38 lines
1.2 KiB
Plaintext
38 lines
1.2 KiB
Plaintext
<!-- 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="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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<element name="model" ref="model_state" required="*">
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<description>A nested model state element</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>
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<include filename="frame.sdf" required="*"/>
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<include filename="pose.sdf" required="0"/>
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<include filename="link_state.sdf" required="*"/>
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</element> <!-- End Model -->
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