pxmlw6n2f/sdformat_for_mpi/sdf/1.2/state.sdf

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<!-- State Info -->
<element name="state" required="*">
<!-- Name of the world this state applies to -->
<attribute name="world_name" type="string" default="__default__" required="1">
<description>Name of the world this state applies to</description>
</attribute>
<element name="time" type="time" default="0 0" required="0">
<description>Time stamp of the state [seconds nanoseconds]</description>
</element>
<!-- State information for a model -->
<element name="model" required="+">
<description>Model state</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Name of the model</description>
</attribute>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
<description>Pose of the model</description>
</element>
<!-- State information for a link -->
<element name="link" required="*">
<description>Link state</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Name of the link</description>
</attribute>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
<description>Pose of the link relative to the model</description>
</element>
<element name="velocity" type="pose" default="0 0 0 0 0 0" required="0">
<description>Velocity of the link</description>
</element>
<!-- Zero or more wrenches -->
<element name="wrench" required="*">
<description>Force applied to the link</description>
<element name="pos" type="vector3" default="0 0 0" required="0">
<description>Position of the force.</description>
</element>
<element name="mag" type="pose" default="0 0 0 0 0 0" required="1">
<description>Magnitude of the force.</description>
</element>
</element>
</element> <!-- End Link -->
</element> <!-- End Model -->
</element> <!-- End State -->