机器人SDF模型写法官方例子

参考：SDFormat官方，里面会写有有什么元素<>可以写

SDF

<?xml version='1.0'?>
<sdf version='1.12'><world name='default'>...</world>
</sdf>or<?xml version='1.0'?>
<sdf version='1.12'><model name='my_model'>...</model>
</sdf>or <?xml version='1.0'?>
<sdf version='1.12'><actor name='my_actor'>...</actor>
</sdf>or<?xml version='1.0'?>
<sdf version='1.12'><light name='my_light'>...</light>
</sdf>

link

<?xml version="1.0" ?>
<sdf version="1.5"><model name="box"><pose>0 0 0.5 0 0 0</pose><static>false</static><link name="link"><pose>0 0 0 0 0 0</pose><inertial><inertia><ixx>1</ixx><ixy>0</ixy><ixz>0</ixz><iyy>1</iyy><iyz>0</iyz><izz>1</izz></inertia><mass>1.0</mass></inertial><collision name="my_collision">...</collision><visual name="my_visual">...</visual><sensor type="camera" name="my_sensor">...</sensor></link></model>
</sdf>

Collision

还有< surface>其中包括了< friction>，< bounce>，< contact>， < soft_contact>

	<collision name="collision"><pose>0 0 0.5 0 0 0</pose><geometry><box><size>1 1 1</size></box></geometry></collision>

visual

material等等

      <visual name="visual"><pose>0 0 0.5 0 0 0</pose><geometry><box><size>1 1 1</size></box></geometry></visual>

joint

<?xml version="1.0" ?>
<sdf version="1.5"><model name="box"><link name="link_1">...</link><link name="link_2">...</link><joint name="bar_12_joint" type="revolute"><parent>link_1</parent><child>link_2</child><pose>0 0.5 0 0 0 0</pose><axis><xyz>0 0 1</xyz></axis></joint></model>
</sdf>

sensor

<?xml version="1.0" ?>
<sdf version="1.5"><model name="box"><link name="link"><sensor type="camera" name="my_sensor"><camera><horizontal_fov>1.047</horizontal_fov><image><width>320</width><height>240</height></image><clip><near>0.1</near><far>100</far></clip></camera><always_on>1</always_on><update_rate>30</update_rate><visualize>true</visualize></sensor></link></model>
</sdf>

world

< wind>、< gravity>、< magnetic_field>、< atmosphere>、< gui>、< physics>等等

<?xml version="1.0" ?>
<sdf version="1.5"><world name="default"><physics type="ode">...</physics><scene>...</scene><model name="box">...</model><model name="sphere">...</model><light name="spotlight">...</light></world>
</sdf>