overview of XML specifications
- link
Describes the kinematic and dynamic properties of a link.
- transmission
Transmissions link actuators to joints and represents their mechanical coupling
- joint
Describes the kinematic and dynamic properties of a joint.
- gazebo
Describes simulation properties, such as damping, friction, etc
- sensor
Describes a sensor, such as a camera, ray sensor, etc
- model_state
Describes the state of a model at a certain time
- model
Describes the kinematic and dynamic properties of a robot structure.