54 lines
2.0 KiB
Plaintext
54 lines
2.0 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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<description>Name of the world this state applies to</description>
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</attribute>
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<element name="time" type="time" default="0 0" required="0">
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<description>Time stamp of the state [seconds nanoseconds]</description>
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</element>
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<!-- State information for a model -->
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<element name="model" required="+">
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<description>Model state</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>Name of the model</description>
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</attribute>
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<element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
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<description>Pose of the model</description>
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</element>
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<!-- State information for a link -->
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<element name="link" required="*">
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<description>Link state</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>Name of the link</description>
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</attribute>
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<element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
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<description>Pose of the link relative to the model</description>
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</element>
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<element name="velocity" type="pose" default="0 0 0 0 0 0" required="0">
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<description>Velocity of the link</description>
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</element>
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<!-- Zero or more wrenches -->
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<element name="wrench" required="*">
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<description>Force applied to the link</description>
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<element name="pos" type="vector3" default="0 0 0" required="0">
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<description>Position of the force.</description>
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</element>
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<element name="mag" type="pose" default="0 0 0 0 0 0" required="1">
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<description>Magnitude of the force.</description>
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</element>
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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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