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Support loading models from SDF (Simulation Description Format) #481
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This may be even more attractive with the recent developent of SDFormat 1.7, see the discussion in https://discourse.ros.org/t/sdformat-pose-frame-semantics-proposal/9852 . That adds some additional advantages:
|
SDF support would be an excellent addition, particularly with the new frame semantics feature. Beyond the comprehensive list of advantages your listed, I would add that we can directly use Moreover, upstream there's a SDF -> URDF converter in WIP that we could make use. |
Also loading meshes from relative paths (see https://bitbucket.org/osrf/sdformat/pull-requests/558) would be a great feature that currently the "official" URDF specs lacks (see #291). |
Related but different issue: support the export of SDF files: #835 . |
For a long time with iCub we used both the
URDF
format and theSDF
format to represent our robots, see for example the models available aticub-models
.We use
URDF
for our control software, while we useSDF
for Gazebo simulation.The reason for this duality were two:
As the problem with fixed joints was solved years ago ( https://bitbucket.org/osrf/sdformat/pull-requests/194 ), the boost dependency has been finally removed by migrating to C++17 (https://bitbucket.org/osrf/sdformat/pull-requests/438/removal-of-boost/diff), and there is ongoing work to support purely kinematic frames (https://bitbucket.org/osrf/sdformat/issues/200/support-multiple-frames-in-a-single-parent), it may be interesting to also (not replacing URDF) support for import and export of
iDynTree::Model
toSDF
.The advantages of SDF over URDF are the following:
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