simulation_interfaces/msg/SimulatorFeatures.msg at 23540c00a2842b495796db415825805732d22da3 · ros-simulation/simulation_interfaces · GitHub

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# Features supported by the simulator.

uint8 SPAWNING                  = 0       # Supports spawn interface (SpawnEntity).
uint8 DELETING                  = 1       # Supports deleting entities (DeleteEntity).
uint8 NAMED_POSES               = 2       # Supports predefined named poses (GetNamedPoses).
uint8 POSE_BOUNDS               = 3       # Supports pose bounds (GetNamedPoseBounds).
uint8 ENTITY_TAGS               = 4       # Supports entity tags in interfaces using EntityFilters, such as GetEntities.
uint8 ENTITY_BOUNDS             = 5       # Supports entity bounds (GetEntityBounds).
uint8 ENTITY_BOUNDS_BOX         = 6       # Supports entity filtering with bounds with TYPE_BOX.
uint8 ENTITY_BOUNDS_CONVEX      = 7       # Supports entity filtering with Bounds TYPE_CONVEX_HULL.
uint8 ENTITY_CATEGORIES         = 8       # Supports entity categories, such as in use with EntityFilters or SetEntityInfo.
uint8 SPAWNING_RESOURCE_STRING  = 9       # Supports SpawnEntity resource_string field.

uint8 ENTITY_STATE_GETTING      = 10      # Supports GetEntityState interface.
uint8 ENTITY_STATE_SETTING      = 11      # Supports SetEntityState interface.
uint8 ENTITY_INFO_GETTING       = 12      # Supports GetEntityInfo interface.
uint8 ENTITY_INFO_SETTING       = 13      # Supports SetEntityInfo interface.
uint8 SPAWNABLES                = 14      # Supports GetSpawnables interface.

uint8 SIMULATION_RESET          = 20      # Supports one or more ways to reset the simulation through ResetSimulation.
uint8 SIMULATION_RESET_TIME     = 21      # Supports SCOPE_TIME flag for resetting.
uint8 SIMULATION_RESET_STATE    = 22      # Supports SCOPE_STATE flag for resetting.
uint8 SIMULATION_RESET_SPAWNED  = 23      # Supports SCOPE_SPAWNED flag for resetting.
uint8 SIMULATION_STATE_GETTING  = 24      # Supports GetSimulationState interface.
uint8 SIMULATION_STATE_SETTING  = 25      # Supports SetSimulationState interface. Check SIMULATION_STATE_PAUSE feature
                                          # for setting STATE_PAUSED.
uint8 SIMULATION_STATE_PAUSE    = 26      # Supports the STATE_PAUSED SimulationState in SetSimulationState interface.

uint8 STEP_SIMULATION_SINGLE    = 31      # Supports single stepping through simulation with StepSimulation interface.
uint8 STEP_SIMULATION_MULTIPLE  = 32      # Supports multi-stepping through simulation, either through StepSimulation.
                                          # service or through SimulateSteps action.
uint8 STEP_SIMULATION_ACTION    = 33      # Supports SimulateSteps action interface.

uint8 WORLD_LOADING             = 40      # Supports LoadWorld interface
uint8 WORLD_RESOURCE_STRING     = 41      # Supports LoadWorld resource_string field
uint8 WORLD_TAGS                = 42      # Supports world tags and tag filtering
uint8 WORLD_UNLOADING           = 43      # Supports UnloadWorld interface
uint8 WORLD_INFO_GETTING        = 44      # Supports GetCurrentWorld interface
uint8 AVAILABLE_WORLDS          = 45      # Supports GetAvailableWorlds interface

uint8 SPAWNING_ENTITIES         = 50      # Support spawn multiple entities

uint16[] features                         # A list of simulation features as specified by the list above.

# A list of additional supported formats for spawning, which might be empty. Values may include
#  * sdf (SDFormat)
#  * urdf (Unified Robot Description Format)
#  * usd (Universal Scene Description)
#  * mjcf (MuJoCo's XML format)
# or whatever simulator-native formats that are supported.
string[] spawn_formats
string custom_info                       # Optional: extra information for the caller, which could point to
                                         # documentation, version compatibility and other useful meta information.