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Add documentation for SDFormat/Gazebo extension to URDF #88

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merged 5 commits into from
Mar 23, 2023
Merged

Add documentation for SDFormat/Gazebo extension to URDF #88

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a674b6f
Add documentation for SDFormat/Gazebo extension to URDF
azeey Feb 16, 2023
3beee03
Reviewer feedback and other small edits
azeey Mar 16, 2023
9fd1a22
Correct description of the preserveFixedJoint parameter and add more
azeey Mar 16, 2023
8d1ad17
Address reviewer feedback
azeey Mar 22, 2023
1fa5044
Add example using material_visual_example.urdf
azeey Mar 22, 2023
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15 changes: 15 additions & 0 deletions manifest.xml
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Expand Up @@ -238,6 +238,20 @@
<skill>intermediate</skill>
</tutorial>

<tutorial title="SDFormat extensions to URDF (the 'gazebo' tag)" ref='sdformat_urdf_extensions' type='tutorial'>
<markdown version="1.6">urdf/sdf_extensions.md</markdown>
<description>
Describes how the "gazebo" tag can be used to extend URDF to include SDFormat content.

</description>
<tags>
<tag>model</tag>
<tag>urdf</tag>
<tag>gazebo</tag>
</tags>
<skill>intermediate</skill>
</tutorial>

<tutorial title="Proposal Procedure and Format" ref='proposal_format' type='documentation'>
<markdown version="1.7">developers/proposal_format.md</markdown>
<description>
Expand Down Expand Up @@ -297,6 +311,7 @@
<tutorial>pose_frame_semantics</tutorial>
<tutorial>composition</tutorial>
<tutorial>param_passing_tutorial</tutorial>
<tutorial>sdformat_urdf_extensions</tutorial>
</tutorials>
</category>

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37 changes: 37 additions & 0 deletions urdf/examples/disable_fixed_joint_lumping_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='disable_fixed_joint_lumping_example'>
<link name='base_link'>
<inertial>
<mass value='0.25' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="2"/>
</geometry>
</collision>
</link>
<joint name='j1' type='fixed'>
<parent link='base_link'/>
<child link='end_effector'/>
<origin xyz='0 0 1' rpy='0 0 0'/>
</joint>
<link name='end_effector'>
<inertial>
<mass value='0.25' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<visual>
<origin xyz="2 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="1" radius="2"/>
</geometry>
</visual>
</link>
<gazebo reference='j1'>
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>

34 changes: 34 additions & 0 deletions urdf/examples/fixed_joint_lumping_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='fixed_joint_lumping_example'>
<link name='base_link'>
<inertial>
<mass value='0.25' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="2"/>
</geometry>
</collision>
</link>
<joint name='j1' type='fixed'>
<parent link='base_link'/>
<child link='end_effector'/>
<origin xyz='0 0 1' rpy='0 0 0'/>
</joint>
<link name='end_effector'>
<inertial>
<mass value='0.25' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<visual>
<origin xyz="2 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="1" radius="2"/>
</geometry>
</visual>
</link>
</robot>

24 changes: 24 additions & 0 deletions urdf/examples/friction_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='friction_example'>
<link name='base_link'>
<inertial>
<mass value='0.12' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<collision>
<geometry>
<sphere radius="2"/>
</geometry>
</collision>
<collision>
<geometry>
<cylinder radius="1" length="2"/>
</geometry>
</collision>
</link>
<gazebo reference='base_link'>
<mu1>0.25</mu1>
</gazebo>
</robot>

26 changes: 26 additions & 0 deletions urdf/examples/joint_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='joint_example'>
<link name='base_link'>
<inertial>
<mass value='0.12' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='j1' type='continuous'>
<parent link='base_link'/>
<child link='end_effector'/>
<origin xyz='0 0 1' rpy='0 0 0'/>
</joint>
<link name='end_effector'>
<inertial>
<mass value='0.12' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<gazebo reference='j1'>
<springReference>0.5</springReference>
<springStiffness>0.25</springStiffness>
</gazebo>
</robot>

27 changes: 27 additions & 0 deletions urdf/examples/link_ref_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='link_ref_example'>
<link name='base_link'>
<inertial>
<mass value='0.1' />
<origin rpy='0 0 0' xyz='0 0 0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="2"/>
</geometry>
</collision>
</link>
<gazebo reference='base_link'>
<mu1>0.5</mu1> <!-- Will create collision/surface/friction/ode/mu -->

<!-- <light> is inserted directly into the link since it is not a special element -->
<light name="point_light" type="point">
<diffuse>1.0 1.0 1.0 1.0</diffuse>
<specular>0.1 0.1 0.1 1.0</specular>
</light>
</gazebo>
</robot>

19 changes: 19 additions & 0 deletions urdf/examples/material_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='material_example'>
<link name='base_link'>
<inertial>
<mass value='0.1' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<visual>
<geometry>
<sphere radius="2"/>
</geometry>
</visual>
</link>
<gazebo reference='base_link'>
<material>Gazebo/Orange</material>
</gazebo>
</robot>

23 changes: 23 additions & 0 deletions urdf/examples/material_visual_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='material_example'>
<link name='base_link'>
<inertial>
<mass value='0.12' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<visual>
<geometry>
<sphere radius="2"/>
</geometry>
</visual>
</link>
<gazebo reference='base_link'>
<visual>
<material>
<diffuse>0 0 1 1 </diffuse>
</material>
</visual>
</gazebo>
</robot>

10 changes: 10 additions & 0 deletions urdf/examples/no_ref_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='no_ref_example'>
<link name='world'/>
<gazebo>
<static>true</static>
<plugin name='testPlugin' filename='testFileName'/>
</gazebo>
</robot>

37 changes: 37 additions & 0 deletions urdf/examples/preserve_fixed_joint_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='preserve_fixed_joint_lumping_example'>
<link name='base_link'>
<inertial>
<mass value='0.25' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="2"/>
</geometry>
</collision>
</link>
<joint name='j1' type='fixed'>
<parent link='base_link'/>
<child link='end_effector'/>
<origin xyz='0 0 1' rpy='0 0 0'/>
</joint>
<link name='end_effector'>
<inertial>
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<inertia /> block is missing, which deviates from prior example

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Good catch. Changed in 8d1ad17. The resulting SDFormat now also has the end_effector_visual. Not sure why it was missing before.

<mass value='0.25' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<visual>
<origin xyz="2 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="1" radius="2"/>
</geometry>
</visual>
</link>
<gazebo reference='j1'>
<preserveFixedJoint>true</preserveFixedJoint>
</gazebo>
</robot>

27 changes: 27 additions & 0 deletions urdf/examples/visual_example.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<!--URDF-->
<robot name='visual_example'>
<link name='base_link'>
<inertial>
<mass value='0.12' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
<visual>
<geometry>
<sphere radius="2"/>
</geometry>
</visual>
<visual>
<origin xyz="2 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="1" radius="2"/>
</geometry>
</visual>
</link>
<gazebo reference='base_link'>
<visual>
<transparency>0.25</transparency>
</visual>
</gazebo>
</robot>

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