@@ -105,7 +105,7 @@ but with improved human-readability..
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1 . + Change installation path of SDF description files to allow side-by-side installation.
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+ ` {prefix}/share/sdformat/1.*/*.sdf ` -> ` {prefix}/share/sdformat8/1.*/*.sdf `
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- + [ pull request 538] ( https://bitbucket.org /osrf/sdformat/pull-requests/538 )
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+ + [ BitBucket pull request 538] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/538 )
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## SDFormat 5.x to 6.x
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@@ -170,22 +170,22 @@ but with improved human-readability..
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1 . ** ` gravity ` and ` magnetic_field ` elements are moved from ` physics ` to ` world ` **
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+ In physics element: gravity and ` magnetic_field ` tags have been moved
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from Physics to World element.
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- + [ pull request 247] ( https://bitbucket.org /osrf/sdformat/pull-requests/247 )
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- + [ gazebo pull request 2090] ( https://bitbucket.org /osrf/gazebo/pull-requests/2090 )
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+ + [ BitBucket pull request 247] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/247 )
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+ + [ gazebo pull request 2090] ( https://osrf-migration.github.io/gazebo-gh-pages/#! /osrf/gazebo/pull-requests/2090 )
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1 . ** New noise for IMU**
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+ A new style for representing the noise properties of an ` imu ` was implemented
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- in [ pull request 199] ( https://bitbucket.org /osrf/sdformat/pull-requests/199 )
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+ in [ BitBucket pull request 199] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/199 )
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for sdf 1.5 and the old style was declared as deprecated.
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The old style has been removed from sdf 1.6 with the conversion script
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updating to the new style.
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- + [ pull request 199] ( https://bitbucket.org /osrf/sdformat/pull-requests/199 )
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- + [ pull request 243] ( https://bitbucket.org /osrf/sdformat/pull-requests/243 )
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- + [ pull request 244] ( https://bitbucket.org /osrf/sdformat/pull-requests/244 )
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+ + [ BitBucket pull request 199] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/199 )
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+ + [ BitBucket pull request 243] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/243 )
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+ + [ BitBucket pull request 244] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/244 )
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1 . ** Lump:: prefix in link names**
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+ Changed to ` _fixed_joint_lump__ ` to avoid confusion with scoped names
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- + [ Pull request 245] ( https://bitbucket.org/ osrf/sdformat/pull-request /245 )
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+ + [ BitBucket pull request 245] ( https://osrf-migration.github.io/sdformat-gh-pages/#!/ osrf/sdformat/pull-requests /245 )
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## SDF protocol 1.6 to 1.7
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@@ -198,7 +198,7 @@ but with improved human-readability..
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+ type: string
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+ default: ""
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+ required: *
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- + [ pull request 603] ( https://bitbucket.org /osrf/sdformat/pull-requests/603 )
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+ + [ BitBucket pull request 603] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/603 )
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1 . ** joint.sdf** ` //axis/xyz/@expressed_in ` and ` //axis2/xyz/@expressed_in ` attributes
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+ description: The name of the frame in which the ` //axis/xyz ` value is
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+ type: string
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+ default: ""
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+ required: 0
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- + [ pull request 589] ( https://bitbucket.org /osrf/sdformat/pull-requests/589 )
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+ + [ BitBucket pull request 589] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/589 )
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1 . ** model.sdf** ` //model/@canonical_link ` attribute
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+ description: The name of the canonical link in this model to which the
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+ type: string
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+ default: ""
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+ required: 0
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- + [ pull request 601] ( https://bitbucket.org /osrf/sdformat/pull-requests/601 )
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+ + [ BitBucket pull request 601] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/601 )
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1 . ** world.sdf** ` //world/frame ` element is now allowed.
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- + [ pull request 603] ( https://bitbucket.org /osrf/sdformat/pull-requests/603 )
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+ + [ BitBucket pull request 603] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/603 )
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### Modifications
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1 . A non-static model must have at least one link, as specified in the
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[ proposal] ( http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs-model-frame-and-canonical-link ) .
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- + [ pull request 601] ( https://bitbucket.org /osrf/sdformat/pull-requests/601 )
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- + [ pull request 626] ( https://bitbucket.org /osrf/sdformat/pull-requests/626 )
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+ + [ BitBucket pull request 601] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/601 )
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+ + [ BitBucket pull request 626] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/626 )
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1 . Unique names for all sibling elements:
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+ As described in the [ proposal] ( http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs-2-unique-names-for-all-sibling-elements ) ,
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Some existing SDFormat models may not comply with this requirement.
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The ` ign sdf --check ` command can be used to identify models that violate
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this requirement.
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- + [ pull request 600] ( https://bitbucket.org /osrf/sdformat/pull-requests/600 )
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+ + [ BitBucket pull request 600] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/600 )
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1 . Reserved names:
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+ As described in the [ proposal] ( http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs-3-reserved-names ) ,
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for implicit model / world frames, respectively).
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1 . ** joint.sdf** ` //joint/child ` may no longer be specified as ` world ` .
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- + [ pull request 634] ( https://bitbucket.org /osrf/sdformat/pull-requests/634 )
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+ + [ BitBucket pull request 634] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/634 )
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1 . ** pose.sdf** ` //pose/@frame ` attribute is renamed to ` //pose/@relative_to ` .
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- + [ pull request 597] ( https://bitbucket.org /osrf/sdformat/pull-requests/597 )
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+ + [ BitBucket pull request 597] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/597 )
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### Removals
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@@ -278,33 +278,33 @@ but with improved human-readability..
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+ projector
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+ sensor
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+ visual
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- + [ pull request 603] ( https://bitbucket.org /osrf/sdformat/pull-requests/603 )
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+ + [ BitBucket pull request 603] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/603 )
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1 . ** actor.sdf** ` static ` element was deprecated in
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- [ pull request 280] ( https://bitbucket.org /osrf/sdformat/pull-requests/280 )
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+ [ BitBucket pull request 280] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/280 )
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and is now removed.
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- + [ pull request 588] ( https://bitbucket.org /osrf/sdformat/pull-requests/588 )
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+ + [ BitBucket pull request 588] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/588 )
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1 . ** imu.sdf** ` topic ` element was deprecated in
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- [ pull request 532] ( https://bitbucket.org /osrf/sdformat/pull-requests/532 )
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+ [ BitBucket pull request 532] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/532 )
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and is now removed.
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- + [ pull request 588] ( https://bitbucket.org /osrf/sdformat/pull-requests/588 )
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+ + [ BitBucket pull request 588] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/588 )
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1 . ** joint.sdf** ` //axis/use_parent_model_frame ` and ` //axis2/use_parent_model_frame ` elements
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are removed in favor of the ` //axis/xyz/@expressed_in ` and
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` //axis2/xyz/@expressed_in ` attributes.
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When migrating from sdf 1.6, a ` use_parent_model_frame ` value
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of ` true ` will be mapped to a value of ` __model__ ` for the ` expressed_in `
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attribute.
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- + [ pull request 589] ( https://bitbucket.org /osrf/sdformat/pull-requests/589 )
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+ + [ BitBucket pull request 589] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/589 )
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1 . ** joint.sdf** ` //physics/ode/provide_feedback ` was deprecated in
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- [ pull request 38] ( https://bitbucket.org /osrf/sdformat/pull-requests/38 )
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+ [ BitBucket pull request 38] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/38 )
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and is now removed.
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- + [ pull request 588] ( https://bitbucket.org /osrf/sdformat/pull-requests/588 )
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+ + [ BitBucket pull request 588] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/588 )
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1 . ** world.sdf** ` //world/joint ` was removed as it has never been used.
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- + [ pull request 637] ( https://bitbucket.org /osrf/sdformat/pull-requests/637 )
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+ + [ BitBucket pull request 637] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/637 )
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## SDF protocol 1.5 to 1.6
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+ min: 0.0
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+ max: 1.0
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+ required: 0
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- + [ pull request 466] ( https://bitbucket.org /osrf/sdformat/pull-requests/466 )
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+ + [ BitBucket pull request 466] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/466 )
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1 . ** camera.sdf** ` depth_camera/clip ` sub-elements: ` near ` , ` far `
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+ description: Clipping parameters for depth camera on rgbd camera sensor.
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- + [ pull request 628] ( https://bitbucket.org /osrf/sdformat/pull-requests/628 )
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+ + [ BitBucket pull request 628] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/628 )
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1 . ** camera.sdf** ` intrinsics ` sub-elements: ` fx ` , ` fy ` , ` cx ` , ` cy ` , ` s `
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+ description: Camera intrinsic parameters for setting a custom perspective projection matrix.
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- + [ pull request 496] ( https://bitbucket.org /osrf/sdformat/pull-requests/496 )
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+ + [ BitBucket pull request 496] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/496 )
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1 . ** link.sdf** ` enable_wind ` element
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+ description: If true, the link is affected by the wind
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+ type: bool
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+ default: false
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+ required: 0
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- + [ pull request 240] ( https://bitbucket.org /osrf/sdformat/pull-requests/240 )
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+ + [ BitBucket pull request 240] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/240 )
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1 . ** link.sdf** ` light ` element
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+ included from ` light.sdf ` with ` required="*" ` ,
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so a link can have any number of attached lights.
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- + [ pull request 373] ( https://bitbucket.org /osrf/sdformat/pull-requests/373 )
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+ + [ BitBucket pull request 373] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/373 )
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1 . ** model.sdf** ` enable_wind ` element
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+ description: If set to true, all links in the model will be affected by
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the wind. Can be overriden by the link wind property.
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+ type: bool
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+ default: false
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+ required: 0
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- + [ pull request 240] ( https://bitbucket.org /osrf/sdformat/pull-requests/240 )
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+ + [ BitBucket pull request 240] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/240 )
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1 . ** model_state.sdf** ` scale ` element
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+ description: Scale for the 3 dimensions of the model.
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+ type: vector3
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+ default: "1 1 1"
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+ required: 0
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- + [ pull request 246] ( https://bitbucket.org /osrf/sdformat/pull-requests/246 )
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+ + [ BitBucket pull request 246] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/246 )
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1 . ** physics.sdf** ` dart::collision_detector ` element
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+ description: The collision detector for DART to use.
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Can be dart, fcl, bullet or ode.
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+ type: string
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+ default: fcl
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+ required: 0
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- + [ pull request 440] ( https://bitbucket.org /osrf/sdformat/pull-requests/440 )
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+ + [ BitBucket pull request 440] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/440 )
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1 . ** physics.sdf** ` dart::solver::solver_type ` element
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+ description: The DART LCP/constraint solver to use.
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Either dantzig or pgs (projected Gauss-Seidel)
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+ type: string
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+ default: dantzig
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+ required: 0
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- + [ pull request 369] ( https://bitbucket.org /osrf/sdformat/pull-requests/369 )
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+ + [ BitBucket pull request 369] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/369 )
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1 . ** physics.sdf** ` island_threads ` element under ` ode::solver `
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+ description: Number of threads to use for "islands" of disconnected models.
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+ type: int
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+ default: 0
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+ required: 0
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- + [ pull request 380] ( https://bitbucket.org /osrf/sdformat/pull-requests/380 )
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+ + [ BitBucket pull request 380] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/380 )
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1 . ** physics.sdf** ` thread_position_correction ` element under ` ode::solver `
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+ description: Flag to use threading to speed up position correction computation.
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+ type: bool
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+ default: 0
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+ required: 0
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- + [ pull request 380] ( https://bitbucket.org /osrf/sdformat/pull-requests/380 )
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+ + [ BitBucket pull request 380] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/380 )
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1 . ** sonar.sdf** ` geometry ` element
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+ description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
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+ type: string
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+ default: "cone"
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+ required: 0
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- + [ pull request 495] ( https://bitbucket.org /osrf/sdformat/pull-requests/495 )
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+ + [ BitBucket pull request 495] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/495 )
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1 . ** state.sdf** allow ` light ` tags within ` insertions ` element
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- * [ pull request 325] ( https://bitbucket.org/ osrf/sdformat/pull-request /325 )
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+ * [ BitBucket pull request 325] ( https://osrf-migration.github.io/sdformat-gh-pages/#!/ osrf/sdformat/pull-requests /325 )
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1 . ** surface.sdf** ` category_bitmask ` element
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+ description: Bitmask for category of collision filtering.
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+ type: unsigned int
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+ default: 65535
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+ required: 0
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- + [ pull request 318] ( https://bitbucket.org /osrf/sdformat/pull-requests/318 )
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+ + [ BitBucket pull request 318] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/318 )
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1 . ** world.sdf** ` wind ` element
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+ description: The wind tag specifies the type and properties of the wind.
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+ required: 0
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- + [ pull request 240] ( https://bitbucket.org /osrf/sdformat/pull-requests/240 )
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+ + [ BitBucket pull request 240] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/240 )
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1 . ** world.sdf** ` wind::linear_velocity ` element
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+ description: Linear velocity of the wind.
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+ type: vector3
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+ default: "0 0 0"
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+ required: 0
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- + [ pull request 240] ( https://bitbucket.org /osrf/sdformat/pull-requests/240 )
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+ + [ BitBucket pull request 240] ( https://osrf-migration.github.io/sdformat-gh-pages/#! /osrf/sdformat/pull-requests/240 )
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