Description: 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.
Required: 0
Type: bool
Default: 1
Description: 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.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
Description: A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.
Required: +
Type: n/a
Attributes
name:
A unique name for the link within the scope of the model.
Type: string Default: __default__
<gravity>
Description: If true, the link is affected by gravity.
Required: 0
Type: bool
Default: 1
<self_collide>
Description: If true, the link can collide with other links in the model.
Required: 0
Type: bool
Default: 0
<kinematic>
Description: If true, the link is kinematic only
Required: 0
Type: bool
Default: 0
<pose>
Description: This is the pose of the link reference frame, relative to the model reference frame.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<must_be_base_link>
Description: If true, the link will have 6DOF and be a direct child of world.
Required: 0
Type: bool
Default: 0
<velocity_decay>
Description: Exponential damping of the link's velocity.
Required: 1
Type: n/a
<linear>
Description: Linear damping
Required: 1
Type: double
Default: 0
<angular>
Description: Angular damping
Required: 1
Type: double
Default: 0
<inertial>
Description: The inertial properties of the link.
Required: 0
Type: n/a
<mass>
Description: The mass of the link.
Required: 0
Type: double
Default: 1
<pose>
Description: 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.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<inertia>
Description: 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.
Required: 0
Type: n/a
<ixx>
Description: none
Required: 1
Type: double
Default: 1
<ixy>
Description: none
Required: 1
Type: double
Default: 0
<ixz>
Description: none
Required: 1
Type: double
Default: 0
<iyy>
Description: none
Required: 1
Type: double
Default: 1
<iyz>
Description: none
Required: 1
Type: double
Default: 0
<izz>
Description: none
Required: 1
Type: double
Default: 1
<collision>
Description: 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.
Required: *
Type: n/a
Attributes
name:
Unique name for the collision element within the scope of the parent link.
Type: string Default: __default__
<laser_retro>
Description: intensity value returned by laser sensor.
Required: 0
Type: double
Default: 0
<max_contacts>
Description: Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.
Required: 0
Type: int
Default: 10
<pose>
Description: The reference frame of the collision element, relative to the reference frame of the link.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<geometry>
Description: The shape of the visual or collision object.
Required: 1
Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0
Type: n/a
<box>
Description: Box shape
Required: 0
Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1
Type: vector3
Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0
Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1
Type: double
Default: 1
<length>
Description: Length of the cylinder
Required: 1
Type: double
Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0
Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1
Type: string
Default: __default__
<size>
Description: The size of the heightmap in world units
Required: 1
Type: vector3
Default: 1 1 1
<pos>
Description: A position offset.
Required: 0
Type: vector3
Default: 0 0 0
<texture>
Description: 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 hieght. Use blend to control the hieight thresholds and fade between textures.
Required: *
Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1
Type: double
Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1
Type: string
Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1
Type: string
Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *
Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1
Type: double
Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1
Type: double
Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0
Type: bool
Default: 0
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0
Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1
Type: string
Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1
Type: double
Default: 1
<threshold>
Description: Grayscale threshold
Required: 1
Type: int
Default: 200
<height>
Description: Height of the extruded boxes
Required: 1
Type: double
Default: 1
<granularity>
Description: The amount of error in the model
Required: 1
Type: int
Default: 1
<mesh>
Description: Mesh shape
Required: 0
Type: n/a
<uri>
Description: Mesh uri
Required: 1
Type: string
Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0
Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1
Type: string
Default: __default__
<center>
Description: 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.
Required: 0
Type: bool
Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0
Type: vector3
Default: 1 1 1
<plane>
Description: Plane shape
Required: 0
Type: n/a
<normal>
Description: Normal direction for the plane
Required: 1
Type: vector3
Default: 0 0 1
<size>
Description: Length of each side of the plane
Required: 1
Type: vector2d
Default: 1 1
<sphere>
Description: Sphere shape
Required: 0
Type: n/a
<radius>
Description: radius of the sphere
Required: 1
Type: double
Default: 1
<surface>
Description: The surface parameters
Required: 0
Type: n/a
<bounce>
Description: none
Required: 0
Type: n/a
<restitution_coefficient>
Description: Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.
Required: 0
Type: double
Default: 0
<threshold>
Description: Bounce capture velocity, below which effective coefficient of restitution is 0.
Required: 0
Type: double
Default: 100000
<friction>
Description: none
Required: 0
Type: n/a
<ode>
Description: ODE friction parameters
Required: 0
Type: n/a
<mu>
Description: Coefficient of friction in the range of [0..1].
Required: 0
Type: double
Default: 1
<mu2>
Description: Second coefficient of friction in the range of [0..1]
Required: 0
Type: double
Default: 1
<fdir1>
Description: 3-tuple specifying direction of mu1 in the collision local reference frame.
Required: 0
Type: vector3
Default: 0 0 0
<slip1>
Description: Force dependent slip direction 1 in collision local frame, between the range of [0..1].
Required: 0
Type: double
Default: 0
<slip2>
Description: Force dependent slip direction 2 in collision local frame, between the range of [0..1].
Required: 0
Type: double
Default: 0
<bullet>
Description: none
Required: 0
Type: n/a
<friction>
Description: Coefficient of friction in the range of [0..1].
Required: 0
Type: double
Default: 1
<friction2>
Description: Coefficient of friction in the range of [0..1].
Required: 0
Type: double
Default: 1
<fdir1>
Description: 3-tuple specifying direction of mu1 in the collision local reference frame.
Required: 0
Type: vector3
Default: 0 0 0
<rolling_friction>
Description: coefficient of friction in the range of [0..1]
Required: 0
Type: double
Default: 1
<contact>
Description: none
Required: 0
Type: n/a
<collide_without_contact>
Description: Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.
Required: 0
Type: bool
Default: 0
<collide_without_contact_bitmask>
Description: Bitmask for collision filtering when collide_without_contact is on
Required: 0
Type: unsigned int
Default: 1
<ode>
Description: ODE contact parameters
Required: 0
Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0
Type: double
Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0
Type: double
Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0
Type: double
Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0
Type: double
Default: 1
<max_vel>
Description: maximum contact correction velocity truncation term.
Required: 0
Type: double
Default: 0.01
<min_depth>
Description: minimum allowable depth before contact correction impulse is applied
Required: 0
Type: double
Default: 0
<bullet>
Description: Bullet contact parameters
Required: 0
Type: n/a
<soft_cfm>
Description: Soft constraint force mixing.
Required: 0
Type: double
Default: 0
<soft_erp>
Description: Soft error reduction parameter
Required: 0
Type: double
Default: 0.2
<kp>
Description: dynamically "stiffness"-equivalent coefficient for contact joints
Required: 0
Type: double
Default: 1e+12
<kd>
Description: dynamically "damping"-equivalent coefficient for contact joints
Required: 0
Type: double
Default: 1
<split_impulse>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1
Type: bool
Default: 1
<split_impulse_penetration_threshold>
Description: Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.
Required: 1
Type: double
Default: -0.01
<visual>
Description: The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.
Required: *
Type: n/a
Attributes
name:
Unique name for the visual element within the scope of the parent link.
Type: string Default: __default__
<cast_shadows>
Description: If true the visual will cast shadows.
Required: 0
Type: bool
Default: 1
<laser_retro>
Description: will be implemented in the future release.
Required: 0
Type: double
Default: 0
<transparency>
Description: The amount of transparency( 0=opaque, 1 = fully transparent)
Required: 0
Type: double
Default: 0
<pose>
Description: Origin of the visual relative to its parent.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<material>
Description: The material of the visual element.
Required: 0
Type: n/a
<script>
Description: Name of material from an installed script file. This will override the color element if the script exists.
Required: 0
Type: n/a
<uri>
Description: URI of the material script file
Required: +
Type: string
Default: __default__
<name>
Description: Name of the script within the script file
Required: 1
Type: string
Default: __default__
<shader>
Description: none
Required: 0
Type: n/a
Attributes
type:
vertex, pixel, normal_map_objectspace, normal_map_tangentspace
Type: string Default: pixel
<normal_map>
Description: filename of the normal map
Required: 0
Type: string
Default: __default__
<ambient>
Description: The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0
Type: color
Default: 0 0 0 1
<diffuse>
Description: The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0
Type: color
Default: 0 0 0 1
<specular>
Description: The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].
Required: 0
Type: color
Default: 0 0 0 1
<emissive>
Description: The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].
Required: 0
Type: color
Default: 0 0 0 1
<geometry>
Description: The shape of the visual or collision object.
Required: 1
Type: n/a
<empty>
Description: You can use the empty tag to make empty geometries.
Required: 0
Type: n/a
<box>
Description: Box shape
Required: 0
Type: n/a
<size>
Description: The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).
Required: 1
Type: vector3
Default: 1 1 1
<cylinder>
Description: Cylinder shape
Required: 0
Type: n/a
<radius>
Description: Radius of the cylinder
Required: 1
Type: double
Default: 1
<length>
Description: Length of the cylinder
Required: 1
Type: double
Default: 1
<heightmap>
Description: A heightmap based on a 2d grayscale image.
Required: 0
Type: n/a
<uri>
Description: URI to a grayscale image file
Required: 1
Type: string
Default: __default__
<size>
Description: The size of the heightmap in world units
Required: 1
Type: vector3
Default: 1 1 1
<pos>
Description: A position offset.
Required: 0
Type: vector3
Default: 0 0 0
<texture>
Description: 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 hieght. Use blend to control the hieight thresholds and fade between textures.
Required: *
Type: n/a
<size>
Description: Size of the applied texture in meters.
Required: 1
Type: double
Default: 10
<diffuse>
Description: Diffuse texture image filename
Required: 1
Type: string
Default: __default__
<normal>
Description: Normalmap texture image filename
Required: 1
Type: string
Default: __default__
<blend>
Description: The blend tag controls how two adjacent textures are mixed. The number of blend elements should equal one less than the number of textures.
Required: *
Type: n/a
<min_height>
Description: Min height of a blend layer
Required: 1
Type: double
Default: 0
<fade_dist>
Description: Distance over which the blend occurs
Required: 1
Type: double
Default: 0
<use_terrain_paging>
Description: Set if the rendering engine will use terrain paging
Required: 0
Type: bool
Default: 0
<image>
Description: Extrude a set of boxes from a grayscale image.
Required: 0
Type: n/a
<uri>
Description: URI of the grayscale image file
Required: 1
Type: string
Default: __default__
<scale>
Description: Scaling factor applied to the image
Required: 1
Type: double
Default: 1
<threshold>
Description: Grayscale threshold
Required: 1
Type: int
Default: 200
<height>
Description: Height of the extruded boxes
Required: 1
Type: double
Default: 1
<granularity>
Description: The amount of error in the model
Required: 1
Type: int
Default: 1
<mesh>
Description: Mesh shape
Required: 0
Type: n/a
<uri>
Description: Mesh uri
Required: 1
Type: string
Default: __default__
<submesh>
Description: Use a named submesh. The submesh must exist in the mesh specified by the uri
Required: 0
Type: n/a
<name>
Description: Name of the submesh within the parent mesh
Required: 1
Type: string
Default: __default__
<center>
Description: 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.
Required: 0
Type: bool
Default: 0
<scale>
Description: Scaling factor applied to the mesh
Required: 0
Type: vector3
Default: 1 1 1
<plane>
Description: Plane shape
Required: 0
Type: n/a
<normal>
Description: Normal direction for the plane
Required: 1
Type: vector3
Default: 0 0 1
<size>
Description: Length of each side of the plane
Required: 1
Type: vector2d
Default: 1 1
<sphere>
Description: Sphere shape
Required: 0
Type: n/a
<radius>
Description: radius of the sphere
Required: 1
Type: double
Default: 1
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *
Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string Default: __default__
filename:
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.
Type: string Default: __default__
<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0
Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string Default: __default__
type:
The type name of the sensor. By default, SDF supports types camera, depth, multicamera, contact, gps, imu, ir and ray.
Type: string Default: __default__
<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0
Type: bool
Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0
Type: double
Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0
Type: bool
Default: 0
<pose>
Description: This is the pose of the sensor, relative to the parent link reference frame.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0
Type: string
Default: __default__
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *
Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string Default: __default__
filename:
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.
Type: string Default: __default__
<camera>
Description: These elements are specific to camera sensors.
Required: 0
Type: n/a
Attributes
name:
An optional name for the camera.
Type: string Default: __default__
<pose>
Description: A position and orientation in the parent coordinate frame for the camera.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<horizontal_fov>
Description: Horizontal field of view
Required: 1
Type: double
Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1
Type: n/a
<width>
Description: Width in pixels
Required: 1
Type: int
Default: 320
<height>
Description: Height in pixels
Required: 1
Type: int
Default: 240
<format>
Description: (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0
Type: string
Default: R8G8B8
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1
Type: n/a
<near>
Description: Near clipping plane
Required: 1
Type: double
Default: 0.1
<far>
Description: Far clipping plane
Required: 1
Type: double
Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0
Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool Default: 0
<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1
Type: string
Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0
Type: n/a
<output>
Description: Type of output
Required: 1
Type: string
Default: depths
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0
Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1
Type: string
Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<contact>
Description: These elements are specific to the contact sensor.
Required: 0
Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1
Type: string
Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1
Type: string
Default: __default_topic__
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0
Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0
Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0
Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0
Type: n/a
<topic>
Description: Topic on which data is published.
Required: 0
Type: string
Default: __default_topic__
<noise>
Description: The properties of the noise model that should be applied to generated data
Required: 0
Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1
Type: string
Default: gaussian
<rate>
Description: Noise parameters for angular rates.
Required: 1
Type: n/a
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<accel>
Description: Noise parameters for linear accelerations.
Required: 1
Type: n/a
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0
Type: n/a
<scan>
Description: none
Required: 1
Type: n/a
<horizontal>
Description: none
Required: 1
Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1
Type: unsigned int
Default: 640
<resolution>
Description: 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.
Required: 1
Type: double
Default: 1
<min_angle>
Description: none
Required: 1
Type: double
Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1
Type: double
Default: 0
<vertical>
Description: none
Required: 0
Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1
Type: unsigned int
Default: 1
<resolution>
Description: 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.
Required: 0
Type: double
Default: 1
<min_angle>
Description: none
Required: 1
Type: double
Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1
Type: double
Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1
Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1
Type: double
Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1
Type: double
Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0
Type: double
Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0
Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1
Type: string
Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<rfidtag>
Description: none
Required: 0
Type: n/a
<rfid>
Description: none
Required: 0
Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0
Type: n/a
<min>
Description: Minimum range
Required: 1
Type: double
Default: 0
<max>
Description: Max range
Required: 1
Type: double
Default: 1
<radius>
Description: Radius of the sonar cone at max range.
Required: 1
Type: double
Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0
Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0
Type: string
Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0
Type: double
Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0
Type: double
Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0
Type: double
Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1
Type: double
Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1
Type: double
Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0
Type: double
Default: -90
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0
Type: n/a
<frame>
Description: Frame in which to report the wrench values.
Required: 0
Type: string
Default: parent
<projector>
Description: none
Required: 0
Type: n/a
Attributes
name:
Name of the projector
Type: string Default: __default__
<texture>
Description: Texture name
Required: 1
Type: string
Default: __default__
<pose>
Description: Pose of the projector
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<fov>
Description: Field of view
Required: 0
Type: double
Default: 0.785
<near_clip>
Description: Near clip distance
Required: 0
Type: double
Default: 0.1
<far_clip>
Description: far clip distance
Required: 0
Type: double
Default: 10
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *
Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string Default: __default__
filename:
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.
Type: string Default: __default__
<audio_sink>
Description: An audio sink.
Required: *
Type: n/a
<audio_source>
Description: An audio source.
Required: *
Type: n/a
<uri>
Description: URI of the audio media.
Required: 1
Type: string
Default: __default__
<pitch>
Description: Pitch for the audio media, in Hz
Required: 0
Type: double
Default: 1
<gain>
Description: Gain for the audio media, in dB.
Required: 0
Type: double
Default: 1
<contact>
Description: List of collision objects that will trigger audio playback.
Required: 0
Type: n/a
<collision>
Description: Name of child collision element that will trigger audio playback.
Required: +
Type: string
Default: __default__
<loop>
Description: True to make the audio source loop playback.
Required: 0
Type: bool
Default: 0
<pose>
Description: 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.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
Description: A joint connections two links with kinematic and dynamic properties.
Required: *
Type: n/a
Attributes
name:
A unique name for the joint within the scope of the model.
Type: string Default: __default__
type:
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, (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.
Type: string Default: __default__
<parent>
Description: Name of the parent link
Required: 1
Type: string
Default: __default__
<child>
Description: Name of the child link
Required: 1
Type: string
Default: __default__
<pose>
Description: offset from child link origin in child link frame.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<thread_pitch>
Description: none
Required: 0
Type: double
Default: 1
<axis>
Description: 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 sdf (see gazebo issue #494).
Required: 1
Type: n/a
<xyz>
Description: Represents the x,y,z components of a vector. The vector should be normalized.
Required: 1
Type: vector3
Default: 0 0 1
<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0
Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint.
Required: 0
Type: double
Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0
Type: double
Default: 0
<limit>
Description: specifies the limits of this joint
Required: 1
Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1
Type: double
Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 1
Type: double
Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0
Type: double
Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0
Type: double
Default: -1
<axis2>
Description: 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 sdf (see gazebo issue #494).
Required: 0
Type: n/a
<xyz>
Description: Represents the x,y,z components of a vector. The vector should be normalized.
Required: 1
Type: vector3
Default: 0 0 1
<dynamics>
Description: An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
Required: 0
Type: n/a
<damping>
Description: The physical velocity dependent viscous damping coefficient of the joint. EXPERIMENTAL: if damping coefficient is negative and cfm_damping is true, adaptive damping is used.
Required: 0
Type: double
Default: 0
<friction>
Description: The physical static friction value of the joint.
Required: 0
Type: double
Default: 0
<limit>
Description: none
Required: 0
Type: n/a
<lower>
Description: An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0
Type: double
Default: -1e+16
<upper>
Description: An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.
Required: 0
Type: double
Default: 1e+16
<effort>
Description: An attribute for enforcing the maximum joint effort applied by Joint::SetForce. Limit is not enforced if value is negative.
Required: 0
Type: double
Default: -1
<velocity>
Description: (not implemented) An attribute for enforcing the maximum joint velocity.
Required: 0
Type: double
Default: -1
<physics>
Description: Parameters that are specific to a certain physics engine.
Required: 0
Type: n/a
<simbody>
Description: Simbody specific parameters
Required: 0
Type: n/a
<must_be_loop_joint>
Description: Force cut in the multibody graph at this joint.
Required: 0
Type: bool
Default: 0
<simbody>
Description: none
Required: 0
Type: n/a
<limit>
Description: Simbody parameters for joint limits
Required: 0
Type: n/a
<stiffness>
Description: Joint stop stiffness.
Required: 1
Type: double
Default: 1e+06
<dissipation>
Description: Joint stop dissipation.
Required: 1
Type: double
Default: 0.1
<ode>
Description: ODE specific parameters
Required: 0
Type: n/a
<provide_feedback>
Description: (DEPRECATION WARNING: In SDF 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 SDF 1.5 this tag will be removed completely.) If provide feedback is set to true, ODE will compute the constraint forces at this joint.
Required: 0
Type: bool
Default: 0
<cfm_damping>
Description: 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.
Required: 0
Type: bool
Default: 0
<fudge_factor>
Description: Scale the excess for in a joint motor at joint limits. Should be between zero and one.
Required: 0
Type: double
Default: 0
<cfm>
Description: Constraint force mixing for constrained directions
Required: 0
Type: double
Default: 0
<erp>
Description: Error reduction parameter for constrained directions
Required: 0
Type: double
Default: 0.2
<bounce>
Description: Bounciness of the limits
Required: 0
Type: double
Default: 0
<max_force>
Description: Maximum force or torque used to reach the desired velocity.
Required: 0
Type: double
Default: 0
<velocity>
Description: The desired velocity of the joint. Should only be set if you want the joint to move on load.
Required: 0
Type: double
Default: 0
<limit>
Description: none
Required: 0
Type: n/a
<cfm>
Description: Constraint force mixing parameter used by the joint stop
Required: 1
Type: double
Default: 0
<erp>
Description: Error reduction parameter used by the joint stop
Required: 1
Type: double
Default: 0.2
<suspension>
Description: none
Required: 0
Type: n/a
<cfm>
Description: Suspension constraint force mixing parameter
Required: 1
Type: double
Default: 0
<erp>
Description: Suspension error reduction parameter
Required: 1
Type: double
Default: 0.2
<provide_feedback>
Description: 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 SDF 1.5.
Required: 0
Type: bool
Default: 0
<sensor>
Description: The sensor tag describes the type and properties of a sensor.
Required: 0
Type: n/a
Attributes
name:
A unique name for the sensor. This name must not match another model in the model.
Type: string Default: __default__
type:
The type name of the sensor. By default, SDF supports types camera, depth, multicamera, contact, gps, imu, ir and ray.
Type: string Default: __default__
<always_on>
Description: If true the sensor will always be updated according to the update rate.
Required: 0
Type: bool
Default: 0
<update_rate>
Description: The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.
Required: 0
Type: double
Default: 0
<visualize>
Description: If true, the sensor is visualized in the GUI
Required: 0
Type: bool
Default: 0
<pose>
Description: This is the pose of the sensor, relative to the parent link reference frame.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<topic>
Description: Name of the topic on which data is published. This is necessary for visualization
Required: 0
Type: string
Default: __default__
<plugin>
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *
Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string Default: __default__
filename:
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.
Type: string Default: __default__
<camera>
Description: These elements are specific to camera sensors.
Required: 0
Type: n/a
Attributes
name:
An optional name for the camera.
Type: string Default: __default__
<pose>
Description: A position and orientation in the parent coordinate frame for the camera.
Required: 0
Type: pose
Default: 0 0 0 0 -0 0
<horizontal_fov>
Description: Horizontal field of view
Required: 1
Type: double
Default: 1.047
<image>
Description: The image size in pixels and format.
Required: 1
Type: n/a
<width>
Description: Width in pixels
Required: 1
Type: int
Default: 320
<height>
Description: Height in pixels
Required: 1
Type: int
Default: 240
<format>
Description: (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
Required: 0
Type: string
Default: R8G8B8
<clip>
Description: The near and far clip planes. Objects closer or farther than these planes are not rendered.
Required: 1
Type: n/a
<near>
Description: Near clipping plane
Required: 1
Type: double
Default: 0.1
<far>
Description: Far clipping plane
Required: 1
Type: double
Default: 100
<save>
Description: Enable or disable saving of camera frames.
Required: 0
Type: n/a
Attributes
enabled:
True = saving enabled
Type: bool Default: 0
<path>
Description: The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.
Required: 1
Type: string
Default: __default__
<depth_camera>
Description: Depth camera parameters
Required: 0
Type: n/a
<output>
Description: Type of output
Required: 1
Type: string
Default: depths
<noise>
Description: The properties of the noise model that should be applied to generated images
Required: 0
Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).
Required: 1
Type: string
Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<contact>
Description: These elements are specific to the contact sensor.
Required: 0
Type: n/a
<collision>
Description: name of the collision element within a link that acts as the contact sensor.
Required: 1
Type: string
Default: __default__
<topic>
Description: Topic on which contact data is published.
Required: 1
Type: string
Default: __default_topic__
<gps>
Description: These elements are specific to the GPS sensor.
Required: 0
Type: n/a
<position_sensing>
Description: Parameters related to GPS position measurement.
Required: 0
Type: n/a
<horizontal>
Description: Noise parameters for horizontal position measurement, in units of meters.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<vertical>
Description: Noise parameters for vertical position measurement, in units of meters.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<velocity_sensing>
Description: Parameters related to GPS position measurement.
Required: 0
Type: n/a
<horizontal>
Description: Noise parameters for horizontal velocity measurement, in units of meters/second.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<vertical>
Description: Noise parameters for vertical velocity measurement, in units of meters/second.
Required: 0
Type: n/a
<noise>
Description: The properties of a sensor noise model.
Required: 1
Type: n/a
Attributes
type:
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))
Type: string Default: none
<mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian*", the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian*", the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<precision>
Description: For type "gaussian_quantized", the precision of output signals. A value of zero implies infinite precision / no quantization.
Required: 0
Type: double
Default: 0
<imu>
Description: These elements are specific to the IMU sensor.
Required: 0
Type: n/a
<topic>
Description: Topic on which data is published.
Required: 0
Type: string
Default: __default_topic__
<noise>
Description: The properties of the noise model that should be applied to generated data
Required: 0
Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1
Type: string
Default: gaussian
<rate>
Description: Noise parameters for angular rates.
Required: 1
Type: n/a
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<accel>
Description: Noise parameters for linear accelerations.
Required: 1
Type: n/a
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<bias_mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<bias_stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.
Required: 0
Type: double
Default: 0
<ray>
Description: These elements are specific to the ray (laser) sensor.
Required: 0
Type: n/a
<scan>
Description: none
Required: 1
Type: n/a
<horizontal>
Description: none
Required: 1
Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1
Type: unsigned int
Default: 640
<resolution>
Description: 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.
Required: 1
Type: double
Default: 1
<min_angle>
Description: none
Required: 1
Type: double
Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1
Type: double
Default: 0
<vertical>
Description: none
Required: 0
Type: n/a
<samples>
Description: The number of simulated rays to generate per complete laser sweep cycle.
Required: 1
Type: unsigned int
Default: 1
<resolution>
Description: 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.
Required: 0
Type: double
Default: 1
<min_angle>
Description: none
Required: 1
Type: double
Default: 0
<max_angle>
Description: Must be greater or equal to min_angle
Required: 1
Type: double
Default: 0
<range>
Description: specifies range properties of each simulated ray
Required: 1
Type: n/a
<min>
Description: The minimum distance for each ray.
Required: 1
Type: double
Default: 0
<max>
Description: The maximum distance for each ray.
Required: 1
Type: double
Default: 0
<resolution>
Description: Linear resolution of each ray.
Required: 0
Type: double
Default: 0
<noise>
Description: The properties of the noise model that should be applied to generated scans
Required: 0
Type: n/a
<type>
Description: The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).
Required: 1
Type: string
Default: gaussian
<mean>
Description: For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<stddev>
Description: For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.
Required: 0
Type: double
Default: 0
<rfidtag>
Description: none
Required: 0
Type: n/a
<rfid>
Description: none
Required: 0
Type: n/a
<sonar>
Description: These elements are specific to the sonar sensor.
Required: 0
Type: n/a
<min>
Description: Minimum range
Required: 1
Type: double
Default: 0
<max>
Description: Max range
Required: 1
Type: double
Default: 1
<radius>
Description: Radius of the sonar cone at max range.
Required: 1
Type: double
Default: 0.5
<transceiver>
Description: These elements are specific to a wireless transceiver.
Required: 0
Type: n/a
<essid>
Description: Service set identifier (network name)
Required: 0
Type: string
Default: wireless
<frequency>
Description: Specifies the frequency of transmission in MHz
Required: 0
Type: double
Default: 2442
<min_frequency>
Description: Only a frequency range is filtered. Here we set the lower bound (MHz).
Required: 0
Type: double
Default: 2412
<max_frequency>
Description: Only a frequency range is filtered. Here we set the upper bound (MHz).
Required: 0
Type: double
Default: 2484
<gain>
Description: Specifies the antenna gain in dBi
Required: 1
Type: double
Default: 2.5
<power>
Description: Specifies the transmission power in dBm
Required: 1
Type: double
Default: 14.5
<sensitivity>
Description: Mininum received signal power in dBm
Required: 0
Type: double
Default: -90
<force_torque>
Description: These elements are specific to the force torque sensor.
Required: 0
Type: n/a
<frame>
Description: Frame in which to report the wrench values.
Required: 0
Type: string
Default: parent
Description: A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.
Required: *
Type: n/a
Attributes
name:
A unique name for the plugin, scoped to its parent.
Type: string Default: __default__
filename:
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.
Type: string Default: __default__