Inertial: The inertial element describes the dynamic properties of the link, such as mass and rotational inertia matrix. A link may contain 0 or more visual elements. Visual: A visual element is used to visualize parts of a link. A link may contain many collision elements. This can be a simple shape (which is preferred), or a triangle mesh (which consumes greater resources). Instead, create the table with 1 link and 5 collision elements.Ĭollision: A collision element encapsulates a geometry that is used for collision checking. However, this is overly complex, especially since the joints will never move. For example, a table model could consist of 5 links (4 for the legs and 1 for the top) connected via joints. Try to reduce the number of links in your models in order to improve performance and stability. Each link may contain many collision and visual elements. This can be a wheel, or a link in a joint chain. Links: A link contains the physical properties of one body of the model. This page will offer some tips on how to build your models.
Generating a model file can be difficult depending on the complexity of the desired model. It refers to the SDF tag, and is essentially a collection of links, joints, collision objects, visuals, and plugins. SDF Models can range from simple shapes to complex robots.
This tutorial describes the details of a SDF Model Object.
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