59 lines
3.1 KiB
Plaintext
59 lines
3.1 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="self_collide" type="bool" default="false" required="0">
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<description>If set to true, all links in the model will collide with each other (except those connected by a joint). Can be overridden by the link or collision element self_collide property. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide.</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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<include filename="frame.sdf" required="*"/>
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<include filename="pose.sdf" required="0"/>
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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 name="include" required="*">
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<description>Include resources from a URI. This can be used to nest models.</description>
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<element name="uri" type="string" default="__default__" required="1">
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<description>URI to a resource, such as a model</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>Override the pose of the included model. 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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<element name="name" type="string" default="" required="0">
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<description>Override the name of the included model.</description>
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</element>
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<element name="static" type="bool" default="false" required="0">
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<description>Override the static value of the included model.</description>
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</element>
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</element>
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<element name="model" ref="model" required="*">
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<description>A nested model element</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 nested model in the same level as this model.</description>
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</attribute>
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</element>
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<element name="enable_wind" type="bool" default="false" required="0">
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<description>If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.</description>
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</element>
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</element> <!-- End Model -->
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