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* first commit * first commit * Fixed conflicts again * Applied changes suggested by @jophab * Applied changes suggested by @jophab
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| { | ||
| "id": "urdf_cheat_sheet", | ||
| "name": "URDF", | ||
| "description": "Unified Robot Description Format (URDF), an XML format for representing a robot model", | ||
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| "metadata": { | ||
| "sourceName": "ROS wiki", | ||
| "sourceUrl" : "http://wiki.ros.org/urdf" | ||
| }, | ||
|
|
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| "aliases": [ | ||
| "unified robot description format" | ||
| ], | ||
|
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| "template_type": "code", | ||
|
|
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| "section_order": [ | ||
| "Joint Types", | ||
| "Joint Attributes", | ||
| "Joint Elements", | ||
| "Link Attributes", | ||
| "Link Elements" | ||
| ], | ||
|
|
||
| "sections": { | ||
| "Joint Types": [ | ||
| { | ||
| "key": "revolute", | ||
| "val": "1 limited revolute DOF" | ||
| }, | ||
| { | ||
| "key": "continuous", | ||
| "val": "1 revolute DOF" | ||
| }, | ||
| { | ||
| "key": "prismatic", | ||
| "val": "1 limited prismatic DOF" | ||
| }, | ||
| { | ||
| "key": "fixed", | ||
| "val": "0 DOF" | ||
| }, | ||
| { | ||
| "key": "floating", | ||
| "val": "6 DOF" | ||
| }, | ||
| { | ||
| "key": "planar", | ||
| "val": "2 DOF" | ||
| } | ||
| ], | ||
| "Joint Attributes": [ | ||
| { | ||
| "key": "name", | ||
| "val": "required" | ||
| }, | ||
| { | ||
| "key": "type", | ||
| "val": "required" | ||
| } | ||
| ], | ||
| "Link Attributes": [ | ||
| { | ||
| "key": "name", | ||
| "val": "required" | ||
| } | ||
| ], | ||
| "Joint Elements": [ | ||
| { | ||
| "key": "origin", | ||
| "val": "optional (defaults to origin)" | ||
| }, | ||
| { | ||
| "key": "parent", | ||
| "val": "required" | ||
| }, | ||
| { | ||
| "key": "child", | ||
| "val": "required" | ||
| }, | ||
| { | ||
| "key": "axis", | ||
| "val": "optional (defaults to (1,0,0))" | ||
| }, | ||
| { | ||
| "key": "calibration", | ||
| "val": "optional" | ||
| }, | ||
| { | ||
| "key": "dynamics", | ||
| "val": "optional" | ||
| }, | ||
| { | ||
| "key": "limit", | ||
| "val": "required only for revolute or prismatic joints" | ||
| }, | ||
| { | ||
| "key": "mimic", | ||
| "val": "optional" | ||
| }, | ||
| { | ||
| "key": "safety_controller", | ||
| "val": "optional" | ||
| } | ||
| ], | ||
| "Link Elements": [ | ||
| { | ||
| "key": "inertial", | ||
| "val": "optional" | ||
| }, | ||
| { | ||
| "key": "visual", | ||
| "val": "optional" | ||
| }, | ||
| { | ||
| "key": "collision", | ||
| "val": "optional" | ||
| } | ||
| ] | ||
| } | ||
| } |