usdf/Reviews/world

$/!\$ work in progress

World Element

A world can be composed of different entities.

Here's an example of a world element:

   1 <world name="pr2_with_table">
   2   <!-- include the models by including
   3        either the complete urdf or
   4        referencing the file name.
   5     -->
   6   <model name="pr2">
   7     ...
   8   </model>
   9   <include filename="table.urdf" model_name="table_model"/>
  10 
  11   <!-- construct the world -->
  12   <entity model="pr2" name="prj">
  13     <origin xyz="0 1 0" rpy="0 0 0"/>
  14   </entity>
  15   <entity model="pr2" name="prk">
  16     <origin xyz="0 2 0" rpy="0 0 0"/>
  17   </entity>
  18   <entity model="table_model">
  19     <origin xyz="0 3 0" rpy="0 0 0"/>
  20   </entity>
  21 
  22 </world>

World

<world>

name (required) (string)
- Name of the world.
<entity> (optional)
- model (required) (string)
  - name of the URDF Model.
- name (optional: defaults to model name) (string)
  - name of the entity, must be unique.