42 lines
1.6 KiB
Plaintext
42 lines
1.6 KiB
Plaintext
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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="velocity" type="pose" default="0 0 0 0 0 0" required="0">
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<description>Velocity of the link. The x, y, z components of the pose
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correspond to the linear velocity of the link, and the roll, pitch, yaw
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components correspond to the angular velocity of the link
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</description>
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</element>
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<element name="acceleration" type="pose" default="0 0 0 0 0 0" required="0">
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<description>Acceleration of the link. The x, y, z components of the pose
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correspond to the linear acceleration of the link, and the roll,
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pitch, yaw components correspond to the angular acceleration of the link
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</description>
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</element>
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<element name="wrench" type="pose" default="0 0 0 0 0 0" required="0">
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<description>Force and torque applied to the link. The x, y, z components
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of the pose correspond to the force applied to the link, and the roll,
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pitch, yaw components correspond to the torque applied to the link
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</description>
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</element>
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<element name="collision" required="*">
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<description>Collision state</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>Name of the collision</description>
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</attribute>
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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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</element> <!-- End Link -->
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