## page was renamed from urdf/XML/State
## title = model_state
## description = Describes the state of a model at a certain time
## XMLCategory

<<TableOfContents(4)>>

''' /!\ work in progress, not actually used. The representation of robot configurations for particular groups of joints can be also specified using  [[srdf]] '''

== <model_state> element ==
The state element describes the basic state of a corresponding URDF model.

Here is an example of a model state element:

{{{#!xml
 <model_state model="pr2" time_stamp="0.1">
   <joint_state joint="r_shoulder_pan_joint" position="0" velocity="0" effort="0"/>
   <joint_state joint="r_shoulder_lift_joint" position="0" velocity="0" effort="0"/>
 </model_state>
}}}


== Model State ==
'''<model_state>'''
 . '''model''' ''(required) (string)''
  . The name of the model in corresponding URDF.
 . '''time_stamp''' ''(optional) (float) (sec)''
  . Time stamp of this state in seconds.
  . '''<joint_state>''' ''(optional) (string)''
   . '''joint''' ''(required) (string)''
    . The name of the joint this state refers to.
   . '''position''' ''(optional) (float or array of floats)''
     . position for each degree of freedom of this joint
   . '''velocity''' ''(optional) (float or array of floats)''
     . velocity for each degree of freedom of this joint
   . '''effort''' ''(optional) (float or array of floats)''
     . effort for each degree of freedom of this joint


## see [[http://gazebosim.org/wiki/sdf_sensor]] for reference and comparison.