pxmlw6n2f/sdformat_for_mpi/sdf/1.4/collision.sdf

25 lines
1.2 KiB
Plaintext
Raw Permalink Normal View History

2019-04-26 11:20:11 +08:00
<!-- Collision -->
<element name="collision" required="*">
<description>The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Unique name for the collision element within the scope of the parent link.</description>
</attribute>
<element name="laser_retro" type="double" default="0" required="0">
<description>intensity value returned by laser sensor.</description>
</element>
<element name="max_contacts" type="int" default="10" required="0">
<description>Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.</description>
</element>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
<description>The reference frame of the collision element, relative to the reference frame of the link.</description>
</element>
<include filename="geometry.sdf" required="1"/>
<include filename="surface.sdf" required="0"/>
</element> <!-- End Collision -->