42 lines
1.8 KiB
Plaintext
42 lines
1.8 KiB
Plaintext
<!-- Link -->
|
|
<element name="link" required="+">
|
|
<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>
|
|
|
|
<attribute name="name" type="string" default="__default__" required="1">
|
|
<description>A unique name for the link within the scope of the model.</description>
|
|
</attribute>
|
|
|
|
<element name="gravity" type="bool" default="true" required="0">
|
|
<description>If true, the link is affected by gravity.</description>
|
|
</element>
|
|
|
|
<element name="self_collide" type="bool" default="false" required="0">
|
|
<description>If true, the link can collide with other links in the model.</description>
|
|
</element>
|
|
|
|
<element name="kinematic" type="bool" default="false" required="0">
|
|
<description>If true, the link is kinematic only</description>
|
|
</element>
|
|
|
|
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
|
|
<description>This is the pose of the link reference frame, relative to the model reference frame.</description>
|
|
</element>
|
|
|
|
<element name="velocity_decay" required="1">
|
|
<description>Exponential damping of the link's velocity.</description>
|
|
<element name="linear" type="double" default="0.0" required="1">
|
|
<description>Linear damping</description>
|
|
</element>
|
|
<element name="angular" type="double" default="0.0" required="1">
|
|
<description>Angular damping</description>
|
|
</element>
|
|
</element> <!-- End velocity decay -->
|
|
|
|
<include filename="inertial.sdf" required="0"/>
|
|
<include filename="collision.sdf" required="*"/>
|
|
<include filename="visual.sdf" required="*"/>
|
|
<include filename="sensor.sdf" required="*"/>
|
|
<include filename="projector.sdf" required="*"/>
|
|
|
|
</element> <!-- End Link -->
|