material_blinn_phong.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.2 0.2 0.2 + + + + 0.3 0 0 1 + 0 0.3 0 1 + 0 0 0.3 1 + 0.1 0.1 0.1 1 + + + + + + 0.2 0.2 0.2 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/material_blinn_phong/model.config b/sdformat_test_files/models/material_blinn_phong/model.config new file mode 100644 index 00000000..65215b31 --- /dev/null +++ b/sdformat_test_files/models/material_blinn_phong/model.config @@ -0,0 +1,15 @@ + + + material_blinn_phong + 1.0 + material_blinn_phong.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single link with a material that uses ambient/diffuse/specular/emissive components to color it. + + diff --git a/sdformat_test_files/models/material_dynamic_lights/material_dynamic_lights.sdf b/sdformat_test_files/models/material_dynamic_lights/material_dynamic_lights.sdf new file mode 100644 index 00000000..fe3439a6 --- /dev/null +++ b/sdformat_test_files/models/material_dynamic_lights/material_dynamic_lights.sdf @@ -0,0 +1,52 @@ + + + + + + + + 0.2 0.2 0.2 + + + + true + + + + + + 0.1 0.1 0.4 + + + + false + + + + + + 0.2 0.2 0.2 + + + + + + + 0.1 0.1 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/material_dynamic_lights/model.config b/sdformat_test_files/models/material_dynamic_lights/model.config new file mode 100644 index 00000000..91cdc76e --- /dev/null +++ b/sdformat_test_files/models/material_dynamic_lights/model.config @@ -0,0 +1,15 @@ + + + material_dynamic_lights + 1.0 + material_dynamic_lights.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A link with two visuals: one with dynamic lights on, and the other with dynamic lights off. + + diff --git a/sdformat_test_files/models/model_two_models/model.config b/sdformat_test_files/models/model_two_models/model.config new file mode 100644 index 00000000..896cdcb2 --- /dev/null +++ b/sdformat_test_files/models/model_two_models/model.config @@ -0,0 +1,15 @@ + + + model_two_models + 1.0 + model_two_models.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + An SDFormat XML file having two models in it. + + diff --git a/sdformat_test_files/models/model_two_models/model_two_models.sdf b/sdformat_test_files/models/model_two_models/model_two_models.sdf new file mode 100644 index 00000000..b6e3b405 --- /dev/null +++ b/sdformat_test_files/models/model_two_models/model_two_models.sdf @@ -0,0 +1,61 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + + + + + + 0.125 + + + + + + + 0.125 + + + + + 1.23 + + 0.0076875 + 0 + 0 + 0.0076875 + 0 + 0.0076875 + + + + + diff --git a/sdformat_test_files/models/model_zero_models/model.config b/sdformat_test_files/models/model_zero_models/model.config new file mode 100644 index 00000000..74d60021 --- /dev/null +++ b/sdformat_test_files/models/model_zero_models/model.config @@ -0,0 +1,15 @@ + + + model_zero_models + 1.0 + model_zero_models.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + An SDFormat XML file that does not have a model in it. + + diff --git a/sdformat_test_files/models/model_zero_models/model_zero_models.sdf b/sdformat_test_files/models/model_zero_models/model_zero_models.sdf new file mode 100644 index 00000000..763666a0 --- /dev/null +++ b/sdformat_test_files/models/model_zero_models/model_zero_models.sdf @@ -0,0 +1,3 @@ + + + diff --git a/sdformat_test_files/models/pose_chain/model.config b/sdformat_test_files/models/pose_chain/model.config new file mode 100644 index 00000000..9c386b25 --- /dev/null +++ b/sdformat_test_files/models/pose_chain/model.config @@ -0,0 +1,15 @@ + + + pose_chain + 1.0 + pose_chain.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A chain of links connected by joints, where every link and joint in the chain has a non-zero pose. + + diff --git a/sdformat_test_files/models/pose_chain/pose_chain.sdf b/sdformat_test_files/models/pose_chain/pose_chain.sdf new file mode 100644 index 00000000..3d2c5479 --- /dev/null +++ b/sdformat_test_files/models/pose_chain/pose_chain.sdf @@ -0,0 +1,153 @@ + + + + + 0.1 0.2 0.3 0.4 0.5 0.6 + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.2 0.3 0.4 0.5 0.6 0.7 + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.3 0.4 0.5 0.6 0.7 0.8 + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.4 0.5 0.6 0.7 0.8 0.9 + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.9 0.8 0.7 0.6 0.5 0.4 + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + 0.8 0.7 0.6 0.5 0.4 0.3 + link_2 + link_3 + + 1 0 0 + + -1.5 + 1.5 + + + + + 0.7 0.6 0.5 0.4 0.3 0.2 + link_3 + link_4 + + 1 0 0 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/pose_collision/model.config b/sdformat_test_files/models/pose_collision/model.config new file mode 100644 index 00000000..668717a9 --- /dev/null +++ b/sdformat_test_files/models/pose_collision/model.config @@ -0,0 +1,15 @@ + + + pose_collision + 1.0 + pose_collision.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the collision has a non-zero pose. + + diff --git a/sdformat_test_files/models/pose_collision/pose_collision.sdf b/sdformat_test_files/models/pose_collision/pose_collision.sdf new file mode 100644 index 00000000..7a2cf4c5 --- /dev/null +++ b/sdformat_test_files/models/pose_collision/pose_collision.sdf @@ -0,0 +1,33 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_collision_in_frame/model.config b/sdformat_test_files/models/pose_collision_in_frame/model.config new file mode 100644 index 00000000..2bdda06e --- /dev/null +++ b/sdformat_test_files/models/pose_collision_in_frame/model.config @@ -0,0 +1,15 @@ + + + pose_collision_in_frame + 1.0 + pose_collision_in_frame.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the collision has a non-zero pose, and that pose is given in a frame on the model. + + diff --git a/sdformat_test_files/models/pose_collision_in_frame/pose_collision_in_frame.sdf b/sdformat_test_files/models/pose_collision_in_frame/pose_collision_in_frame.sdf new file mode 100644 index 00000000..43be1553 --- /dev/null +++ b/sdformat_test_files/models/pose_collision_in_frame/pose_collision_in_frame.sdf @@ -0,0 +1,36 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + + + + 0.1 0.2 0.4 + + + + + 0.2 0.4 0.8 0.2 0.3 0.4 + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_inertial/model.config b/sdformat_test_files/models/pose_inertial/model.config new file mode 100644 index 00000000..ab608588 --- /dev/null +++ b/sdformat_test_files/models/pose_inertial/model.config @@ -0,0 +1,15 @@ + + + pose_inertial + 1.0 + pose_inertial.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the inertial has a non-zero pose. + + diff --git a/sdformat_test_files/models/pose_inertial/pose_inertial.sdf b/sdformat_test_files/models/pose_inertial/pose_inertial.sdf new file mode 100644 index 00000000..2aaa6773 --- /dev/null +++ b/sdformat_test_files/models/pose_inertial/pose_inertial.sdf @@ -0,0 +1,33 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_inertial_in_frame/model.config b/sdformat_test_files/models/pose_inertial_in_frame/model.config new file mode 100644 index 00000000..d059c030 --- /dev/null +++ b/sdformat_test_files/models/pose_inertial_in_frame/model.config @@ -0,0 +1,15 @@ + + + pose_inertial_in_frame + 1.0 + pose_inertial_in_frame.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the inertial has a non-zero pose, and that pose is given in a frame on the model. + + diff --git a/sdformat_test_files/models/pose_inertial_in_frame/pose_inertial_in_frame.sdf b/sdformat_test_files/models/pose_inertial_in_frame/pose_inertial_in_frame.sdf new file mode 100644 index 00000000..aed6ccc6 --- /dev/null +++ b/sdformat_test_files/models/pose_inertial_in_frame/pose_inertial_in_frame.sdf @@ -0,0 +1,36 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 0.2 0.4 0.8 0.2 0.3 0.4 + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_joint/model.config b/sdformat_test_files/models/pose_joint/model.config new file mode 100644 index 00000000..202290c1 --- /dev/null +++ b/sdformat_test_files/models/pose_joint/model.config @@ -0,0 +1,15 @@ + + + pose_joint + 1.0 + pose_joint.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model having two links and a revolute joint, where only the joint has a non-zero pose. + + diff --git a/sdformat_test_files/models/pose_joint/pose_joint.sdf b/sdformat_test_files/models/pose_joint/pose_joint.sdf new file mode 100644 index 00000000..c1f47374 --- /dev/null +++ b/sdformat_test_files/models/pose_joint/pose_joint.sdf @@ -0,0 +1,71 @@ + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/pose_joint_all/model.config b/sdformat_test_files/models/pose_joint_all/model.config new file mode 100644 index 00000000..d181ad25 --- /dev/null +++ b/sdformat_test_files/models/pose_joint_all/model.config @@ -0,0 +1,15 @@ + + + pose_joint_all + 1.0 + pose_joint_all.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A model having two links and a revolute joint, with non-zero poses on all including the inertials, visuals, and collisions. + + diff --git a/sdformat_test_files/models/pose_joint_all/pose_joint_all.sdf b/sdformat_test_files/models/pose_joint_all/pose_joint_all.sdf new file mode 100644 index 00000000..b4a893fb --- /dev/null +++ b/sdformat_test_files/models/pose_joint_all/pose_joint_all.sdf @@ -0,0 +1,79 @@ + + + + + 0.1 0.2 0.3 0.4 0.5 0.6 + + 0.2 0.3 0.4 0.5 0.6 0.7 + + + 0.1 0.2 0.4 + + + + + 0.3 0.4 0.5 0.6 0.7 0.8 + + + 0.1 0.2 0.4 + + + + + 0.4 0.5 0.6 0.7 0.8 0.9 + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.5 0.6 0.7 0.8 0.9 1.0 + + 0.6 0.7 0.8 0.9 1.0 1.1 + + + 0.1 0.2 0.4 + + + + + 0.7 0.8 0.9 1.0 1.1 1.2 + + + 0.1 0.2 0.4 + + + + + 0.8 0.9 1.0 1.1 1.2 1.3 + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.9 1.0 1.1 1.2 1.3 1.4 + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/pose_joint_in_frame/model.config b/sdformat_test_files/models/pose_joint_in_frame/model.config new file mode 100644 index 00000000..086a770e --- /dev/null +++ b/sdformat_test_files/models/pose_joint_in_frame/model.config @@ -0,0 +1,15 @@ + + + pose_joint_in_frame + 1.0 + pose_joint_in_frame.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + 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. + + diff --git a/sdformat_test_files/models/pose_joint_in_frame/pose_joint_in_frame.sdf b/sdformat_test_files/models/pose_joint_in_frame/pose_joint_in_frame.sdf new file mode 100644 index 00000000..f46ed8af --- /dev/null +++ b/sdformat_test_files/models/pose_joint_in_frame/pose_joint_in_frame.sdf @@ -0,0 +1,74 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + link_1 + link_2 + + 1 0 0 + + -1.5 + 1.5 + + + + + diff --git a/sdformat_test_files/models/pose_link/model.config b/sdformat_test_files/models/pose_link/model.config new file mode 100644 index 00000000..5342a567 --- /dev/null +++ b/sdformat_test_files/models/pose_link/model.config @@ -0,0 +1,15 @@ + + + pose_link + 1.0 + pose_link.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the link has a non-zero pose. + + diff --git a/sdformat_test_files/models/pose_link/pose_link.sdf b/sdformat_test_files/models/pose_link/pose_link.sdf new file mode 100644 index 00000000..49fff708 --- /dev/null +++ b/sdformat_test_files/models/pose_link/pose_link.sdf @@ -0,0 +1,33 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_link_all/model.config b/sdformat_test_files/models/pose_link_all/model.config new file mode 100644 index 00000000..054550f0 --- /dev/null +++ b/sdformat_test_files/models/pose_link_all/model.config @@ -0,0 +1,15 @@ + + + pose_link_all + 1.0 + pose_link_all.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where the link, visual, collision, and inertial elements all have poses. + + diff --git a/sdformat_test_files/models/pose_link_all/pose_link_all.sdf b/sdformat_test_files/models/pose_link_all/pose_link_all.sdf new file mode 100644 index 00000000..8584c549 --- /dev/null +++ b/sdformat_test_files/models/pose_link_all/pose_link_all.sdf @@ -0,0 +1,36 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + 0.03 0.6 0.12 0.2 0.3 0.4 + + + 0.1 0.2 0.4 + + + + + 0.04 0.8 0.16 0.3 0.4 0.5 + + + 0.1 0.2 0.4 + + + + + 0.05 0.1 0.2 0.4 0.5 0.6 + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_link_in_frame/model.config b/sdformat_test_files/models/pose_link_in_frame/model.config new file mode 100644 index 00000000..491f458a --- /dev/null +++ b/sdformat_test_files/models/pose_link_in_frame/model.config @@ -0,0 +1,15 @@ + + + pose_link_in_frame + 1.0 + pose_link_in_frame.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the link has a non-zero pose, and that pose is given in a frame on the model. + + diff --git a/sdformat_test_files/models/pose_link_in_frame/pose_link_in_frame.sdf b/sdformat_test_files/models/pose_link_in_frame/pose_link_in_frame.sdf new file mode 100644 index 00000000..0a3ae6fd --- /dev/null +++ b/sdformat_test_files/models/pose_link_in_frame/pose_link_in_frame.sdf @@ -0,0 +1,36 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + 0.2 0.4 0.8 0.2 0.3 0.4 + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_model/model.config b/sdformat_test_files/models/pose_model/model.config new file mode 100644 index 00000000..e96328f3 --- /dev/null +++ b/sdformat_test_files/models/pose_model/model.config @@ -0,0 +1,15 @@ + + + pose_model + 1.0 + pose_model.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where the model itself has a non-zero pose. + + diff --git a/sdformat_test_files/models/pose_model/pose_model.sdf b/sdformat_test_files/models/pose_model/pose_model.sdf new file mode 100644 index 00000000..7d7d4c21 --- /dev/null +++ b/sdformat_test_files/models/pose_model/pose_model.sdf @@ -0,0 +1,33 @@ + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_visual/model.config b/sdformat_test_files/models/pose_visual/model.config new file mode 100644 index 00000000..71fed64a --- /dev/null +++ b/sdformat_test_files/models/pose_visual/model.config @@ -0,0 +1,15 @@ + + + pose_visual + 1.0 + pose_visual.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the visual has a non-zero pose. + + diff --git a/sdformat_test_files/models/pose_visual/pose_visual.sdf b/sdformat_test_files/models/pose_visual/pose_visual.sdf new file mode 100644 index 00000000..ee1c4a6b --- /dev/null +++ b/sdformat_test_files/models/pose_visual/pose_visual.sdf @@ -0,0 +1,33 @@ + + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/models/pose_visual_in_frame/model.config b/sdformat_test_files/models/pose_visual_in_frame/model.config new file mode 100644 index 00000000..0721e14d --- /dev/null +++ b/sdformat_test_files/models/pose_visual_in_frame/model.config @@ -0,0 +1,15 @@ + + + pose_visual_in_frame + 1.0 + pose_visual_in_frame.sdf + + + Shane Loretz + sloretz@openrobotics.org + + + + A single-link model where only the visual has a non-zero pose, and that pose is given in a frame on the model. + + diff --git a/sdformat_test_files/models/pose_visual_in_frame/pose_visual_in_frame.sdf b/sdformat_test_files/models/pose_visual_in_frame/pose_visual_in_frame.sdf new file mode 100644 index 00000000..0629790c --- /dev/null +++ b/sdformat_test_files/models/pose_visual_in_frame/pose_visual_in_frame.sdf @@ -0,0 +1,36 @@ + + + + + 0.05 0.1 0.2 0.1 0.2 0.3 + + + + 0.2 0.4 0.8 0.2 0.3 0.4 + + + 0.1 0.2 0.4 + + + + + + + 0.1 0.2 0.4 + + + + + 1.23 + + 0.0205 + 0 + 0 + 0.017425 + 0 + 0.005125 + + + + + diff --git a/sdformat_test_files/package.xml b/sdformat_test_files/package.xml new file mode 100644 index 00000000..76cfee60 --- /dev/null +++ b/sdformat_test_files/package.xml @@ -0,0 +1,23 @@ + + + sdformat_test_files + 0.1.0 + + Example SDFormat XML files for testing tools using hthis format. + + + Shane Loretz + Shane Loretz + + Apache 2.0 + + https://github.com/ros/sdformat_test_files + https://github.com/ros/sdformat_test_files/issues + + cmake + cmake + + + cmake + + diff --git a/sdformat_test_files/sdformat_test_filesConfig.cmake.in b/sdformat_test_files/sdformat_test_filesConfig.cmake.in new file mode 100644 index 00000000..b74b7626 --- /dev/null +++ b/sdformat_test_files/sdformat_test_filesConfig.cmake.in @@ -0,0 +1,7 @@ +@PACKAGE_INIT@ + +set_and_check(sdformat_test_files_MODELS_DIR "@PACKAGE_INSTALL_SHARE_DIR@/models") + +include("@PACKAGE_INSTALL_CMAKE_DIR@/sdformat_test_files_functions.cmake") + +check_required_components("sdformat_test_files") diff --git a/sdformat_test_files/sdformat_test_files_functions.cmake.in b/sdformat_test_files/sdformat_test_files_functions.cmake.in new file mode 100644 index 00000000..e6b21596 --- /dev/null +++ b/sdformat_test_files/sdformat_test_files_functions.cmake.in @@ -0,0 +1,32 @@ +# This file assumes sdformat_test_files_MODELS_DIR exists + +function(sdformat_test_files_has_model arg model_name) + set(known_model_names @model_names@) + foreach(known_model_name ${model_names}) + if("${model_name}" STREQUAL "${known_model_name") + set("${arg}" TRUE PARENT_SCOPE) + return() + endif() + endforeach() + set("${arg}" "${model_name}-NOTFOUND}" PARENT_SCOPE) +endfunction() + +# Get path to directory containing model.config for a model with the given name +function(sdformat_test_files_get_model_path arg model_name) + sdformat_test_files_has_model("has_model" "${model_name}") + if(NOT has_model) + message(FATAL_ERROR "Unknown model ${model_name}") + endif() + + set("${arg}" "${sdformat_test_files_MODELS_DIR}/${model_name}" PARENT_SCOPE) +endfunction() + +# Get path to .sdf for a model with the given name +function(sdformat_test_files_get_model_sdf arg model_name) + sdformat_test_files_has_model("has_model" "${model_name}") + if(NOT has_model) + message(FATAL_ERROR "Unknown model ${model_name}") + endif() + + set("${arg}" "${sdformat_test_files_MODELS_DIR}/${model_name}/${model_name}.sdf" PARENT_SCOPE) +endfunction() diff --git a/sdformat_urdf/CMakeLists.txt b/sdformat_urdf/CMakeLists.txt new file mode 100644 index 00000000..23f11ab7 --- /dev/null +++ b/sdformat_urdf/CMakeLists.txt @@ -0,0 +1,177 @@ +cmake_minimum_required(VERSION 3.5) + +project(sdformat_urdf) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual) +endif() + +find_package(ament_cmake_ros REQUIRED) + +find_package(pluginlib REQUIRED) +find_package(rcutils REQUIRED) +find_package(sdformat9 REQUIRED) +find_package(urdfdom_headers REQUIRED) +find_package(urdf_parser_plugin REQUIRED) +find_package(tinyxml2_vendor REQUIRED) +find_package(TinyXML2 REQUIRED) + +# Add sdformat_urdf shared library +add_library(sdformat_urdf SHARED + src/sdformat_urdf.cpp +) +target_link_libraries(sdformat_urdf PUBLIC + sdformat9::sdformat9 +) +target_link_libraries(sdformat_urdf PRIVATE + rcutils::rcutils +) +target_include_directories(sdformat_urdf + PUBLIC + "$" + "$" + ${urdfdom_headers_INCLUDE_DIRS} +) + +# Add sdformat_urdf_plugin module library +add_library(sdformat_urdf_plugin MODULE + src/sdformat_urdf_plugin.cpp +) +target_link_libraries(sdformat_urdf_plugin PRIVATE + pluginlib::pluginlib + rcutils::rcutils + sdformat_urdf + tinyxml2::tinyxml2 + urdf_parser_plugin::urdf_parser_plugin +) + +ament_export_dependencies(urdfdom_headers) +ament_export_dependencies(sdformat9) + +install(TARGETS sdformat_urdf EXPORT sdformat_urdf-export + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) +install(TARGETS sdformat_urdf_plugin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +install( + DIRECTORY include/ + DESTINATION include +) + +ament_export_targets(sdformat_urdf-export HAS_LIBRARY_TARGET) + +pluginlib_export_plugin_description_file(urdf_parser_plugin "sdformat_urdf_plugin.xml") + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + find_package(sdformat_test_files 0.1 REQUIRED) + ament_lint_auto_find_test_dependencies() + + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_box" "geometry_box") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_cylinder" "geometry_cylinder") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_heightmap" "geometry_heightmap") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_mesh_collada" "geometry_mesh_collada") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_mesh_obj" "geometry_mesh_obj") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_mesh_scaled" "geometry_mesh_scaled") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_mesh_stl" "geometry_mesh_stl") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_plane" "geometry_plane") + sdformat_test_files_get_model_sdf("path_to_sdf_geometry_sphere" "geometry_sphere") + sdformat_test_files_get_model_sdf("path_to_sdf_graph_chain" "graph_chain") + sdformat_test_files_get_model_sdf("path_to_sdf_graph_chain_non_canonical_root" "graph_chain_non_canonical_root") + sdformat_test_files_get_model_sdf("path_to_sdf_graph_four_bar" "graph_four_bar") + sdformat_test_files_get_model_sdf("path_to_sdf_graph_loop" "graph_loop") + sdformat_test_files_get_model_sdf("path_to_sdf_graph_tree" "graph_tree") + sdformat_test_files_get_model_sdf("path_to_sdf_graph_tree_non_canonical_root" "graph_tree_non_canonical_root") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_ball" "joint_ball") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_continuous" "joint_continuous") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_fixed" "joint_fixed") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_gearbox" "joint_gearbox") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_prismatic" "joint_prismatic") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_revolute" "joint_revolute") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_revolute2" "joint_revolute2") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_revolute_axis" "joint_revolute_axis") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_revolute_axis_in_frame" "joint_revolute_axis_in_frame") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_revolute_default_limits" "joint_revolute_default_limits") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_revolute_two_joints_two_links" "joint_revolute_two_joints_two_links") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_screw" "joint_screw") + sdformat_test_files_get_model_sdf("path_to_sdf_joint_universal" "joint_universal") + sdformat_test_files_get_model_sdf("path_to_sdf_link_inertia" "link_inertia") + sdformat_test_files_get_model_sdf("path_to_sdf_link_light_point" "link_light_point") + sdformat_test_files_get_model_sdf("path_to_sdf_link_multiple_collisions" "link_multiple_collisions") + sdformat_test_files_get_model_sdf("path_to_sdf_link_multiple_visuals" "link_multiple_visuals") + sdformat_test_files_get_model_sdf("path_to_sdf_link_sensor_imu" "link_sensor_imu") + sdformat_test_files_get_model_sdf("path_to_sdf_material_blinn_phong" "material_blinn_phong") + sdformat_test_files_get_model_sdf("path_to_sdf_material_dynamic_lights" "material_dynamic_lights") + sdformat_test_files_get_model_sdf("path_to_sdf_model_two_models" "model_two_models") + sdformat_test_files_get_model_sdf("path_to_sdf_model_zero_models" "model_zero_models") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_chain" "pose_chain") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_collision" "pose_collision") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_collision_in_frame" "pose_collision_in_frame") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_inertial" "pose_inertial") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_inertial_in_frame" "pose_inertial_in_frame") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_joint" "pose_joint") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_joint_all" "pose_joint_all") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_joint_in_frame" "pose_joint_in_frame") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_link" "pose_link") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_link_all" "pose_link_all") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_link_in_frame" "pose_link_in_frame") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_model" "pose_model") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_visual" "pose_visual") + sdformat_test_files_get_model_sdf("path_to_sdf_pose_visual_in_frame" "pose_visual_in_frame") + configure_file("test/sdf_paths.hpp.in" "${CMAKE_CURRENT_BINARY_DIR}/generated_includes/sdf_paths.hpp" @ONLY) + + ament_add_gtest(sdf_geometry_tests "test/geometry_tests.cpp") + target_link_libraries(sdf_geometry_tests sdformat_urdf) + target_include_directories(sdf_geometry_tests PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/test/include" + "${CMAKE_CURRENT_BINARY_DIR}/generated_includes") + + ament_add_gtest(sdf_graph_tests "test/graph_tests.cpp") + target_link_libraries(sdf_graph_tests sdformat_urdf) + target_include_directories(sdf_graph_tests PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/test/include" + "${CMAKE_CURRENT_BINARY_DIR}/generated_includes") + + ament_add_gtest(sdf_joint_tests "test/joint_tests.cpp") + target_link_libraries(sdf_joint_tests sdformat_urdf) + target_include_directories(sdf_joint_tests PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/test/include" + "${CMAKE_CURRENT_BINARY_DIR}/generated_includes") + + ament_add_gtest(sdf_link_tests "test/link_tests.cpp") + target_link_libraries(sdf_link_tests sdformat_urdf) + target_include_directories(sdf_link_tests PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/test/include" + "${CMAKE_CURRENT_BINARY_DIR}/generated_includes") + + ament_add_gtest(sdf_material_tests "test/material_tests.cpp") + target_link_libraries(sdf_material_tests sdformat_urdf) + target_include_directories(sdf_material_tests PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/test/include" + "${CMAKE_CURRENT_BINARY_DIR}/generated_includes") + + ament_add_gtest(sdf_model_tests "test/model_tests.cpp") + target_link_libraries(sdf_model_tests sdformat_urdf) + target_include_directories(sdf_model_tests PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/test/include" + "${CMAKE_CURRENT_BINARY_DIR}/generated_includes") + + ament_add_gtest(sdf_pose_tests "test/pose_tests.cpp") + target_link_libraries(sdf_pose_tests sdformat_urdf) + target_include_directories(sdf_pose_tests PRIVATE + "${CMAKE_CURRENT_SOURCE_DIR}/test/include" + "${CMAKE_CURRENT_BINARY_DIR}/generated_includes") + +endif() + +ament_package() diff --git a/sdformat_urdf/CONTRIBUTING.md b/sdformat_urdf/CONTRIBUTING.md new file mode 100644 index 00000000..cfba094d --- /dev/null +++ b/sdformat_urdf/CONTRIBUTING.md @@ -0,0 +1,18 @@ +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. 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