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SDF Builder

Pragmatic utility library for building SDF files, written in Python.

Why?

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.

Features

  • 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 Collision elements to your Links, Link.calculate_inertial() will set the correct inertia tensor for you.

Examples

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.

Notes

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!