Pragmatic utility library for building SDF files, written in Python.
Because writing SDF files manually causes a headache, changing little things often requires changes everywhere. SDF Builder simplifies this by allowing you to align elements with each other rather than positioning them absolutely.
- Wrappers over the most common SDF elements (well.. see examples)
- Simple vector math library based on good old
transformations.py - Item alignment, specify how two elements (links, collisions, etc) align with each other rather than setting their exact positions.
- Compound inertia tensors, just add positioned
Collisionelements to yourLinks,Link.calculate_inertial()will set the correct inertia tensor for you.
You can find some examples uses in the sdfbuilder/examples directory. The best
place to start is probably features.py which shows off a bunch of features at
the same time.
I wrote SDF Builder primarily for me, meaning it will be focused on features I found most useful. Of course I'd be happy to help other people out there use it, so if you have a feature request or find a bug, do not hesitate to create an issue!