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/!\ 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:

   1  <model_state model="pr2" time_stamp="0.1">
   2    <joint_state joint="r_shoulder_pan_joint" position="0" velocity="0" effort="0"/>
   3    <joint_state joint="r_shoulder_lift_joint" position="0" velocity="0" effort="0"/>
   4  </model_state>

Model State


2020-02-22 13:22