SDFormat base element. Version number of the SDFormat specification. The world element encapsulates an entire world description including: models, scene, physics, joints, and plugins Unique name of the world Global audio properties. Device to use for audio playback. A value of "default" will use the system's default audio device. Otherwise, specify a an audio device file" Include resources from a URI URI to a resource, such as a model The physics tag specifies the type and properties of the dynamics engine. The type of the dynamics engine. Current options are ode, bullet, simbody and rtql8. Defaults to ode if left unspecified. Maximum time step size at which every system in simulation can interact with the states of the world. (was physics.sdf's dt). target simulation speedup factor, defined by ratio of simulation time to real-time. Rate at which to update the physics engine (UpdatePhysics calls per real-time second). (was physics.sdf's update_rate). Maximum number of contacts allowed between two entities. This value can be over ridden by a max_contacts element in a collision element. The gravity vector Simbody specific physics properties (Currently not used in simbody) The time duration which advances with each iteration of the dynamics engine, this has to be no bigger than max_step_size under physics block. If left unspecified, min_step_size defaults to max_step_size. Roughly the relative error of the system. -LOG(accuracy) is roughly the number of significant digits. Tolerable "slip" velocity allowed by the solver when static friction is supposed to hold object in place. Relationship among dissipation, coef. restitution, etc. d = dissipation coefficient (1/velocity) vc = capture velocity (velocity where e=e_max) vp = plastic velocity (smallest v where e=e_min) > vc Assume real COR=1 when v=0. e_min = given minimum COR, at v >= vp (a.k.a. plastic_coef_restitution) d = slope = (1-e_min)/vp OR, e_min = 1 - d*vp e_max = maximum COR = 1-d*vc, reached at v=vc e = 0, v <= vc = 1 - d*v, vc < v < vp = e_min, v >= vp dissipation factor = d*min(v,vp) [compliant] cor = e [rigid] Combining rule e = 0, e1==e2==0 = 2*e1*e2/(e1+e2), otherwise Default contact material stiffness (force/dist or torque/radian). dissipation coefficient to be used in compliant contact; if not given it is (1-min_cor)/plastic_impact_velocity this is the COR to be used at high velocities for rigid impacts; if not given it is 1 - dissipation*plastic_impact_velocity smallest impact velocity at which min COR is reached; set to zero if you want the min COR always to be used static friction (mu_s) as described by this plot: http://gazebosim.org/wiki/File:Stribeck_friction.png dynamic friction (mu_d) as described by this plot: http://gazebosim.org/wiki/File:Stribeck_friction.png viscous friction (mu_v) with units of (1/velocity) as described by this plot: http://gazebosim.org/wiki/File:Stribeck_friction.png for rigid impacts only, impact velocity at which COR is set to zero; normally inherited from global default but can be overridden here. Combining rule: use larger velocity This is the largest slip velocity at which we'll consider a transition to stiction. Normally inherited from a global default setting. For a continuous friction model this is the velocity at which the max static friction force is reached. Combining rule: use larger velocity Bullet specific physics properties One of the following types: sequential_impulse only. The time duration which advances with each iteration of the dynamics engine, this has to be no bigger than max_step_size under physics block. If left unspecified, min_step_size defaults to max_step_size. Number of iterations for each step. A higher number produces greater accuracy at a performance cost. Set the successive over-relaxation parameter. Bullet constraint parameters. Constraint force mixing parameter. See the ODE page for more information. Error reduction parameter. See the ODE page for more information. The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken. Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. ODE specific physics properties One of the following types: world, quick The time duration which advances with each iteration of the dynamics engine, this has to be no bigger than max_step_size under physics block. If left unspecified, min_step_size defaults to max_step_size. Number of iterations for each step. A higher number produces greater accuracy at a performance cost. Experimental parameter. Set the successive over-relaxation parameter. Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. https://bitbucket.org/osrf/gazebo/pull-request/1114 ODE constraint parameters. Constraint force mixing parameter. See the ODE page for more information. Error reduction parameter. See the ODE page for more information. The maximum correcting velocities allowed when resolving contacts. The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken. Specifies the look of the environment. Color of the ambient light. Color of the background. Properties for the sky Time of day [0..24] Sunrise time [0..24] Sunset time [0..24] Sunset time [0..24] Speed of the clouds Direction of the cloud movement Density of clouds Average size of the clouds Ambient cloud color Enable/disable shadows Controls fog Fog color Fog type: constant, linear, quadratic Distance to start of fog Distance to end of fog Density of fog Enable/disable the grid The light element describes a light source. A unique name for the light. The light type: point, directional, spot. When true, the light will cast shadows. A position and orientation in the global coordinate frame for the light. Diffuse light color Specular light color Light attenuation Range of the light The linear attenuation factor: 1 means attenuate evenly over the distance. The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation. The quadratic attenuation factor: adds a curvature to the attenuation. Direction of the light, only applicable for spot and directional lights. Spot light parameters Angle covered by the bright inner cone Angle covered by the outer cone The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff. The model element defines a complete robot or any other physical object. A unique name for the model. This name must not match another model in the world. If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints. A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame. 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. A unique name for the link within the scope of the model. If true, the link is affected by gravity. If true, the link can collide with other links in the model. If true, the link is kinematic only This is the pose of the link reference frame, relative to the model reference frame. If true, the link will have 6DOF and be a direct child of world. Exponential damping of the link's velocity. Linear damping Angular damping The inertial properties of the link. The mass of the link. This is the pose of the inertial reference frame, relative to the link reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia. The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz. The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time. Unique name for the collision element within the scope of the parent link. intensity value returned by laser sensor. Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics. The reference frame of the collision element, relative to the reference frame of the link. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere The surface parameters Bounciness coefficient of restitution, from [0...1], where 0=no bounciness. Bounce capture velocity, below which effective coefficient of restitution is 0. ODE friction parameters Coefficient of friction in the range of [0..1]. Second coefficient of friction in the range of [0..1] 3-tuple specifying direction of mu1 in the collision local reference frame. Force dependent slip direction 1 in collision local frame, between the range of [0..1]. Force dependent slip direction 2 in collision local frame, between the range of [0..1]. Coefficient of friction in the range of [0..1]. Coefficient of friction in the range of [0..1]. 3-tuple specifying direction of mu1 in the collision local reference frame. coefficient of friction in the range of [0..1] Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. Bitmask for collision filtering when collide_without_contact is on Bitmask for collision filtering. This will override collide_without_contact ODE contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints maximum contact correction velocity truncation term. minimum allowable depth before contact correction impulse is applied Bullet contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf This is variable k_v in the soft contacts paper. Its unit is N/m. This is variable k_e in the soft contacts paper. Its unit is N/m. Viscous damping of point velocity in body frame. Its unit is N/m/s. Fraction of mass to be distributed among deformable nodes. The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes. Unique name for the visual element within the scope of the parent link. If true the visual will cast shadows. will be implemented in the future release. The amount of transparency( 0=opaque, 1 = fully transparent) The reference frame of the visual element, relative to the reference frame of the link. The material of the visual element. Name of material from an installed script file. This will override the color element if the script exists. URI of the material script file Name of the script within the script file vertex, pixel, normal_map_objectspace, normal_map_tangentspace filename of the normal map If false, dynamic lighting will be disabled The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. Name of the projector Texture name Pose of the projector Field of view Near clip distance far clip distance A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. An audio sink. An audio source. URI of the audio media. Pitch for the audio media, in Hz Gain for the audio media, in dB. List of collision objects that will trigger audio playback. Name of child collision element that will trigger audio playback. True to make the audio source loop playback. A position and orientation in the parent coordinate frame for the audio source. Position(x,y,z) and rotation (roll, pitch yaw) in the parent coordinate frame. A joint connections two links with kinematic and dynamic properties. A unique name for the joint within the scope of the model. The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible. Name of the parent link Name of the child link offset from child link origin in child link frame. Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1. Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element. Parameter for screw joints. The joint axis specified in the parent model frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. The physical static friction value of the joint. specifies the limits of this joint An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Support physics engines: SimBody. Joint stop dissipation. The second joint axis specified in the parent model frame. This is the second axis of rotation for revolute2 joints and universal joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used. The physical static friction value of the joint. An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Supported physics engines: SimBody. Joint stop dissipation. Supported physics engines: SimBody. Parameters that are specific to a certain physics engine. Simbody specific parameters Force cut in the multibody graph at this joint. ODE specific parameters (DEPRECATION WARNING: In SDFormat 1.5 this tag will be replaced by the same tag directly under the physics-block. For now, this tag overrides the one outside of ode-block, but in SDFormat 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint. If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4. Scale the excess for in a joint motor at joint limits. Should be between zero and one. Constraint force mixing for constrained directions Error reduction parameter for constrained directions Bounciness of the limits Maximum force or torque used to reach the desired velocity. The desired velocity of the joint. Should only be set if you want the joint to move on load. Constraint force mixing parameter used by the joint stop Error reduction parameter used by the joint stop Suspension constraint force mixing parameter Suspension error reduction parameter If provide feedback is set to true, physics engine will compute the constraint forces at this joint. For now, provide_feedback under ode block will override this tag and given user warning about the migration. provide_feedback under ode is scheduled to be removed in SDFormat 1.5. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. Origin of the actor 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. A unique name for the link within the scope of the model. If true, the link is affected by gravity. If true, the link can collide with other links in the model. If true, the link is kinematic only This is the pose of the link reference frame, relative to the model reference frame. If true, the link will have 6DOF and be a direct child of world. Exponential damping of the link's velocity. Linear damping Angular damping The inertial properties of the link. The mass of the link. This is the pose of the inertial reference frame, relative to the link reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia. The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz. The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time. Unique name for the collision element within the scope of the parent link. intensity value returned by laser sensor. Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics. The reference frame of the collision element, relative to the reference frame of the link. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere The surface parameters Bounciness coefficient of restitution, from [0...1], where 0=no bounciness. Bounce capture velocity, below which effective coefficient of restitution is 0. ODE friction parameters Coefficient of friction in the range of [0..1]. Second coefficient of friction in the range of [0..1] 3-tuple specifying direction of mu1 in the collision local reference frame. Force dependent slip direction 1 in collision local frame, between the range of [0..1]. Force dependent slip direction 2 in collision local frame, between the range of [0..1]. Coefficient of friction in the range of [0..1]. Coefficient of friction in the range of [0..1]. 3-tuple specifying direction of mu1 in the collision local reference frame. coefficient of friction in the range of [0..1] Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. Bitmask for collision filtering when collide_without_contact is on Bitmask for collision filtering. This will override collide_without_contact ODE contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints maximum contact correction velocity truncation term. minimum allowable depth before contact correction impulse is applied Bullet contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf This is variable k_v in the soft contacts paper. Its unit is N/m. This is variable k_e in the soft contacts paper. Its unit is N/m. Viscous damping of point velocity in body frame. Its unit is N/m/s. Fraction of mass to be distributed among deformable nodes. The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes. Unique name for the visual element within the scope of the parent link. If true the visual will cast shadows. will be implemented in the future release. The amount of transparency( 0=opaque, 1 = fully transparent) The reference frame of the visual element, relative to the reference frame of the link. The material of the visual element. Name of material from an installed script file. This will override the color element if the script exists. URI of the material script file Name of the script within the script file vertex, pixel, normal_map_objectspace, normal_map_tangentspace filename of the normal map If false, dynamic lighting will be disabled The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. Name of the projector Texture name Pose of the projector Field of view Near clip distance far clip distance A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. An audio sink. An audio source. URI of the audio media. Pitch for the audio media, in Hz Gain for the audio media, in dB. List of collision objects that will trigger audio playback. Name of child collision element that will trigger audio playback. True to make the audio source loop playback. A position and orientation in the parent coordinate frame for the audio source. Position(x,y,z) and rotation (roll, pitch yaw) in the parent coordinate frame. A joint connections two links with kinematic and dynamic properties. A unique name for the joint within the scope of the model. The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible. Name of the parent link Name of the child link offset from child link origin in child link frame. Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1. Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element. Parameter for screw joints. The joint axis specified in the parent model frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. The physical static friction value of the joint. specifies the limits of this joint An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Support physics engines: SimBody. Joint stop dissipation. The second joint axis specified in the parent model frame. This is the second axis of rotation for revolute2 joints and universal joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used. The physical static friction value of the joint. An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Supported physics engines: SimBody. Joint stop dissipation. Supported physics engines: SimBody. Parameters that are specific to a certain physics engine. Simbody specific parameters Force cut in the multibody graph at this joint. ODE specific parameters (DEPRECATION WARNING: In SDFormat 1.5 this tag will be replaced by the same tag directly under the physics-block. For now, this tag overrides the one outside of ode-block, but in SDFormat 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint. If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4. Scale the excess for in a joint motor at joint limits. Should be between zero and one. Constraint force mixing for constrained directions Error reduction parameter for constrained directions Bounciness of the limits Maximum force or torque used to reach the desired velocity. The desired velocity of the joint. Should only be set if you want the joint to move on load. Constraint force mixing parameter used by the joint stop Error reduction parameter used by the joint stop Suspension constraint force mixing parameter Suspension error reduction parameter If provide feedback is set to true, physics engine will compute the constraint forces at this joint. For now, provide_feedback under ode block will override this tag and given user warning about the migration. provide_feedback under ode is scheduled to be removed in SDFormat 1.5. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. A joint connections two links with kinematic and dynamic properties. A unique name for the joint within the scope of the model. The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible. Name of the parent link Name of the child link offset from child link origin in child link frame. Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1. Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element. Parameter for screw joints. The joint axis specified in the parent model frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. The physical static friction value of the joint. specifies the limits of this joint An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Support physics engines: SimBody. Joint stop dissipation. The second joint axis specified in the parent model frame. This is the second axis of rotation for revolute2 joints and universal joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used. The physical static friction value of the joint. An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Supported physics engines: SimBody. Joint stop dissipation. Supported physics engines: SimBody. Parameters that are specific to a certain physics engine. Simbody specific parameters Force cut in the multibody graph at this joint. ODE specific parameters (DEPRECATION WARNING: In SDFormat 1.5 this tag will be replaced by the same tag directly under the physics-block. For now, this tag overrides the one outside of ode-block, but in SDFormat 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint. If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4. Scale the excess for in a joint motor at joint limits. Should be between zero and one. Constraint force mixing for constrained directions Error reduction parameter for constrained directions Bounciness of the limits Maximum force or torque used to reach the desired velocity. The desired velocity of the joint. Should only be set if you want the joint to move on load. Constraint force mixing parameter used by the joint stop Error reduction parameter used by the joint stop Suspension constraint force mixing parameter Suspension error reduction parameter If provide feedback is set to true, physics engine will compute the constraint forces at this joint. For now, provide_feedback under ode block will override this tag and given user warning about the migration. provide_feedback under ode is scheduled to be removed in SDFormat 1.5. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. Name of the road Width of the road A series of points define the path of the road. Name of planetary surface model, used to determine the surface altitude at a given latitude and longitude. The default is an ellipsoid model of the earth based on the WGS-84 standard. It is used in Gazebo's GPS sensor implementation. Geodetic latitude at origin of gazebo reference frame, specified in units of degrees. Longitude at origin of gazebo reference frame, specified in units of degrees. Elevation of origin of gazebo reference frame, specified in meters. Heading offset of gazebo reference frame, measured as angle between East and gazebo x axis, or equivalently, the angle between North and gazebo y axis. The angle is specified in degrees. Name of the world this state applies to Simulation time stamp of the state [seconds nanoseconds] Wall time stamp of the state [seconds nanoseconds] Real time stamp of the state [seconds nanoseconds] A list of new model names The model element defines a complete robot or any other physical object. A unique name for the model. This name must not match another model in the world. If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints. A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame. 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. A unique name for the link within the scope of the model. If true, the link is affected by gravity. If true, the link can collide with other links in the model. If true, the link is kinematic only This is the pose of the link reference frame, relative to the model reference frame. If true, the link will have 6DOF and be a direct child of world. Exponential damping of the link's velocity. Linear damping Angular damping The inertial properties of the link. The mass of the link. This is the pose of the inertial reference frame, relative to the link reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia. The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz. The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time. Unique name for the collision element within the scope of the parent link. intensity value returned by laser sensor. Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics. The reference frame of the collision element, relative to the reference frame of the link. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere The surface parameters Bounciness coefficient of restitution, from [0...1], where 0=no bounciness. Bounce capture velocity, below which effective coefficient of restitution is 0. ODE friction parameters Coefficient of friction in the range of [0..1]. Second coefficient of friction in the range of [0..1] 3-tuple specifying direction of mu1 in the collision local reference frame. Force dependent slip direction 1 in collision local frame, between the range of [0..1]. Force dependent slip direction 2 in collision local frame, between the range of [0..1]. Coefficient of friction in the range of [0..1]. Coefficient of friction in the range of [0..1]. 3-tuple specifying direction of mu1 in the collision local reference frame. coefficient of friction in the range of [0..1] Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. Bitmask for collision filtering when collide_without_contact is on Bitmask for collision filtering. This will override collide_without_contact ODE contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints maximum contact correction velocity truncation term. minimum allowable depth before contact correction impulse is applied Bullet contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf This is variable k_v in the soft contacts paper. Its unit is N/m. This is variable k_e in the soft contacts paper. Its unit is N/m. Viscous damping of point velocity in body frame. Its unit is N/m/s. Fraction of mass to be distributed among deformable nodes. The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes. Unique name for the visual element within the scope of the parent link. If true the visual will cast shadows. will be implemented in the future release. The amount of transparency( 0=opaque, 1 = fully transparent) The reference frame of the visual element, relative to the reference frame of the link. The material of the visual element. Name of material from an installed script file. This will override the color element if the script exists. URI of the material script file Name of the script within the script file vertex, pixel, normal_map_objectspace, normal_map_tangentspace filename of the normal map If false, dynamic lighting will be disabled The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. Name of the projector Texture name Pose of the projector Field of view Near clip distance far clip distance A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. An audio sink. An audio source. URI of the audio media. Pitch for the audio media, in Hz Gain for the audio media, in dB. List of collision objects that will trigger audio playback. Name of child collision element that will trigger audio playback. True to make the audio source loop playback. A position and orientation in the parent coordinate frame for the audio source. Position(x,y,z) and rotation (roll, pitch yaw) in the parent coordinate frame. A joint connections two links with kinematic and dynamic properties. A unique name for the joint within the scope of the model. The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible. Name of the parent link Name of the child link offset from child link origin in child link frame. Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1. Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element. Parameter for screw joints. The joint axis specified in the parent model frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. The physical static friction value of the joint. specifies the limits of this joint An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Support physics engines: SimBody. Joint stop dissipation. The second joint axis specified in the parent model frame. This is the second axis of rotation for revolute2 joints and universal joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used. The physical static friction value of the joint. An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Supported physics engines: SimBody. Joint stop dissipation. Supported physics engines: SimBody. Parameters that are specific to a certain physics engine. Simbody specific parameters Force cut in the multibody graph at this joint. ODE specific parameters (DEPRECATION WARNING: In SDFormat 1.5 this tag will be replaced by the same tag directly under the physics-block. For now, this tag overrides the one outside of ode-block, but in SDFormat 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint. If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4. Scale the excess for in a joint motor at joint limits. Should be between zero and one. Constraint force mixing for constrained directions Error reduction parameter for constrained directions Bounciness of the limits Maximum force or torque used to reach the desired velocity. The desired velocity of the joint. Should only be set if you want the joint to move on load. Constraint force mixing parameter used by the joint stop Error reduction parameter used by the joint stop Suspension constraint force mixing parameter Suspension error reduction parameter If provide feedback is set to true, physics engine will compute the constraint forces at this joint. For now, provide_feedback under ode block will override this tag and given user warning about the migration. provide_feedback under ode is scheduled to be removed in SDFormat 1.5. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. A list of deleted model names The name of a deleted model Model state Name of the model Pose of the model Joint angle Name of the joint Angle of an axis Index of the axis. Link state Name of the link Pose of the link relative to the model Velocity of the link Acceleration of the link Force applied to the link Collision state Name of the collision Pose of the link relative to the model The model element defines a complete robot or any other physical object. A unique name for the model. This name must not match another model in the world. If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints. A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame. 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. A unique name for the link within the scope of the model. If true, the link is affected by gravity. If true, the link can collide with other links in the model. If true, the link is kinematic only This is the pose of the link reference frame, relative to the model reference frame. If true, the link will have 6DOF and be a direct child of world. Exponential damping of the link's velocity. Linear damping Angular damping The inertial properties of the link. The mass of the link. This is the pose of the inertial reference frame, relative to the link reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia. The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz. The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time. Unique name for the collision element within the scope of the parent link. intensity value returned by laser sensor. Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics. The reference frame of the collision element, relative to the reference frame of the link. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere The surface parameters Bounciness coefficient of restitution, from [0...1], where 0=no bounciness. Bounce capture velocity, below which effective coefficient of restitution is 0. ODE friction parameters Coefficient of friction in the range of [0..1]. Second coefficient of friction in the range of [0..1] 3-tuple specifying direction of mu1 in the collision local reference frame. Force dependent slip direction 1 in collision local frame, between the range of [0..1]. Force dependent slip direction 2 in collision local frame, between the range of [0..1]. Coefficient of friction in the range of [0..1]. Coefficient of friction in the range of [0..1]. 3-tuple specifying direction of mu1 in the collision local reference frame. coefficient of friction in the range of [0..1] Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. Bitmask for collision filtering when collide_without_contact is on Bitmask for collision filtering. This will override collide_without_contact ODE contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints maximum contact correction velocity truncation term. minimum allowable depth before contact correction impulse is applied Bullet contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf This is variable k_v in the soft contacts paper. Its unit is N/m. This is variable k_e in the soft contacts paper. Its unit is N/m. Viscous damping of point velocity in body frame. Its unit is N/m/s. Fraction of mass to be distributed among deformable nodes. The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes. Unique name for the visual element within the scope of the parent link. If true the visual will cast shadows. will be implemented in the future release. The amount of transparency( 0=opaque, 1 = fully transparent) The reference frame of the visual element, relative to the reference frame of the link. The material of the visual element. Name of material from an installed script file. This will override the color element if the script exists. URI of the material script file Name of the script within the script file vertex, pixel, normal_map_objectspace, normal_map_tangentspace filename of the normal map If false, dynamic lighting will be disabled The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. Name of the projector Texture name Pose of the projector Field of view Near clip distance far clip distance A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. An audio sink. An audio source. URI of the audio media. Pitch for the audio media, in Hz Gain for the audio media, in dB. List of collision objects that will trigger audio playback. Name of child collision element that will trigger audio playback. True to make the audio source loop playback. A position and orientation in the parent coordinate frame for the audio source. Position(x,y,z) and rotation (roll, pitch yaw) in the parent coordinate frame. A joint connections two links with kinematic and dynamic properties. A unique name for the joint within the scope of the model. The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible. Name of the parent link Name of the child link offset from child link origin in child link frame. Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1. Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element. Parameter for screw joints. The joint axis specified in the parent model frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. The physical static friction value of the joint. specifies the limits of this joint An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Support physics engines: SimBody. Joint stop dissipation. The second joint axis specified in the parent model frame. This is the second axis of rotation for revolute2 joints and universal joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used. The physical static friction value of the joint. An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Supported physics engines: SimBody. Joint stop dissipation. Supported physics engines: SimBody. Parameters that are specific to a certain physics engine. Simbody specific parameters Force cut in the multibody graph at this joint. ODE specific parameters (DEPRECATION WARNING: In SDFormat 1.5 this tag will be replaced by the same tag directly under the physics-block. For now, this tag overrides the one outside of ode-block, but in SDFormat 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint. If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4. Scale the excess for in a joint motor at joint limits. Should be between zero and one. Constraint force mixing for constrained directions Error reduction parameter for constrained directions Bounciness of the limits Maximum force or torque used to reach the desired velocity. The desired velocity of the joint. Should only be set if you want the joint to move on load. Constraint force mixing parameter used by the joint stop Error reduction parameter used by the joint stop Suspension constraint force mixing parameter Suspension error reduction parameter If provide feedback is set to true, physics engine will compute the constraint forces at this joint. For now, provide_feedback under ode block will override this tag and given user warning about the migration. provide_feedback under ode is scheduled to be removed in SDFormat 1.5. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. Origin of the actor 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. A unique name for the link within the scope of the model. If true, the link is affected by gravity. If true, the link can collide with other links in the model. If true, the link is kinematic only This is the pose of the link reference frame, relative to the model reference frame. If true, the link will have 6DOF and be a direct child of world. Exponential damping of the link's velocity. Linear damping Angular damping The inertial properties of the link. The mass of the link. This is the pose of the inertial reference frame, relative to the link reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia. The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz. The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time. Unique name for the collision element within the scope of the parent link. intensity value returned by laser sensor. Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics. The reference frame of the collision element, relative to the reference frame of the link. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere The surface parameters Bounciness coefficient of restitution, from [0...1], where 0=no bounciness. Bounce capture velocity, below which effective coefficient of restitution is 0. ODE friction parameters Coefficient of friction in the range of [0..1]. Second coefficient of friction in the range of [0..1] 3-tuple specifying direction of mu1 in the collision local reference frame. Force dependent slip direction 1 in collision local frame, between the range of [0..1]. Force dependent slip direction 2 in collision local frame, between the range of [0..1]. Coefficient of friction in the range of [0..1]. Coefficient of friction in the range of [0..1]. 3-tuple specifying direction of mu1 in the collision local reference frame. coefficient of friction in the range of [0..1] Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. Bitmask for collision filtering when collide_without_contact is on Bitmask for collision filtering. This will override collide_without_contact ODE contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints maximum contact correction velocity truncation term. minimum allowable depth before contact correction impulse is applied Bullet contact parameters Soft constraint force mixing. Soft error reduction parameter dynamically "stiffness"-equivalent coefficient for contact joints dynamically "damping"-equivalent coefficient for contact joints Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. soft contact pamameters based on paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf This is variable k_v in the soft contacts paper. Its unit is N/m. This is variable k_e in the soft contacts paper. Its unit is N/m. Viscous damping of point velocity in body frame. Its unit is N/m/s. Fraction of mass to be distributed among deformable nodes. The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes. Unique name for the visual element within the scope of the parent link. If true the visual will cast shadows. will be implemented in the future release. The amount of transparency( 0=opaque, 1 = fully transparent) The reference frame of the visual element, relative to the reference frame of the link. The material of the visual element. Name of material from an installed script file. This will override the color element if the script exists. URI of the material script file Name of the script within the script file vertex, pixel, normal_map_objectspace, normal_map_tangentspace filename of the normal map If false, dynamic lighting will be disabled The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1]. The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1]. The shape of the visual or collision object. You can use the empty tag to make empty geometries. Box shape The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box). Cylinder shape Radius of the cylinder Length of the cylinder A heightmap based on a 2d grayscale image. URI to a grayscale image file The size of the heightmap in world units. When loading an image: "size" is used if present, otherwise defaults to 1x1x1. When loading a DEM: "size" is used if present, otherwise defaults to true size of DEM. A position offset. The heightmap can contain multiple textures. The order of the texture matters. The first texture will appear at the lowest height, and the last texture at the highest height. Use blend to control the height thresholds and fade between textures. Size of the applied texture in meters. Diffuse texture image filename Normalmap texture image filename The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures. Min height of a blend layer Distance over which the blend occurs Set if the rendering engine will use terrain paging Extrude a set of boxes from a grayscale image. URI of the grayscale image file Scaling factor applied to the image Grayscale threshold Height of the extruded boxes The amount of error in the model Mesh shape Mesh uri Use a named submesh. The submesh must exist in the mesh specified by the uri Name of the submesh within the parent mesh Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied. Scaling factor applied to the mesh Plane shape Normal direction for the plane Length of each side of the plane Sphere shape radius of the sphere A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. Name of the projector Texture name Pose of the projector Field of view Near clip distance far clip distance A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. An audio sink. An audio source. URI of the audio media. Pitch for the audio media, in Hz Gain for the audio media, in dB. List of collision objects that will trigger audio playback. Name of child collision element that will trigger audio playback. True to make the audio source loop playback. A position and orientation in the parent coordinate frame for the audio source. Position(x,y,z) and rotation (roll, pitch yaw) in the parent coordinate frame. A joint connections two links with kinematic and dynamic properties. A unique name for the joint within the scope of the model. The type of joint, which must be one of the following: (revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible. Name of the parent link Name of the child link offset from child link origin in child link frame. Parameter for gearbox joints. Given theta_1 and theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1. Parameter for gearbox joints. Gearbox ratio is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element. Parameter for screw joints. The joint axis specified in the parent model frame. This is the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. The physical static friction value of the joint. specifies the limits of this joint An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Support physics engines: SimBody. Joint stop dissipation. The second joint axis specified in the parent model frame. This is the second axis of rotation for revolute2 joints and universal joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494). Represents the x,y,z components of a vector. The vector should be normalized. An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation. The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and implicit_spring_damper is true, adaptive damping is used. The physical static friction value of the joint. An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous. An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative. (not implemented) An attribute for enforcing the maximum joint velocity. Joint stop stiffness. Supported physics engines: SimBody. Joint stop dissipation. Supported physics engines: SimBody. Parameters that are specific to a certain physics engine. Simbody specific parameters Force cut in the multibody graph at this joint. ODE specific parameters (DEPRECATION WARNING: In SDFormat 1.5 this tag will be replaced by the same tag directly under the physics-block. For now, this tag overrides the one outside of ode-block, but in SDFormat 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint. If cfm damping is set to true, ODE will use CFM to simulate damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. If implicit_spring_damper is set to true, ODE will use CFM, ERP to simulate stiffness and damping, allows for infinite damping, and one additional constraint row (previously used for joint limit) is always active. This replaces cfm_damping parameter in SDFormat 1.4. Scale the excess for in a joint motor at joint limits. Should be between zero and one. Constraint force mixing for constrained directions Error reduction parameter for constrained directions Bounciness of the limits Maximum force or torque used to reach the desired velocity. The desired velocity of the joint. Should only be set if you want the joint to move on load. Constraint force mixing parameter used by the joint stop Error reduction parameter used by the joint stop Suspension constraint force mixing parameter Suspension error reduction parameter If provide feedback is set to true, physics engine will compute the constraint forces at this joint. For now, provide_feedback under ode block will override this tag and given user warning about the migration. provide_feedback under ode is scheduled to be removed in SDFormat 1.5. The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDFormat supports types camera, depth, multicamera, contact, gps, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. These elements are specific to camera sensors. An optional name for the camera. A position and orientation in the parent coordinate frame for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the contact sensor. name of the collision element within a link that acts as the contact sensor. Topic on which contact data is published. These elements are specific to the GPS sensor. Parameters related to GPS position measurement. Noise parameters for horizontal position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical position measurement, in units of meters. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Parameters related to GPS position measurement. Noise parameters for horizontal velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. Noise parameters for vertical velocity measurement, in units of meters/second. The properties of a sensor noise model. The type of noise. Currently supported types are: "none" (no noise). "gaussian" (draw noise values independently for each measurement from a Gaussian distribution). "gaussian_quantized" ("gaussian" plus quantization of outputs (ie. rounding)) For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn. For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization. These elements are specific to the IMU sensor. Topic on which data is published. The properties of the noise model that should be applied to generated data The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). Noise parameters for angular rates. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. Noise parameters for linear accelerations. For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn. These elements are specific to the ray (laser) sensor. The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle The number of simulated rays to generate per complete laser sweep cycle. This number is multiplied by samples to determine the number of range data points returned. If resolution is less than one, range data is interpolated. If resolution is greater than one, range data is averaged. Must be greater or equal to min_angle specifies range properties of each simulated ray The minimum distance for each ray. The maximum distance for each ray. Linear resolution of each ray. The properties of the noise model that should be applied to generated scans The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. These elements are specific to the sonar sensor. Minimum range Max range Radius of the sonar cone at max range. These elements are specific to a wireless transceiver. Service set identifier (network name) Specifies the frequency of transmission in MHz Only a frequency range is filtered. Here we set the lower bound (MHz). Only a frequency range is filtered. Here we set the upper bound (MHz). Specifies the antenna gain in dBi Specifies the transmission power in dBm Mininum received signal power in dBm These elements are specific to the force torque sensor. Frame in which to report the wrench values. A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. A unique name for the plugin, scoped to its parent. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. The light element describes a light source. A unique name for the light. The light type: point, directional, spot. When true, the light will cast shadows. A position and orientation in the global coordinate frame for the light. Diffuse light color Specular light color Light attenuation Range of the light The linear attenuation factor: 1 means attenuate evenly over the distance. The constant attenuation factor: 1.0 means never attenuate, 0.0 is complete attenutation. The quadratic attenuation factor: adds a curvature to the attenuation. Direction of the light, only applicable for spot and directional lights. Spot light parameters Angle covered by the bright inner cone Angle covered by the outer cone The rate of falloff between the inner and outer cones. 1.0 means a linear falloff, less means slower falloff, higher means faster falloff.