├── .gitignore ├── Init.py ├── InitGui.py ├── LICENSE ├── README.md ├── robot_descriptor ├── RD_globals.py ├── RD_parser │ ├── RD_parse_sdf.py │ ├── initialize_element_tree.py │ └── readme.md ├── forms │ ├── light.ui │ ├── material.ui │ ├── scene.ui │ └── world.ui ├── icons │ ├── add.png │ ├── edit.svg │ ├── initialize.svg │ ├── joint.svg │ ├── minus.png │ ├── robot_icon.svg │ └── world_properties.svg ├── initialize.py ├── sdf │ ├── 1.0 │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── camera.sdf │ │ ├── collision.sdf │ │ ├── contact.sdf │ │ ├── gazebo.sdf │ │ ├── geometry.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── light.sdf │ │ ├── link.sdf │ │ ├── model.sdf │ │ ├── physics.sdf │ │ ├── plugin.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── scene.sdf │ │ ├── sensor.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.10 │ │ ├── 1_9.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── air_pressure.sdf │ │ ├── air_speed.sdf │ │ ├── altimeter.sdf │ │ ├── atmosphere.sdf │ │ ├── audio_sink.sdf │ │ ├── audio_source.sdf │ │ ├── battery.sdf │ │ ├── box_shape.sdf │ │ ├── camera.sdf │ │ ├── capsule_shape.sdf │ │ ├── collision.sdf │ │ ├── contact.sdf │ │ ├── cylinder_shape.sdf │ │ ├── ellipsoid_shape.sdf │ │ ├── forcetorque.sdf │ │ ├── frame.sdf │ │ ├── geometry.sdf │ │ ├── gps.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── heightmap_shape.sdf │ │ ├── image_shape.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── lidar.sdf │ │ ├── light.sdf │ │ ├── light_state.sdf │ │ ├── link.sdf │ │ ├── link_state.sdf │ │ ├── logical_camera.sdf │ │ ├── magnetometer.sdf │ │ ├── material.sdf │ │ ├── mesh_shape.sdf │ │ ├── model.sdf │ │ ├── model_state.sdf │ │ ├── navsat.sdf │ │ ├── noise.sdf │ │ ├── particle_emitter.sdf │ │ ├── physics.sdf │ │ ├── plane_shape.sdf │ │ ├── plugin.sdf │ │ ├── polyline_shape.sdf │ │ ├── population.sdf │ │ ├── pose.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── root.sdf │ │ ├── scene.sdf │ │ ├── schema │ │ │ └── types.xsd │ │ ├── sensor.sdf │ │ ├── sonar.sdf │ │ ├── sphere_shape.sdf │ │ ├── spherical_coordinates.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── transceiver.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.2 │ │ ├── 1_0.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── camera.sdf │ │ ├── collision.sdf │ │ ├── contact.sdf │ │ ├── gazebo.sdf │ │ ├── geometry.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── light.sdf │ │ ├── link.sdf │ │ ├── model.sdf │ │ ├── physics.sdf │ │ ├── plugin.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── scene.sdf │ │ ├── sensor.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── urdf.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.3 │ │ ├── 1_2.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── camera.sdf │ │ ├── collision.sdf │ │ ├── contact.sdf │ │ ├── geometry.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── light.sdf │ │ ├── link.sdf │ │ ├── model.sdf │ │ ├── physics.sdf │ │ ├── plugin.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── root.sdf │ │ ├── scene.sdf │ │ ├── sensor.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── urdf.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.4 │ │ ├── 1_3.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── audio_sink.sdf │ │ ├── audio_source.sdf │ │ ├── box_shape.sdf │ │ ├── camera.sdf │ │ ├── collision.sdf │ │ ├── collision_engine.sdf │ │ ├── contact.sdf │ │ ├── cylinder_shape.sdf │ │ ├── forcetorque.sdf │ │ ├── geometry.sdf │ │ ├── gps.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── heightmap_shape.sdf │ │ ├── image_shape.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── light.sdf │ │ ├── link.sdf │ │ ├── mesh_shape.sdf │ │ ├── model.sdf │ │ ├── noise.sdf │ │ ├── physics.sdf │ │ ├── plane_shape.sdf │ │ ├── plugin.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── root.sdf │ │ ├── scene.sdf │ │ ├── sensor.sdf │ │ ├── sonar.sdf │ │ ├── sphere_shape.sdf │ │ ├── spherical_coordinates.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── transceiver.sdf │ │ ├── urdf.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.5 │ │ ├── 1_4.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── altimeter.sdf │ │ ├── audio_sink.sdf │ │ ├── audio_source.sdf │ │ ├── battery.sdf │ │ ├── box_shape.sdf │ │ ├── camera.sdf │ │ ├── collision.sdf │ │ ├── collision_engine.sdf │ │ ├── contact.sdf │ │ ├── cylinder_shape.sdf │ │ ├── forcetorque.sdf │ │ ├── frame.sdf │ │ ├── geometry.sdf │ │ ├── gps.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── heightmap_shape.sdf │ │ ├── image_shape.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── light.sdf │ │ ├── light_state.sdf │ │ ├── link.sdf │ │ ├── link_state.sdf │ │ ├── logical_camera.sdf │ │ ├── magnetometer.sdf │ │ ├── material.sdf │ │ ├── mesh_shape.sdf │ │ ├── model.sdf │ │ ├── model_state.sdf │ │ ├── noise.sdf │ │ ├── physics.sdf │ │ ├── plane_shape.sdf │ │ ├── plugin.sdf │ │ ├── polyline_shape.sdf │ │ ├── population.sdf │ │ ├── pose.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── root.sdf │ │ ├── scene.sdf │ │ ├── schema │ │ │ └── types.xsd │ │ ├── sensor.sdf │ │ ├── sonar.sdf │ │ ├── sphere_shape.sdf │ │ ├── spherical_coordinates.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── transceiver.sdf │ │ ├── urdf.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.6 │ │ ├── 1_5.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── air_pressure.sdf │ │ ├── altimeter.sdf │ │ ├── atmosphere.sdf │ │ ├── audio_sink.sdf │ │ ├── audio_source.sdf │ │ ├── battery.sdf │ │ ├── box_shape.sdf │ │ ├── camera.sdf │ │ ├── collision.sdf │ │ ├── collision_engine.sdf │ │ ├── contact.sdf │ │ ├── cylinder_shape.sdf │ │ ├── forcetorque.sdf │ │ ├── frame.sdf │ │ ├── geometry.sdf │ │ ├── gps.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── heightmap_shape.sdf │ │ ├── image_shape.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── lidar.sdf │ │ ├── light.sdf │ │ ├── light_state.sdf │ │ ├── link.sdf │ │ ├── link_state.sdf │ │ ├── logical_camera.sdf │ │ ├── magnetometer.sdf │ │ ├── material.sdf │ │ ├── mesh_shape.sdf │ │ ├── model.sdf │ │ ├── model_state.sdf │ │ ├── noise.sdf │ │ ├── particle_emitter.sdf │ │ ├── physics.sdf │ │ ├── plane_shape.sdf │ │ ├── plugin.sdf │ │ ├── polyline_shape.sdf │ │ ├── population.sdf │ │ ├── pose.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── root.sdf │ │ ├── scene.sdf │ │ ├── schema │ │ │ └── types.xsd │ │ ├── sensor.sdf │ │ ├── sonar.sdf │ │ ├── sphere_shape.sdf │ │ ├── spherical_coordinates.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── transceiver.sdf │ │ ├── urdf.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.7 │ │ ├── 1_6.convert │ │ ├── 1_6_convert.xslt │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── air_pressure.sdf │ │ ├── altimeter.sdf │ │ ├── atmosphere.sdf │ │ ├── audio_sink.sdf │ │ ├── audio_source.sdf │ │ ├── battery.sdf │ │ ├── box_shape.sdf │ │ ├── camera.sdf │ │ ├── collision.sdf │ │ ├── collision_engine.sdf │ │ ├── contact.sdf │ │ ├── cylinder_shape.sdf │ │ ├── forcetorque.sdf │ │ ├── frame.sdf │ │ ├── geometry.sdf │ │ ├── gps.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── heightmap_shape.sdf │ │ ├── image_shape.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── lidar.sdf │ │ ├── light.sdf │ │ ├── light_state.sdf │ │ ├── link.sdf │ │ ├── link_state.sdf │ │ ├── logical_camera.sdf │ │ ├── magnetometer.sdf │ │ ├── material.sdf │ │ ├── mesh_shape.sdf │ │ ├── model.sdf │ │ ├── model_state.sdf │ │ ├── navsat.sdf │ │ ├── noise.sdf │ │ ├── particle_emitter.sdf │ │ ├── physics.sdf │ │ ├── plane_shape.sdf │ │ ├── plugin.sdf │ │ ├── polyline_shape.sdf │ │ ├── population.sdf │ │ ├── pose.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── root.sdf │ │ ├── scene.sdf │ │ ├── schema │ │ │ └── types.xsd │ │ ├── sensor.sdf │ │ ├── sonar.sdf │ │ ├── sphere_shape.sdf │ │ ├── spherical_coordinates.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── transceiver.sdf │ │ ├── urdf.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.8 │ │ ├── 1_7.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── air_pressure.sdf │ │ ├── altimeter.sdf │ │ ├── atmosphere.sdf │ │ ├── audio_sink.sdf │ │ ├── audio_source.sdf │ │ ├── battery.sdf │ │ ├── box_shape.sdf │ │ ├── camera.sdf │ │ ├── capsule_shape.sdf │ │ ├── collision.sdf │ │ ├── collision_engine.sdf │ │ ├── contact.sdf │ │ ├── cylinder_shape.sdf │ │ ├── ellipsoid_shape.sdf │ │ ├── forcetorque.sdf │ │ ├── frame.sdf │ │ ├── geometry.sdf │ │ ├── gps.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── heightmap_shape.sdf │ │ ├── image_shape.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── lidar.sdf │ │ ├── light.sdf │ │ ├── light_state.sdf │ │ ├── link.sdf │ │ ├── link_state.sdf │ │ ├── logical_camera.sdf │ │ ├── magnetometer.sdf │ │ ├── material.sdf │ │ ├── mesh_shape.sdf │ │ ├── model.sdf │ │ ├── model_state.sdf │ │ ├── navsat.sdf │ │ ├── noise.sdf │ │ ├── particle_emitter.sdf │ │ ├── physics.sdf │ │ ├── plane_shape.sdf │ │ ├── plugin.sdf │ │ ├── polyline_shape.sdf │ │ ├── population.sdf │ │ ├── pose.sdf │ │ ├── projector.sdf │ │ ├── ray.sdf │ │ ├── rfid.sdf │ │ ├── rfidtag.sdf │ │ ├── road.sdf │ │ ├── root.sdf │ │ ├── scene.sdf │ │ ├── schema │ │ │ └── types.xsd │ │ ├── sensor.sdf │ │ ├── sonar.sdf │ │ ├── sphere_shape.sdf │ │ ├── spherical_coordinates.sdf │ │ ├── state.sdf │ │ ├── surface.sdf │ │ ├── transceiver.sdf │ │ ├── urdf.sdf │ │ ├── visual.sdf │ │ └── world.sdf │ ├── 1.9 │ │ ├── 1_8.convert │ │ ├── CMakeLists.txt │ │ ├── actor.sdf │ │ ├── air_pressure.sdf │ │ ├── altimeter.sdf │ │ ├── atmosphere.sdf │ │ ├── audio_sink.sdf │ │ ├── audio_source.sdf │ │ ├── battery.sdf │ │ ├── box_shape.sdf │ │ ├── camera.sdf │ │ ├── capsule_shape.sdf │ │ ├── collision.sdf │ │ ├── collision_engine.sdf │ │ ├── contact.sdf │ │ ├── cylinder_shape.sdf │ │ ├── ellipsoid_shape.sdf │ │ ├── forcetorque.sdf │ │ ├── frame.sdf │ │ ├── geometry.sdf │ │ ├── gps.sdf │ │ ├── gripper.sdf │ │ ├── gui.sdf │ │ ├── heightmap_shape.sdf │ │ ├── image_shape.sdf │ │ ├── imu.sdf │ │ ├── inertial.sdf │ │ ├── joint.sdf │ │ ├── lidar.sdf │ │ ├── light.sdf │ │ ├── light_state.sdf │ │ ├── link.sdf │ │ ├── link_state.sdf │ │ ├── logical_camera.sdf │ │ ├── magnetometer.sdf │ │ ├── material.sdf │ │ ├── mesh_shape.sdf │ │ ├── model.sdf │ │ ├── model_state.sdf │ │ ├── navsat.sdf │ │ ├── noise.sdf │ │ ├── particle_emitter.sdf │ │ ├── physics.sdf │ │ ├── plane_shape.sdf │ │ ├── plugin.sdf │ │ ├── polyline_shape.sdf │ │ ├── population.sdf │ │ ├── pose.sdf │ │ ├── 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