20 lines
864 B
Plaintext
20 lines
864 B
Plaintext
|
<!-- Robot URDF -->
|
||
|
|
<element name="robot" required="*">
|
||
|
|
<description>The robot element defines a complete robot or any other physical object using URDF.</description>
|
||
|
|
|
||
|
|
<attribute name="name" type="string" default="__default__" required="1">
|
||
|
|
<description>A unique name for the model. This name must not match another model in the world.</description>
|
||
|
|
</attribute>
|
||
|
|
|
||
|
|
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
|
||
|
|
<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>
|
||
|
|
</element>
|
||
|
|
|
||
|
|
<include filename="link.sdf" required="+"/>
|
||
|
|
<include filename="joint.sdf" required="*"/>
|
||
|
|
<include filename="plugin.sdf" required="*"/>
|
||
|
|
<include filename="gripper.sdf" required="*"/>
|
||
|
|
|
||
|
|
</element> <!-- End Model -->
|
||
|
|
|