/usr/share/sdformat/1.2/state.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | <!-- State Info -->
<element name="state" required="*">
<!-- Name of the world this state applies to -->
<attribute name="world_name" type="string" default="__default__" required="1">
<description>Name of the world this state applies to</description>
</attribute>
<element name="time" type="time" default="0 0" required="0">
<description>Time stamp of the state [seconds nanoseconds]</description>
</element>
<!-- State information for a model -->
<element name="model" required="+">
<description>Model state</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Name of the model</description>
</attribute>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
<description>Pose of the model</description>
</element>
<!-- State information for a link -->
<element name="link" required="*">
<description>Link state</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Name of the link</description>
</attribute>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
<description>Pose of the link relative to the model</description>
</element>
<element name="velocity" type="pose" default="0 0 0 0 0 0" required="0">
<description>Velocity of the link</description>
</element>
<!-- Zero or more wrenches -->
<element name="wrench" required="*">
<description>Force applied to the link</description>
<element name="pos" type="vector3" default="0 0 0" required="0">
<description>Position of the force.</description>
</element>
<element name="mag" type="pose" default="0 0 0 0 0 0" required="1">
<description>Magnitude of the force.</description>
</element>
</element>
</element> <!-- End Link -->
</element> <!-- End Model -->
</element> <!-- End State -->
|