27 lines
1.3 KiB
Plaintext
27 lines
1.3 KiB
Plaintext
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<!-- Model -->
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<element name="model" required="*">
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<description>The model element defines a complete robot or any other physical object.</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>A unique name for the model. This name must not match another model in the world.</description>
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</attribute>
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<element name="static" type="bool" default="false" required="0">
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<description>If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine.</description>
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</element>
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<element name="allow_auto_disable" type="bool" default="true" required="0">
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<description>Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints.</description>
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</element>
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<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
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<description>A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame.</description>
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</element>
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<include filename="link.sdf" required="+"/>
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<include filename="joint.sdf" required="*"/>
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<include filename="plugin.sdf" required="*"/>
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<include filename="gripper.sdf" required="*"/>
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</element> <!-- End Model -->
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