The tension of the trajectory spline. The default value of zero equates to a Catmull-Rom spline, which may also cause the animation to overshoot keyframes. A value of one will cause the animation to stick to the keyframes.
Camera intrinsic parameters for setting a custom perspective projection matrix (cannot be used with WideAngleCamera since this class uses image stitching from 6 different cameras for achieving a wide field of view). The focal lengths can be computed using focal_length_in_pixels = (image_width_in_pixels * 0.5) / tan(field_of_view_in_degrees * 0.5 * PI/180)
Camera projection matrix P for overriding camera intrinsic matrix K values so that users can configure P independently of K. This is useful when working with stereo cameras where P may be different from K due to the transform between the two cameras.
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.
This link’s fluid added mass matrix about the link’s origin.
This matrix represents the inertia of the fluid that is dislocated when the
body moves. Added mass should be zero if the density of the surrounding
fluid is negligible with respect to the body’s density.
The 6x6 matrix is symmetric, therefore only 21 unique elements can be set.
The elements of the matrix follow the [x, y, z, p, q, r] notation, where
[x, y, z] correspond to translation and [p, q, r] to rotation
(i.e. roll, pitch, yaw).
This link’s moments of inertia ixx, iyy, izz and products of inertia
ixy, ixz, iyz about Co (the link’s center of mass) for the unit vectors
Ĉx, Ĉy, Ĉᴢ fixed in the center-of-mass-frame C.
Note: the orientation of Ĉx, Ĉy, Ĉᴢ relative to L̂x, L̂y, L̂ᴢ is specified
by the pose tag.
To avoid compatibility issues associated with the negative sign
convention for product of inertia, align Ĉx, Ĉy, Ĉᴢ with principal
inertia directions so that all the products of inertia are zero.
For more information about this sign convention, see the following
MathWorks documentation for working with CAD tools:
https://www.mathworks.com/help/releases/R2021b/physmod/sm/ug/specify-custom-inertia.html#mw_b043ec69-835b-4ca9-8769-af2e6f1b190c
The type of joint, which must be one of the following:
(continuous) a hinge joint that rotates on a single axis with a continuous range of motion,
(revolute) a hinge joint that rotates on a single axis with a fixed 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,
(screw) a single degree of freedom joint with coupled sliding and rotational motion,
(universal) like a ball joint, but constrains one degree of freedom,
(fixed) a joint with zero degrees of freedom that rigidly connects two links.
An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
An element specifying physical properties of the joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.
These elements are specific to logical camera sensors. A logical camera reports objects that fall within a frustum. Computation should be performed on the CPU.
Physically Based Rendering (PBR) material. There are two PBR workflows: metal and specular. While both workflows and their parameters can be specified at the same time, typically only one of them will be used (depending on the underlying renderer capability). It is also recommended to use the same workflow for all materials in the world.
The frame inside this model whose pose will be set by the pose element of the model. i.e, the pose element specifies the pose of this frame instead of the model frame.
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))
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 - dvp
e_max = maximum COR = 1-dvc, reached at v=vc
e = 0, v <= vc
= 1 - d*v, vc < v < vp
= e_min, v >= vp
Version number of the SDFormat specification, consisting of major
and minor versions delimited by a . character.
A major version bump is required if older versions cannot be
automatically converted to this version.
A minor version bump is required when there are breaking changes that
can be handled by the automatic conversion functionality encoded in the
*.convert files.
The type name of the sensor. By default, SDFormat supports types
air_pressure,
altimeter,
camera,
contact,
boundingbox_camera, boundingbox,
custom,
depth_camera, depth,
force_torque,
gps,
gpu_lidar,
gpu_ray,
imu,
lidar,
logical_camera,
magnetometer,
multicamera,
navsat,
ray,
rfid,
rfidtag,
rgbd_camera, rgbd,
segmentation_camera, segmentation,
sonar,
thermal_camera, thermal,
wireless_receiver, and
wireless_transmitter.
The “ray”, “gpu_ray”, and “gps” types are equivalent to “lidar”, “gpu_lidar”, and “navsat”, respectively. It is preferred to use “lidar”, “gpu_lidar”, and “navsat” since “ray”, “gpu_ray”, and “gps” will be deprecated. The “ray”, “gpu_ray”, and “gps” types are maintained for legacy support.
Include resources from a URI. Included resources can only contain one ‘model’, ‘light’ or ‘actor’ element. The URI can point to a directory or a file. If the URI is a directory, it must conform to the model database structure (see /tutorials?tut=composition&cat=specification&#defining-models-in-separate-files).