47 lines
2.1 KiB
Plaintext
47 lines
2.1 KiB
Plaintext
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<!-- Link -->
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<element name="link" required="*">
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<description>A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>A unique name for the link within the scope of the model.</description>
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</attribute>
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<element name="gravity" type="bool" default="true" required="0">
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<description>If true, the link is affected by gravity.</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 true, the link can collide with other links in the model. 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="kinematic" type="bool" default="false" required="0">
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<description>If true, the link is kinematic only</description>
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</element>
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<element name="must_be_base_link" type="bool" default="false" required="0">
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<description>If true, the link will have 6DOF and be a direct child of world.</description>
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</element>
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<element name="velocity_decay" required="0">
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<description>Exponential damping of the link's velocity.</description>
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<element name="linear" type="double" default="0.0" required="0">
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<description>Linear damping</description>
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</element>
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<element name="angular" type="double" default="0.0" required="0">
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<description>Angular damping</description>
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</element>
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</element> <!-- End velocity decay -->
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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="inertial.sdf" required="0"/>
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<include filename="collision.sdf" required="*"/>
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<include filename="visual.sdf" required="*"/>
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<include filename="sensor.sdf" required="*"/>
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<include filename="projector.sdf" required="*"/>
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<include filename="audio_sink.sdf" required="*"/>
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<include filename="audio_source.sdf" required="*"/>
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<include filename="battery.sdf" required="*"/>
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</element> <!-- End Link -->
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