48 lines
2.0 KiB
Plaintext
48 lines
2.0 KiB
Plaintext
<!-- Link -->
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<element name="link" required="+">
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<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>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>A unique name for the link within the scope of the model.</description>
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</attribute>
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<element name="gravity" type="bool" default="true" required="0">
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<description>If true, the link is affected by gravity.</description>
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</element>
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<element name="self_collide" type="bool" default="false" required="0">
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<description>If true, the link can collide with other links in the model.</description>
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</element>
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<element name="kinematic" type="bool" default="false" required="0">
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<description>If true, the link is kinematic only</description>
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</element>
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<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
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<description>This is the pose of the link reference frame, relative to the model reference frame.</description>
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</element>
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<element name="must_be_base_link" type="bool" default="false" required="0">
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<description>If true, the link will have 6DOF and be a direct child of world.</description>
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</element>
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<element name="velocity_decay" required="1">
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<description>Exponential damping of the link's velocity.</description>
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<element name="linear" type="double" default="0.0" required="1">
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<description>Linear damping</description>
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</element>
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<element name="angular" type="double" default="0.0" required="1">
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<description>Angular damping</description>
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</element>
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</element> <!-- End velocity decay -->
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<include filename="inertial.sdf" required="0"/>
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<include filename="collision.sdf" required="*"/>
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<include filename="visual.sdf" required="*"/>
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<include filename="sensor.sdf" required="*"/>
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<include filename="projector.sdf" required="*"/>
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<include filename="audio_sink.sdf" required="*"/>
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<include filename="audio_source.sdf" required="*"/>
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</element> <!-- End Link -->
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