102 lines
3.5 KiB
Plaintext
102 lines
3.5 KiB
Plaintext
<!-- 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="sim_time" type="time" default="0 0" required="0">
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<description>Simulation time stamp of the state [seconds nanoseconds]</description>
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</element>
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<element name="wall_time" type="time" default="0 0" required="0">
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<description>Wall time stamp of the state [seconds nanoseconds]</description>
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</element>
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<element name="real_time" type="time" default="0 0" required="0">
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<description>Real time stamp of the state [seconds nanoseconds]</description>
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</element>
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<element name="insertions" required="0">
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<description>A list of new model names</description>
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<include filename="model.sdf" required="+"/>
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</element>
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<element name="deletions" required="0">
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<description>A list of deleted model names</description>
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<element name="name" type="string" default="__default__" required="+">
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<description>The name of a deleted model</description>
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</element>
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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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<element name="joint" required="*">
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<description>Joint angle</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>Name of the joint</description>
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</attribute>
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<element name="angle" type="double" default="0" required="+">
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<attribute name="axis" type="unsigned int" default="0" required="1">
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<description>Index of the axis.</description>
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</attribute>
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<description>Angle of an axis</description>
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</element>
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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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<element name="acceleration" type="pose"
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default="0 0 0 0 0 0" required="0">
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<description>Acceleration of the link</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 applied to the link</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 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>
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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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