Metadata-Version: 2.1
Name: SDFUtils
Version: 0.0.1
Summary: Gazebo SDF utils 
Home-page: https://github.com/robobe/SDFUtils
Author: robobe, OSForLife
License: UNKNOWN
Description: # SDFUtils
        Gazebo SDF utils
        
        ## XACRO
        - properties
        - macro
        - include
        - pure python
        
        ## properties
        - declare variable to use by other sdf section
        
        
        ##### source sdf with xacro tags
        ```xml
        <sdf xmlns:xacro="http://xacro">
            <xacro:property name="width" value=".2" />
            <xacro:property name="bodylen" value=".6" />
            <xacro:property name="x" value="1" />
            <xacro:property name="y" value="2" />
            <xacro:property name="z" value="3" />
            <link name="base_link">
                <pose>${x} ${y} ${z} 0 0 0</pose>
                <visual>
                    <geometry>
                        <cylinder radius="${2*width}" length="${bodylen}" />
                    </geometry>
                </visual>
            </link>
        </sdf>
        ```
        ##### output sdf
        ```xml
        <sdf >
            <link name="base_link">
                <pose>1.0 2.0 3.0 0 0 0</pose>
                <visual>
                    <geometry>
                        <cylinder radius="0.4" length="0.6"/>
                    </geometry>
                </visual>
            </link>
        </sdf>
        ```
        
        ## include
        include other `xacro` files to use
        
        - `file://` : load files relative to sdf/xacro file
        - `package://` : load files from `helper` folder under script source folder
        
        ```xml
        <xacro:include uri="file://data.xacro" />
        <xacro:include uri="package://common.xacro" />
        <xacro:include uri="package://color.xacro" />
        ```
        
        - `data.xacro`: custom file hold data properties for example
        - `common.xacro`: common macro's like inertia and basic geometry
        - `color.xacro`: color and texture macro's
        
        ## pure python
        - use python inside your models, ident the same as in python (starting from column 0)!
        - store your needed variables in "return_values" dictionary and use them later in the model by the given keys.   
        
        ```xml
            <xacro:python>
            <![CDATA[
        import numpy as np 
        def foo(): 
            if 2 > 5: 
                return 5,4,3,2,1
            global np
            b = np.array([0,1])
            x = 3433
            y = 324
            z = 3
            m = 1
            return x,y,z,m,b
        temp = foo()
        return_values = {'x': temp[0], 'y': temp[1], 'z': temp[2], 'm': temp[3], 'b': temp[4]}
        ]]>
            </xacro:python> 
        ```
        
        
        ### common 
        #### macros
        - inertia_box
        - inertia_sphere
        - inertia_cylinder
        - geometry_cylinder
        - geometry_box
        - geometry_sphere
        
        ### color
        #### macro
        - color
        
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 3
Classifier: License :: OSI Approved :: GNU General Public License v3 (GPLv3)
Classifier: Operating System :: OS Independent
Requires-Python: >=3.5
Description-Content-Type: text/markdown
