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

<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