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New Urdf Cheat Sheet Goodie (#4113) 

* first commit

* first commit

* Fixed conflicts again

* Applied changes suggested by @jophab

* Applied changes suggested by @jophab
master
Guillermo Urcera Martín 2017-08-27 23:46:10 +02:00 committed by Rob Emery
parent 694320533b
commit 6f820e8434
1 changed files with 121 additions and 0 deletions
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121
share/goodie/cheat_sheets/json/urdf.json Normal file
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{
"id": "urdf_cheat_sheet",
"name": "URDF",
"description": "Unified Robot Description Format (URDF), an XML format for representing a robot model",
"metadata": {
"sourceName": "ROS wiki",
"sourceUrl" : "http://wiki.ros.org/urdf"
},
"aliases": [
"unified robot description format"
],
"template_type": "code",
"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"
}
]
}
}