pxmlw6n2f/sdformat_for_mpi/sdf/1.6/visual.sdf

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<!-- Visual -->
<element name="visual" required="*">
<description>The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Unique name for the visual element within the scope of the parent link.</description>
</attribute>
<element name="cast_shadows" type="bool" default="true" required="0">
<description>If true the visual will cast shadows.</description>
</element>
<element name="laser_retro" type="double" default="0.0" required="0">
<description>will be implemented in the future release.</description>
</element>
<element name="transparency" type="double" default="0.0" required="0">
<description>The amount of transparency( 0=opaque, 1 = fully transparent)</description>
</element>
<element name="meta" required="0">
<description>Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user.</description>
<element name="layer" type="int" default="0" required="0">
<description>The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.</description>
</element>
</element>
<include filename="frame.sdf" required="*"/>
<include filename="pose.sdf" required="0"/>
<include filename="material.sdf" required="0"/>
<include filename="geometry.sdf" required="1"/>
<include filename="plugin.sdf" required="*"/>
</element> <!-- End Visual -->