29 lines
1.2 KiB
Plaintext
29 lines
1.2 KiB
Plaintext
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<!-- State Info -->
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<element name="state" required="*">
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<!-- Name of the world this state applies to -->
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<attribute name="world_name" type="string" default="__default__" required="1"/>
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<!-- Time stamp of the state [seconds nanoseconds] -->
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<attribute name="time" type="time" default="0 0" required="0"/>
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<!-- State information for a model -->
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<element name="model" required="+">
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<attribute name="name" type="string" default="__default__" required="1"/>
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<element name="pose" type="pose" default="0 0 0 0 0 0" required="1"/>
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<!-- State information for a link -->
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<element name="link" required="*">
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<attribute name="name" type="string" default="__default__" required="1"/>
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<element name="pose" type="pose" default="0 0 0 0 0 0" required="1"/>
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<element name="velocity" type="pose" default="0 0 0 0 0 0" required="0"/>
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<!-- Zero or more wrenches -->
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<element name="wrench" required="*">
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<element name="pos" type="vector3" default="0 0 0" required="0"/>
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<element name="mag" type="pose" default="0 0 0 0 0 0" required="1"/>
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</element>
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</element> <!-- End Link -->
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</element> <!-- End Model -->
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</element> <!-- End State -->
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