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Clarify that degrees is only for rotational axes
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Signed-off-by: Steve Peters <[email protected]>
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@scpeters
scpeters committed Aug 28, 2024
1 parent 107146b commit 1b77045
Showing 1 changed file with 30 additions and 6 deletions.
36 changes: 30 additions & 6 deletions sdf/1.12/joint_state.sdf
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Original file line number Diff line number Diff line change
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<attribute name="degrees" type="bool" default="false" required="0">
<description>
If true, the joint position is expressed in units of degrees [deg],
If this is a rotational axis and this attribute is true,
the joint position is expressed in units of degrees [deg],
otherwise it is expressed in radians [rad].
If this axis is translational (such as a prismatic joint), the
units will be interpreted in meters [m] regardless of the value of
this attribute.
</description>
</attribute>
</element>
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<attribute name="degrees" type="bool" default="false" required="0">
<description>
If true, the joint velocity is expressed in units of degrees per
If this is a rotational axis and this attribute is true,
the joint velocity is expressed in units of degrees per
second [deg/s], otherwise it is expressed in radians per second
[rad/s].
If this axis is translational (such as a prismatic joint), the
units will be interpreted in meters per second [m/s] regardless of
the value of this attribute.
</description>
</attribute>
</element>
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<attribute name="degrees" type="bool" default="false" required="0">
<description>
If true, the joint acceleration is expressed in units of degrees per
If this is a rotational axis and this attribute is true,
the joint acceleration is expressed in units of degrees per
second per second [deg/s^2], otherwise it is expressed in radians per
second per second [rad/s^2].
If this axis is translational (such as a prismatic joint), the
units will be interpreted in meters per second per second [m/s^2]
regardless of the value of this attribute.
</description>
</attribute>
</element>
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<attribute name="degrees" type="bool" default="false" required="0">
<description>
If true, the joint position is expressed in units of degrees [deg],
If this is a rotational axis and this attribute is true,
the joint position is expressed in units of degrees [deg],
otherwise it is expressed in radians [rad].
If this axis is translational (such as a prismatic joint), the
units will be interpreted in meters [m] regardless of the value of
this attribute.
</description>
</attribute>
</element>
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<attribute name="degrees" type="bool" default="false" required="0">
<description>
If true, the joint velocity is expressed in units of degrees per
If this is a rotational axis and this attribute is true,
the joint velocity is expressed in units of degrees per
second [deg/s], otherwise it is expressed in radians per second
[rad/s].
If this axis is translational (such as a prismatic joint), the
units will be interpreted in meters per second [m/s] regardless of
the value of this attribute.
</description>
</attribute>
</element>
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<attribute name="degrees" type="bool" default="false" required="0">
<description>
If true, the joint acceleration is expressed in units of degrees per
If this is a rotational axis and this attribute is true,
the joint acceleration is expressed in units of degrees per
second per second [deg/s^2], otherwise it is expressed in radians per
second per second [rad/s^2].
If this axis is translational (such as a prismatic joint), the
units will be interpreted in meters per second per second [m/s^2]
regardless of the value of this attribute.
</description>
</attribute>
</element>
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