syntax = "proto3";
package gz.msgs;
message Actor {
  message Animation {
    string name = 1;
    string filename = 2;
    float scale = 3;
    bool interpolate_x = 4;
  }
  message Waypoint {
    float time = 1;
    .gz.msgs.Pose pose = 2;
  }
  message Trajectory {
    uint32 id = 1;
    string type = 2;
    float tension = 3;
    repeated .gz.msgs.Actor.Waypoint waypoints = 4;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Entity entity = 2;
  .gz.msgs.Pose pose = 3;
  string skin_filename = 4;
  float skin_scale = 5;
  repeated .gz.msgs.Actor.Animation animations = 6;
  bool script_loop = 7;
  float script_delay_start = 8;
  bool script_auto_start = 9;
  repeated .gz.msgs.Actor.Trajectory trajectories = 10;
  .gz.msgs.Entity parent = 11;
}
message Actuators {
  .gz.msgs.Header header = 1;
  repeated double position = 2;
  repeated double velocity = 3;
  repeated double normalized = 4;
}
message AirPressureSensor {
  .gz.msgs.Header header = 1;
  double reference_altitude = 2;
  .gz.msgs.SensorNoise pressure_noise = 3;
}
message AirSpeedSensor {
  .gz.msgs.Header header = 1;
  double diff_pressure = 2;
  double temperature = 3;
  .gz.msgs.SensorNoise pressure_noise = 4;
}
message Altimeter {
  .gz.msgs.Header header = 1;
  double vertical_position = 2;
  double vertical_velocity = 3;
  double vertical_reference = 4;
}
message AltimeterSensor {
  .gz.msgs.Header header = 1;
  .gz.msgs.SensorNoise vertical_position_noise = 2;
  .gz.msgs.SensorNoise vertical_velocity_noise = 3;
}
message AnnotatedAxisAligned2DBox {
  .gz.msgs.Header header = 1;
  .gz.msgs.AxisAligned2DBox box = 2;
  uint32 label = 3;
}
message AnnotatedAxisAligned2DBox_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.AnnotatedAxisAligned2DBox annotated_box = 2;
}
message AnnotatedOriented3DBox {
  .gz.msgs.Header header = 1;
  .gz.msgs.Oriented3DBox box = 2;
  uint32 label = 3;
}
message AnnotatedOriented3DBox_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.AnnotatedOriented3DBox annotated_box = 2;
}
message Any {
  enum ValueType {
    NONE = 0;
    DOUBLE = 1;
    INT32 = 2;
    STRING = 3;
    BOOLEAN = 4;
    VECTOR3D = 5;
    COLOR = 6;
    POSE3D = 7;
    QUATERNIOND = 8;
    TIME = 9;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Any.ValueType type = 2;
  oneof value {
    double double_value = 3;
    int32 int_value = 4;
    string string_value = 5;
    bool bool_value = 6;
    .gz.msgs.Vector3d vector3d_value = 7;
    .gz.msgs.Color color_value = 8;
    .gz.msgs.Pose pose3d_value = 9;
    .gz.msgs.Quaternion quaternion_value = 10;
    .gz.msgs.Time time_value = 11;
  }
}
message Atmosphere {
  enum Type {
    ADIABATIC = 0;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Atmosphere.Type type = 2;
  double temperature = 3;
  double pressure = 4;
  double mass_density = 5;
  bool enable_atmosphere = 6;
}
message Axis {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d xyz = 2;
  double limit_lower = 3;
  double limit_upper = 4;
  double limit_effort = 5;
  double limit_velocity = 6;
  double damping = 7;
  double friction = 8;
  double position = 10;
  double velocity = 11;
  double force = 12;
  double acceleration = 13;
  string xyz_expressed_in = 14;
}
message AxisAligned2DBox {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector2d min_corner = 2;
  .gz.msgs.Vector2d max_corner = 3;
}
message AxisAlignedBox {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d min_corner = 2;
  .gz.msgs.Vector3d max_corner = 3;
}
message Battery {
  .gz.msgs.Header header = 1;
  string name = 2;
  double voltage = 3;
}
message BatteryState {
  enum PowerSupplyStatus {
    UNKNOWN = 0;
    CHARGING = 1;
    DISCHARGING = 2;
    NOT_CHARGING = 3;
    FULL = 4;
  }
  .gz.msgs.Header header = 1;
  double voltage = 2;
  double current = 3;
  double charge = 4;
  double capacity = 5;
  double percentage = 6;
  .gz.msgs.BatteryState.PowerSupplyStatus power_supply_status = 7;
}
message Boolean {
  .gz.msgs.Header header = 1;
  bool data = 2;
}
message BoxGeom {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d size = 2;
}
message Bytes {
  .gz.msgs.Header header = 1;
  bytes data = 2;
}
message CameraCmd {
  .gz.msgs.Header header = 1;
  string follow_model = 2;
}
message CameraInfo {
  message Distortion {
    enum DistortionModelType {
      PLUMB_BOB = 0;
      RATIONAL_POLYNOMIAL = 1;
      EQUIDISTANT = 2;
    }
    .gz.msgs.CameraInfo.Distortion.DistortionModelType model = 1;
    repeated double k = 2;
  }
  message Intrinsics {
    repeated double k = 1;
  }
  message Projection {
    repeated double p = 1;
  }
  .gz.msgs.Header header = 1;
  uint32 width = 2;
  uint32 height = 3;
  .gz.msgs.CameraInfo.Distortion distortion = 4;
  .gz.msgs.CameraInfo.Intrinsics intrinsics = 5;
  .gz.msgs.CameraInfo.Projection projection = 6;
  repeated double rectification_matrix = 7 [packed = true];
}
message CameraLens {
  .gz.msgs.Header header = 1;
  string type = 2;
  double c1 = 3;
  double c2 = 4;
  double c3 = 5;
  double f = 6;
  string fun = 7;
  bool scale_to_hfov = 8;
  double cutoff_angle = 9;
  double hfov = 10;
  int32 env_texture_size = 11;
}
message CameraSensor {
  enum BoundingBoxType {
    NO_BOUNDING_BOX = 0;
    FULL_BOX_2D = 1;
    VISIBLE_BOX_2D = 2;
    BOX_3D = 3;
  }
  enum SegmentationType {
    NO_SEGMENTATION = 0;
    SEMANTIC = 1;
    PANOPTIC = 2;
  }
  .gz.msgs.Header header = 1;
  double horizontal_fov = 2;
  .gz.msgs.Vector2d image_size = 3;
  string image_format = 4;
  double near_clip = 5;
  double far_clip = 6;
  bool save_enabled = 7;
  string save_path = 8;
  .gz.msgs.Distortion distortion = 9;
  .gz.msgs.SensorNoise image_noise = 10;
  .gz.msgs.Double depth_near_clip = 11;
  .gz.msgs.Double depth_far_clip = 12;
  .gz.msgs.CameraSensor.BoundingBoxType bounding_box_type = 13;
  .gz.msgs.CameraSensor.SegmentationType segmentation_type = 14;
  .gz.msgs.Lens lens = 15;
  bool triggered = 16;
  string triggered_topic = 17;
  int32 anti_aliasing = 18;
  uint32 visibility_mask = 19;
  bool is_depth_camera = 20;
  .gz.msgs.PixelFormatType pixel_format = 21;
}
message CapsuleGeom {
  .gz.msgs.Header header = 1;
  double radius = 2;
  double length = 3;
}
message Cessna {
  .gz.msgs.Header header = 1;
  float propeller_speed = 2;
  float left_aileron = 3;
  float left_flap = 4;
  float right_aileron = 5;
  float right_flap = 6;
  float elevators = 7;
  float rudder = 8;
  float cmd_propeller_speed = 9;
  float cmd_left_aileron = 10;
  float cmd_left_flap = 11;
  float cmd_right_aileron = 12;
  float cmd_right_flap = 13;
  float cmd_elevators = 14;
  float cmd_rudder = 15;
}
message Clock {
  .gz.msgs.Header header = 1;
  .gz.msgs.Time system = 2;
  .gz.msgs.Time real = 3;
  .gz.msgs.Time sim = 4;
}
message CmdVel2D {
  .gz.msgs.Header header = 1;
  double velocity = 2;
  double theta = 3;
}
message Collision {
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string name = 3;
  double laser_retro = 4;
  double max_contacts = 5;
  .gz.msgs.Pose pose = 6;
  .gz.msgs.Geometry geometry = 7;
  .gz.msgs.Surface surface = 8;
  repeated .gz.msgs.Visual visual = 9;
}
message Color {
  .gz.msgs.Header header = 1;
  float r = 2;
  float g = 3;
  float b = 4;
  float a = 5;
}
message ConeGeom {
  .gz.msgs.Header header = 1;
  double radius = 2;
  double length = 3;
}
message Contact {
  .gz.msgs.Header header = 1;
  .gz.msgs.Entity collision1 = 2;
  .gz.msgs.Entity collision2 = 3;
  repeated .gz.msgs.Vector3d position = 4;
  repeated .gz.msgs.Vector3d normal = 5;
  repeated double depth = 6;
  repeated .gz.msgs.JointWrench wrench = 7;
  .gz.msgs.Entity world = 8;
}
message ContactSensor {
  .gz.msgs.Header header = 1;
  string collision_name = 2;
}
message Contacts {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Contact contact = 2;
}
message CylinderGeom {
  .gz.msgs.Header header = 1;
  double radius = 2;
  double length = 3;
}
message DVLBeamState {
  int32 id = 1;
  .gz.msgs.DVLKinematicEstimate velocity = 2;
  .gz.msgs.DVLRangeEstimate range = 3;
  double rssi = 4;
  double nsd = 5;
  bool locked = 6;
}
message DVLKinematicEstimate {
  enum ReferenceType {
    DVL_REFERENCE_UNSPECIFIED = 0;
    DVL_REFERENCE_EARTH = 1;
    DVL_REFERENCE_SHIP = 2;
  }
  .gz.msgs.DVLKinematicEstimate.ReferenceType reference = 1;
  .gz.msgs.Vector3d mean = 2;
  repeated double covariance = 3;
}
message DVLRangeEstimate {
  double mean = 1;
  double variance = 2;
}
message DVLTrackingTarget {
  enum TargetType {
    DVL_TARGET_UNSPECIFIED = 0;
    DVL_TARGET_BOTTOM = 1;
    DVL_TARGET_WATER_MASS = 2;
  }
  .gz.msgs.DVLTrackingTarget.TargetType type = 1;
  .gz.msgs.DVLRangeEstimate range = 2;
  .gz.msgs.DVLKinematicEstimate position = 3;
}
message DVLVelocityTracking {
  enum DVLType {
    DVL_TYPE_UNSPECIFIED = 0;
    DVL_TYPE_PISTON = 1;
    DVL_TYPE_PHASED_ARRAY = 2;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.DVLVelocityTracking.DVLType type = 2;
  .gz.msgs.DVLTrackingTarget target = 3;
  .gz.msgs.DVLKinematicEstimate velocity = 4;
  repeated .gz.msgs.DVLBeamState beams = 5;
  int32 status = 6;
}
message DataLoadPathOptions {
  enum DataAngularUnits {
    RADIANS = 0;
    DEGREES = 1;
  }
  string path = 1;
  string time = 2;
  bool static_time = 3;
  string x = 4;
  string y = 5;
  string z = 6;
  .gz.msgs.DataLoadPathOptions.DataAngularUnits units = 7;
  .gz.msgs.SphericalCoordinatesType coordinate_type = 8;
}
message Dataframe {
  .gz.msgs.Header header = 1;
  string src_address = 2;
  string dst_address = 3;
  bytes data = 4;
}
message Density {
  .gz.msgs.Header header = 1;
  double density = 2;
}
message Diagnostics {
  message DiagTime {
    string name = 1;
    .gz.msgs.Time elapsed = 2;
    .gz.msgs.Time wall = 3;
  }
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Diagnostics.DiagTime time = 2;
  .gz.msgs.Time real_time = 3;
  .gz.msgs.Time sim_time = 4;
  double real_time_factor = 5;
}
message Discovery {
  message Flags {
    bool relay = 1;
    bool no_relay = 2;
  }
  message Subscriber {
    string topic = 1;
  }
  message Publisher {
    message MessagePublisher {
      string ctrl = 1;
      string msg_type = 2;
      bool throttled = 3;
      uint64 msgs_per_sec = 4;
    }
    message ServicePublisher {
      string socket_id = 1;
      string request_type = 2;
      string response_type = 3;
    }
    enum Scope {
      PROCESS = 0;
      HOST = 1;
      ALL = 2;
    }
    string topic = 1;
    string address = 2;
    string process_uuid = 3;
    string node_uuid = 4;
    .gz.msgs.Discovery.Publisher.Scope scope = 5;
    oneof pub_type {
      .gz.msgs.Discovery.Publisher.MessagePublisher msg_pub = 6;
      .gz.msgs.Discovery.Publisher.ServicePublisher srv_pub = 7;
    }
  }
  enum Type {
    UNINITIALIZED = 0;
    ADVERTISE = 1;
    SUBSCRIBE = 2;
    UNADVERTISE = 3;
    HEARTBEAT = 4;
    BYE = 5;
    NEW_CONNECTION = 6;
    END_CONNECTION = 7;
  }
  .gz.msgs.Header header = 1;
  uint32 version = 2;
  string process_uuid = 3;
  .gz.msgs.Discovery.Type type = 4;
  .gz.msgs.Discovery.Flags flags = 5;
  oneof disc_contents {
    .gz.msgs.Discovery.Subscriber sub = 6;
    .gz.msgs.Discovery.Publisher pub = 7;
  }
}
message Distortion {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector2d center = 2;
  double k1 = 3;
  double k2 = 4;
  double k3 = 5;
  double p1 = 6;
  double p2 = 7;
}
message Double {
  .gz.msgs.Header header = 1;
  double data = 2;
}
message Double_V {
  repeated double data = 1;
}
message Duration {
  .gz.msgs.Header header = 1;
  int64 sec = 2;
  int32 nsec = 3;
}
message EllipsoidGeom {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d radii = 2;
}
message Empty {
  bool unused = 1;
}
message Entity {
  enum Type {
    NONE = 0;
    LIGHT = 1;
    MODEL = 2;
    LINK = 3;
    VISUAL = 4;
    COLLISION = 5;
    SENSOR = 6;
    JOINT = 7;
    ACTOR = 8;
    WORLD = 9;
  }
  .gz.msgs.Header header = 1;
  uint64 id = 2;
  string name = 3;
  .gz.msgs.Entity.Type type = 4;
}
message EntityFactory {
  .gz.msgs.Header header = 1;
  oneof from {
    string sdf = 2;
    string sdf_filename = 3;
    .gz.msgs.Model model = 4;
    .gz.msgs.Light light = 5;
    string clone_name = 6;
  }
  .gz.msgs.Pose pose = 7;
  string name = 8;
  bool allow_renaming = 9;
  string relative_to = 10;
  .gz.msgs.SphericalCoordinates spherical_coordinates = 11;
}
message EntityFactory_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.EntityFactory data = 2;
}
message EntityPlugin_V {
  .gz.msgs.Header header = 1;
  .gz.msgs.Entity entity = 2;
  repeated .gz.msgs.Plugin plugins = 3;
}
message EntityWrench {
  .gz.msgs.Header header = 1;
  .gz.msgs.Entity entity = 2;
  .gz.msgs.Wrench wrench = 3;
}
message EntityWrenchMap {
  .gz.msgs.Header header = 1;
  map<string, .gz.msgs.EntityWrench> wrenches = 2;
}
message Float {
  .gz.msgs.Header header = 1;
  float data = 2;
}
message Float_V {
  .gz.msgs.Header header = 1;
  repeated float data = 2;
}
message Fluid {
  .gz.msgs.Header header = 1;
  string name = 2;
  repeated .gz.msgs.Vector3d position = 3;
}
message FluidPressure {
  .gz.msgs.Header header = 1;
  double pressure = 2;
  double variance = 3;
}
message Fog {
  enum FogType {
    NONE = 0;
    LINEAR = 1;
    EXPONENTIAL = 2;
    EXPONENTIAL2 = 3;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Fog.FogType type = 2;
  .gz.msgs.Color color = 3;
  float density = 4;
  float start = 5;
  float end = 6;
}
message Friction {
  message Torsional {
    message ODE {
      double slip = 1;
    }
    double coefficient = 1;
    bool use_patch_radius = 2;
    double patch_radius = 3;
    double surface_radius = 4;
    .gz.msgs.Friction.Torsional.ODE ode = 5;
  }
  .gz.msgs.Header header = 1;
  double mu = 2;
  double mu2 = 3;
  .gz.msgs.Vector3d fdir1 = 4;
  double slip1 = 5;
  double slip2 = 6;
  .gz.msgs.Friction.Torsional torsional = 7;
}
message FuelMetadata {
  message Contact {
    string name = 1;
    string email = 2;
  }
  message Legal {
    string copyright = 1;
    string license = 2;
  }
  message Model {
    string file = 1;
    .gz.msgs.VersionedName file_format = 2;
  }
  message World {
    string file = 1;
    .gz.msgs.VersionedName file_format = 2;
  }
  message Dependency {
    string uri = 1;
  }
  message Compatibility {
    string name = 1;
    oneof version_type {
      .gz.msgs.Version version = 2;
      .gz.msgs.VersionRange version_range = 3;
    }
  }
  message Categories {
    string first = 1;
    string second = 2;
  }
  oneof resource_type {
    .gz.msgs.FuelMetadata.Model model = 1;
    .gz.msgs.FuelMetadata.World world = 2;
  }
  string name = 3;
  string description = 4;
  int32 version = 5;
  repeated .gz.msgs.FuelMetadata.Contact authors = 6;
  .gz.msgs.FuelMetadata.Legal legal = 7;
  repeated string tags = 8;
  map<string, string> annotations = 9;
  repeated .gz.msgs.FuelMetadata.Dependency dependencies = 10;
  repeated .gz.msgs.FuelMetadata.Compatibility compatibilities = 11;
  .gz.msgs.FuelMetadata.Categories categories = 12;
}
message GPS {
  .gz.msgs.Header header = 1;
  string link_name = 2;
  double latitude_deg = 3;
  double longitude_deg = 4;
  double altitude = 5;
  double velocity_east = 6;
  double velocity_north = 7;
  double velocity_up = 8;
}
message GPSSensor {
  message Sensing {
    .gz.msgs.SensorNoise horizontal_noise = 1;
    .gz.msgs.SensorNoise vertical_noise = 2;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.GPSSensor.Sensing position = 2;
  .gz.msgs.GPSSensor.Sensing velocity = 3;
}
message GUI {
  .gz.msgs.Header header = 1;
  bool fullscreen = 2;
  .gz.msgs.GUICamera camera = 3;
  repeated .gz.msgs.Plugin plugin = 4;
}
message GUICamera {
  .gz.msgs.Header header = 1;
  string name = 2;
  string view_controller = 3;
  .gz.msgs.Pose pose = 4;
  .gz.msgs.TrackVisual track = 5;
  string projection_type = 6;
}
message Geometry {
  enum Type {
    BOX = 0;
    CYLINDER = 1;
    SPHERE = 2;
    PLANE = 3;
    IMAGE = 4;
    HEIGHTMAP = 5;
    MESH = 6;
    TRIANGLE_FAN = 7;
    LINE_STRIP = 8;
    POLYLINE = 9;
    CONE = 10;
    EMPTY = 11;
    ARROW = 12;
    AXIS = 13;
    CAPSULE = 14;
    ELLIPSOID = 15;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Geometry.Type type = 2;
  .gz.msgs.BoxGeom box = 3;
  .gz.msgs.CylinderGeom cylinder = 4;
  .gz.msgs.PlaneGeom plane = 5;
  .gz.msgs.SphereGeom sphere = 6;
  .gz.msgs.ImageGeom image = 7;
  .gz.msgs.HeightmapGeom heightmap = 8;
  .gz.msgs.MeshGeom mesh = 9;
  .gz.msgs.ConeGeom cone = 10;
  .gz.msgs.CapsuleGeom capsule = 13;
  .gz.msgs.EllipsoidGeom ellipsoid = 14;
  repeated .gz.msgs.Vector3d points = 11;
  repeated .gz.msgs.Polyline polyline = 12;
}
message Header {
  message Map {
    string key = 1;
    repeated string value = 2;
  }
  .gz.msgs.Time stamp = 1;
  repeated .gz.msgs.Header.Map data = 2;
}
message HeightmapGeom {
  message Texture {
    string diffuse = 1;
    string normal = 2;
    double size = 3;
  }
  message Blend {
    double min_height = 1;
    double fade_dist = 2;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Image image = 2;
  .gz.msgs.Vector3d size = 3;
  .gz.msgs.Vector3d origin = 4;
  repeated float heights = 5;
  int32 width = 6;
  int32 height = 7;
  repeated .gz.msgs.HeightmapGeom.Texture texture = 8;
  repeated .gz.msgs.HeightmapGeom.Blend blend = 9;
  bool use_terrain_paging = 10;
  string filename = 11;
  uint32 sampling = 12;
}
message Hydra {
  message Paddle {
    .gz.msgs.Pose pose = 1;
    bool button_bumper = 2;
    bool button_1 = 3;
    bool button_2 = 4;
    bool button_3 = 5;
    bool button_4 = 6;
    bool button_joy = 7;
    bool button_center = 8;
    double joy_x = 9;
    double joy_y = 10;
    double trigger = 11;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Hydra.Paddle right = 2;
  .gz.msgs.Hydra.Paddle left = 3;
}
message IMU {
  .gz.msgs.Header header = 1;
  string entity_name = 2;
  .gz.msgs.Quaternion orientation = 3;
  .gz.msgs.Vector3d angular_velocity = 4;
  .gz.msgs.Vector3d linear_acceleration = 5;
}
message IMUSensor {
  message AngularVelocity {
    .gz.msgs.SensorNoise x_noise = 1;
    .gz.msgs.SensorNoise y_noise = 2;
    .gz.msgs.SensorNoise z_noise = 3;
  }
  message LinearAcceleration {
    .gz.msgs.SensorNoise x_noise = 1;
    .gz.msgs.SensorNoise y_noise = 2;
    .gz.msgs.SensorNoise z_noise = 3;
  }
  message OrientationReferenceFrame {
    string localization = 1;
    .gz.msgs.Vector3d custom_rpy = 2;
    string custom_rpy_parent_frame = 3;
    .gz.msgs.Vector3d gravity_dir_x = 4;
    string gravity_dir_x_parent_frame = 5;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.IMUSensor.AngularVelocity angular_velocity = 2;
  .gz.msgs.IMUSensor.LinearAcceleration linear_acceleration = 3;
  .gz.msgs.IMUSensor.OrientationReferenceFrame orientation_ref_frame = 4;
}
message Image {
  .gz.msgs.Header header = 1;
  uint32 width = 2;
  uint32 height = 3;
  uint32 step = 4;
  bytes data = 5;
  .gz.msgs.PixelFormatType pixel_format_type = 6;
}
message ImageGeom {
  .gz.msgs.Header header = 1;
  string uri = 2;
  double scale = 3;
  int32 threshold = 4;
  double height = 5;
  int32 granularity = 6;
}
message Inertial {
  .gz.msgs.Header header = 1;
  double mass = 2;
  .gz.msgs.Pose pose = 3;
  double ixx = 4;
  double ixy = 5;
  double ixz = 6;
  double iyy = 7;
  double iyz = 8;
  double izz = 9;
  repeated double fluid_added_mass = 10;
}
message Int32 {
  .gz.msgs.Header header = 1;
  int32 data = 2;
}
message Int32_V {
  .gz.msgs.Header header = 1;
  repeated int32 data = 2;
}
message Int64 {
  .gz.msgs.Header header = 1;
  int64 data = 2;
}
message Int64_V {
  .gz.msgs.Header header = 1;
  repeated int64 data = 2;
}
message Joint {
  message Gearbox {
    string gearbox_reference_body = 1;
    double gearbox_ratio = 2;
  }
  message Screw {
    double thread_pitch = 1;
  }
  enum Type {
    REVOLUTE = 0;
    REVOLUTE2 = 1;
    PRISMATIC = 2;
    UNIVERSAL = 3;
    BALL = 4;
    SCREW = 5;
    GEARBOX = 6;
    FIXED = 7;
    CONTINUOUS = 8;
  }
  .gz.msgs.Header header = 1;
  string name = 2;
  uint32 id = 3;
  .gz.msgs.Joint.Type type = 4;
  string parent = 5;
  uint32 parent_id = 6;
  string child = 7;
  uint32 child_id = 8;
  .gz.msgs.Pose pose = 9;
  .gz.msgs.Axis axis1 = 10;
  .gz.msgs.Axis axis2 = 11;
  double cfm = 12;
  double bounce = 13;
  double fudge_factor = 14;
  double limit_cfm = 15;
  double limit_erp = 16;
  double suspension_cfm = 17;
  double suspension_erp = 18;
  .gz.msgs.Joint.Gearbox gearbox = 19;
  .gz.msgs.Joint.Screw screw = 20;
  repeated .gz.msgs.Sensor sensor = 21;
}
message JointAnimation {
  message Joint {
    repeated string name = 1;
    repeated double angle = 2;
  }
  .gz.msgs.Header header = 1;
  string model_name = 2;
  repeated .gz.msgs.JointAnimation.Joint joint = 3;
  repeated .gz.msgs.Time time = 4;
}
message JointCmd {
  .gz.msgs.Header header = 1;
  string name = 2;
  int32 axis = 3;
  .gz.msgs.PID position = 5;
  .gz.msgs.PID velocity = 6;
  bool reset = 7;
  .gz.msgs.Double force_optional = 8;
}
message JointTrajectory {
  .gz.msgs.Header header = 1;
  repeated string joint_names = 2;
  repeated .gz.msgs.JointTrajectoryPoint points = 3;
}
message JointTrajectoryPoint {
  repeated double positions = 1;
  repeated double velocities = 2;
  repeated double accelerations = 3;
  repeated double effort = 4;
  .gz.msgs.Duration time_from_start = 5;
}
message JointWrench {
  .gz.msgs.Header header = 1;
  string body_1_name = 2;
  uint32 body_1_id = 3;
  string body_2_name = 4;
  uint32 body_2_id = 5;
  .gz.msgs.Wrench body_1_wrench = 6;
  .gz.msgs.Wrench body_2_wrench = 7;
}
message Joy {
  .gz.msgs.Header header = 1;
  repeated float axes = 2;
  repeated int32 buttons = 3;
}
message Joystick {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d translation = 2;
  .gz.msgs.Vector3d rotation = 3;
  repeated int32 buttons = 4;
}
message LaserScan {
  .gz.msgs.Header header = 1;
  string frame = 2;
  .gz.msgs.Pose world_pose = 3;
  double angle_min = 4;
  double angle_max = 5;
  double angle_step = 6;
  double range_min = 7;
  double range_max = 8;
  uint32 count = 9;
  double vertical_angle_min = 10;
  double vertical_angle_max = 11;
  double vertical_angle_step = 12;
  uint32 vertical_count = 13;
  repeated double ranges = 14;
  repeated double intensities = 15;
}
message Lens {
  enum Type {
    TYPE_NOT_SPECIFIED = 0;
    GNOMONICAL = 1;
    STEREOGRAPHIC = 2;
    EQUIDISTANT = 3;
    EQUISOLID_ANGLE = 4;
    ORTHOGRAPHIC = 5;
    CUSTOM = 6;
  }
  enum FunctionType {
    FUNCTION_NOT_SPECIFIED = 0;
    SIN = 1;
    TAN = 2;
    ID = 3;
  }
  .gz.msgs.Lens.Type type = 1;
  bool scale_to_hfov = 2;
  double c1 = 3;
  double c2 = 4;
  double c3 = 5;
  double focal_length = 6;
  .gz.msgs.Lens.FunctionType function_type = 7;
  double cutoff_angle = 8;
  int32 environment_texture_size = 9;
  double intrinsics_fx = 10;
  double intrinsics_fy = 11;
  double intrinsics_cx = 12;
  double intrinsics_cy = 13;
  double intrinsics_skew = 14;
}
message LidarSensor {
  .gz.msgs.Header header = 1;
  bool display_scan = 2;
  int32 horizontal_samples = 3;
  double horizontal_resolution = 4;
  double horizontal_min_angle = 5;
  double horizontal_max_angle = 6;
  int32 vertical_samples = 7;
  double vertical_resolution = 8;
  double vertical_min_angle = 9;
  double vertical_max_angle = 10;
  double range_min = 11;
  double range_max = 12;
  double range_resolution = 13;
  .gz.msgs.SensorNoise noise = 14;
}
message Light {
  enum LightType {
    POINT = 0;
    SPOT = 1;
    DIRECTIONAL = 2;
  }
  .gz.msgs.Header header = 1;
  string name = 2;
  .gz.msgs.Light.LightType type = 3;
  .gz.msgs.Pose pose = 4;
  .gz.msgs.Color diffuse = 5;
  .gz.msgs.Color specular = 6;
  float attenuation_constant = 7;
  float attenuation_linear = 8;
  float attenuation_quadratic = 9;
  .gz.msgs.Vector3d direction = 10;
  float range = 11;
  bool cast_shadows = 12;
  float spot_inner_angle = 13;
  float spot_outer_angle = 14;
  float spot_falloff = 15;
  uint32 id = 16;
  uint32 parent_id = 17;
  float intensity = 18;
  bool is_light_off = 19;
  bool visualize_visual = 20;
}
message Link {
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string name = 3;
  bool self_collide = 4;
  bool gravity = 5;
  bool kinematic = 6;
  bool enabled = 7;
  .gz.msgs.Density density = 8;
  .gz.msgs.Inertial inertial = 9;
  .gz.msgs.Pose pose = 10;
  repeated .gz.msgs.Visual visual = 11;
  repeated .gz.msgs.Collision collision = 12;
  repeated .gz.msgs.Sensor sensor = 13;
  repeated .gz.msgs.Projector projector = 14;
  bool canonical = 15;
  repeated .gz.msgs.Battery battery = 16;
  repeated .gz.msgs.Light light = 17;
  repeated .gz.msgs.ParticleEmitter particle_emitter = 18;
}
message LinkData {
  .gz.msgs.Header header = 1;
  string name = 2;
  .gz.msgs.Vector3d linear_velocity = 3;
  .gz.msgs.Vector3d angular_velocity = 4;
}
message LogControl {
  .gz.msgs.Header header = 1;
  bool start = 2;
  bool stop = 3;
  bool paused = 4;
  string base_path = 5;
  string encoding = 6;
  string record_resources = 7;
}
message LogPlaybackControl {
  .gz.msgs.Header header = 1;
  bool pause = 2;
  sint32 multi_step = 3;
  bool rewind = 4;
  bool forward = 5;
  .gz.msgs.Time seek = 6;
}
message LogPlaybackStatistics {
  .gz.msgs.Header header = 1;
  .gz.msgs.Time start_time = 2;
  .gz.msgs.Time end_time = 3;
}
message LogStatus {
  message LogFile {
    enum Units {
      BYTES = 0;
      K_BYTES = 1;
      M_BYTES = 2;
      G_BYTES = 3;
    }
    string uri = 1;
    string base_path = 2;
    string full_path = 3;
    float size = 4;
    .gz.msgs.LogStatus.LogFile.Units size_units = 5;
    bool record_resources = 6;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Time sim_time = 2;
  .gz.msgs.LogStatus.LogFile log_file = 3;
}
message LogicalCameraImage {
  message Model {
    string name = 1;
    .gz.msgs.Pose pose = 2;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Pose pose = 2;
  repeated .gz.msgs.LogicalCameraImage.Model model = 3;
}
message LogicalCameraSensor {
  .gz.msgs.Header header = 1;
  double near_clip = 2;
  double far_clip = 3;
  double horizontal_fov = 4;
  double aspect_ratio = 5;
}
message Magnetometer {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d field_tesla = 2;
}
message MagnetometerSensor {
  .gz.msgs.Header header = 1;
  .gz.msgs.SensorNoise x_noise = 2;
  .gz.msgs.SensorNoise y_noise = 3;
  .gz.msgs.SensorNoise z_noise = 4;
}
message Marker {
  enum Type {
    NONE = 0;
    BOX = 1;
    CYLINDER = 2;
    LINE_LIST = 4;
    LINE_STRIP = 3;
    POINTS = 5;
    SPHERE = 6;
    TEXT = 7;
    TRIANGLE_FAN = 8;
    TRIANGLE_LIST = 9;
    TRIANGLE_STRIP = 10;
    CONE = 11;
    ARROW = 12;
    AXIS = 13;
    CAPSULE = 14;
    ELLIPSOID = 15;
  }
  enum Visibility {
    GUI = 0;
    ALL = 1;
  }
  enum Action {
    ADD_MODIFY = 0;
    DELETE_MARKER = 1;
    DELETE_ALL = 2;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Marker.Action action = 2;
  string ns = 3;
  uint64 id = 4;
  int32 layer = 5;
  .gz.msgs.Marker.Type type = 6;
  .gz.msgs.Time lifetime = 7;
  .gz.msgs.Pose pose = 8;
  .gz.msgs.Vector3d scale = 9;
  .gz.msgs.Material material = 10;
  repeated .gz.msgs.Vector3d point = 11;
  string text = 12;
  string parent = 13;
  .gz.msgs.Marker.Visibility visibility = 14;
  repeated .gz.msgs.Material materials = 15;
}
message Marker_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Marker marker = 2;
}
message Material {
  message Script {
    repeated string uri = 1;
    string name = 2;
  }
  message PBR {
    enum WorkflowType {
      NONE = 0;
      METAL = 1;
      SPECULAR = 2;
    }
    .gz.msgs.Material.PBR.WorkflowType type = 1;
    string albedo_map = 2;
    string normal_map = 3;
    double metalness = 4;
    string metalness_map = 5;
    double roughness = 6;
    string roughness_map = 7;
    double glossiness = 8;
    string glossiness_map = 9;
    string specular_map = 10;
    string environment_map = 11;
    string ambient_occlusion_map = 12;
    string emissive_map = 13;
    string light_map = 14;
    uint32 light_map_texcoord_set = 15;
  }
  enum ShaderType {
    VERTEX = 0;
    PIXEL = 1;
    NORMAL_MAP_OBJECT_SPACE = 2;
    NORMAL_MAP_TANGENT_SPACE = 3;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Material.Script script = 2;
  .gz.msgs.Material.ShaderType shader_type = 3;
  string normal_map = 4;
  .gz.msgs.Color ambient = 5;
  .gz.msgs.Color diffuse = 6;
  .gz.msgs.Color specular = 7;
  .gz.msgs.Color emissive = 8;
  bool lighting = 9;
  .gz.msgs.Material.PBR pbr = 10;
  double render_order = 11;
  bool double_sided = 12;
  double shininess = 13;
}
message MeshGeom {
  .gz.msgs.Header header = 1;
  string filename = 2;
  .gz.msgs.Vector3d scale = 3;
  string submesh = 4;
  bool center_submesh = 5;
}
message Metric {
  .gz.msgs.Header header = 1;
  string unit = 2;
  repeated .gz.msgs.StatisticsGroup statistics_groups = 3;
  repeated .gz.msgs.Statistic statistics = 4;
}
message Model {
  .gz.msgs.Header header = 1;
  string name = 2;
  uint32 id = 3;
  bool is_static = 4;
  .gz.msgs.Pose pose = 5;
  repeated .gz.msgs.Joint joint = 6;
  repeated .gz.msgs.Link link = 7;
  bool deleted = 8;
  repeated .gz.msgs.Visual visual = 9;
  .gz.msgs.Vector3d scale = 10;
  bool self_collide = 11;
  repeated .gz.msgs.Model model = 12;
  .gz.msgs.AxisAlignedBox bounding_box = 13;
}
message ModelConfiguration {
  .gz.msgs.Header header = 1;
  .gz.msgs.Time time = 2;
  repeated string joint_names = 3;
  repeated double joint_positions = 4;
  .gz.msgs.Pose pose = 5;
  string link_name = 6;
}
message Model_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Model models = 2;
}
message NavSat {
  .gz.msgs.Header header = 1;
  double latitude_deg = 2;
  double longitude_deg = 3;
  double altitude = 4;
  double velocity_east = 5;
  double velocity_north = 6;
  double velocity_up = 7;
  string frame_id = 8;
}
message NavSatSensor {
  message Sensing {
    .gz.msgs.SensorNoise horizontal_noise = 1;
    .gz.msgs.SensorNoise vertical_noise = 2;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.NavSatSensor.Sensing position = 2;
  .gz.msgs.NavSatSensor.Sensing velocity = 3;
}
message OccupancyGrid {
  message MapMetaInfo {
    .gz.msgs.Time map_load_time = 1;
    double resolution = 2;
    uint32 width = 3;
    uint32 height = 4;
    .gz.msgs.Pose origin = 5;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.OccupancyGrid.MapMetaInfo info = 2;
  bytes data = 3;
}
message Odometry {
  .gz.msgs.Header header = 1;
  .gz.msgs.Pose pose = 2;
  .gz.msgs.Twist twist = 3;
}
message OdometryWithCovariance {
  .gz.msgs.Header header = 1;
  .gz.msgs.PoseWithCovariance pose_with_covariance = 2;
  .gz.msgs.TwistWithCovariance twist_with_covariance = 3;
}
message Oriented3DBox {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d center = 2;
  .gz.msgs.Quaternion orientation = 3;
  .gz.msgs.Vector3d boxSize = 4;
}
message PID {
  .gz.msgs.Header header = 1;
  .gz.msgs.Double target_optional = 2;
  .gz.msgs.Double p_gain_optional = 3;
  .gz.msgs.Double i_gain_optional = 4;
  .gz.msgs.Double d_gain_optional = 5;
  .gz.msgs.Double i_max_optional = 6;
  .gz.msgs.Double i_min_optional = 7;
  .gz.msgs.Double limit_optional = 8;
}
message Packet {
  string topic = 1;
  string type = 2;
  oneof content {
    .gz.msgs.CmdVel2D cmd_vel2d = 3;
    .gz.msgs.Image image = 4;
    .gz.msgs.StringMsg_V string_msg_v = 5;
    .gz.msgs.WebRequest web_request = 6;
    .gz.msgs.Pose pose = 7;
    .gz.msgs.Double_V doublev = 8;
    .gz.msgs.Pose_V pose_v = 9;
    .gz.msgs.Time time = 10;
    .gz.msgs.Clock clock = 11;
    .gz.msgs.WorldStatistics world_stats = 12;
  }
}
message Param {
  .gz.msgs.Header header = 1;
  map<string, .gz.msgs.Any> params = 2;
  repeated .gz.msgs.Param children = 3;
}
message Param_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Param param = 2;
}
message Parameter {
  string name = 1;
  .google.protobuf.Any value = 2;
}
message ParameterDeclaration {
  string name = 1;
  string type = 2;
}
message ParameterDeclarations {
  repeated .gz.msgs.ParameterDeclaration parameter_declarations = 1;
}
message ParameterError {
  enum Type {
    SUCCESS = 0;
    ALREADY_DECLARED = 1;
    INVALID_TYPE = 2;
    NOT_DECLARED = 3;
  }
  .gz.msgs.ParameterError.Type data = 1;
}
message ParameterName {
  string name = 1;
}
message ParameterValue {
  .google.protobuf.Any data = 1;
}
message ParticleEmitter {
  enum EmitterType {
    POINT = 0;
    BOX = 1;
    CYLINDER = 2;
    ELLIPSOID = 3;
  }
  .gz.msgs.Header header = 1;
  string name = 2;
  uint32 id = 3;
  .gz.msgs.ParticleEmitter.EmitterType type = 4;
  .gz.msgs.Pose pose = 5;
  .gz.msgs.Vector3d size = 6;
  .gz.msgs.Float rate = 7;
  .gz.msgs.Float duration = 8;
  .gz.msgs.Boolean emitting = 9;
  .gz.msgs.Vector3d particle_size = 10;
  .gz.msgs.Float lifetime = 11;
  .gz.msgs.Material material = 12;
  .gz.msgs.Float min_velocity = 13;
  .gz.msgs.Float max_velocity = 14;
  .gz.msgs.Color color_start = 15;
  .gz.msgs.Color color_end = 16;
  .gz.msgs.Float scale_rate = 17;
  .gz.msgs.StringMsg color_range_image = 18;
  .gz.msgs.StringMsg topic = 19;
  .gz.msgs.Float particle_scatter_ratio = 20;
}
message ParticleEmitter_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.ParticleEmitter particle_emitter = 2;
}
message PerformanceSensorMetrics {
  string name = 1;
  double real_update_rate = 2;
  double sim_update_rate = 3;
  double nominal_update_rate = 4;
  .gz.msgs.Double fps_optional = 5;
}
message Physics {
  enum Type {
    ODE = 0;
    BULLET = 1;
    SIMBODY = 2;
    DART = 3;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Physics.Type type = 2;
  string solver_type = 3;
  double min_step_size = 4;
  int32 precon_iters = 5;
  int32 iters = 6;
  double sor = 7;
  double cfm = 8;
  double erp = 9;
  double contact_max_correcting_vel = 10;
  double contact_surface_layer = 11;
  .gz.msgs.Vector3d gravity = 12;
  bool enable_physics = 13;
  double real_time_factor = 14;
  double real_time_update_rate = 15;
  double max_step_size = 16;
  string profile_name = 17;
  .gz.msgs.Vector3d magnetic_field = 18;
}
message PlaneGeom {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d normal = 2;
  .gz.msgs.Vector2d size = 3;
  double d = 4;
}
message Plugin {
  .gz.msgs.Header header = 1;
  string name = 2;
  string filename = 3;
  string innerxml = 4;
}
message Plugin_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Plugin plugins = 2;
}
message PointCloud {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Vector3d points = 2;
}
message PointCloudPacked {
  message Field {
    enum DataType {
      INT8 = 0;
      UINT8 = 1;
      INT16 = 2;
      UINT16 = 3;
      INT32 = 4;
      UINT32 = 5;
      FLOAT32 = 6;
      FLOAT64 = 7;
    }
    string name = 1;
    uint32 offset = 2;
    .gz.msgs.PointCloudPacked.Field.DataType datatype = 3;
    uint32 count = 4;
  }
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.PointCloudPacked.Field field = 2;
  uint32 height = 3;
  uint32 width = 4;
  bool is_bigendian = 5;
  uint32 point_step = 6;
  uint32 row_step = 7;
  bytes data = 8;
  bool is_dense = 9;
}
message Polyline {
  .gz.msgs.Header header = 1;
  double height = 2;
  repeated .gz.msgs.Vector2d point = 3;
}
message Pose {
  .gz.msgs.Header header = 1;
  string name = 2;
  uint32 id = 3;
  .gz.msgs.Vector3d position = 4;
  .gz.msgs.Quaternion orientation = 5;
}
message PoseAnimation {
  string model_name = 1;
  uint32 model_id = 2;
  repeated .gz.msgs.Pose pose = 3;
  repeated .gz.msgs.Time time = 4;
}
message PoseTrajectory {
  string name = 1;
  uint32 id = 2;
  repeated .gz.msgs.Pose pose = 3;
}
message PoseWithCovariance {
  .gz.msgs.Pose pose = 1;
  .gz.msgs.Float_V covariance = 2;
}
message Pose_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Pose pose = 2;
}
message Projector {
  .gz.msgs.Header header = 1;
  string name = 2;
  string texture = 3;
  .gz.msgs.Pose pose = 4;
  double fov = 5;
  double near_clip = 6;
  double far_clip = 7;
  bool enabled = 8;
}
message PropagationGrid {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.PropagationParticle particle = 2;
}
message PropagationParticle {
  .gz.msgs.Header header = 1;
  double x = 2;
  double y = 3;
  double signal_level = 4;
}
message Publish {
  .gz.msgs.Header header = 1;
  string topic = 2;
  string msg_type = 3;
  string host = 4;
  uint32 port = 5;
}
message Publishers {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Publish publisher = 2;
}
message Quaternion {
  .gz.msgs.Header header = 1;
  double x = 2;
  double y = 3;
  double z = 4;
  double w = 5;
}
message RaySensor {
  .gz.msgs.Header header = 1;
  bool display_scan = 2;
  int32 horizontal_samples = 3;
  double horizontal_resolution = 4;
  double horizontal_min_angle = 5;
  double horizontal_max_angle = 6;
  int32 vertical_samples = 7;
  double vertical_resolution = 8;
  double vertical_min_angle = 9;
  double vertical_max_angle = 10;
  double range_min = 11;
  double range_max = 12;
  double range_resolution = 13;
}
message Request {
  .gz.msgs.Header header = 1;
  int32 id = 2;
  string request = 3;
  string data = 4;
  double dbl_data = 5;
}
message Response {
  .gz.msgs.Header header = 1;
  int32 id = 2;
  string request = 3;
  string response = 4;
  string type = 5;
  bytes serialized_data = 6;
}
message RestLogin {
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string url = 3;
  string username = 4;
  string password = 5;
}
message RestLogout {
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string url = 3;
}
message RestPost {
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string route = 3;
  string json = 4;
}
message RestResponse {
  enum Type {
    SUCCESS = 0;
    ERR = 1;
    LOGIN = 2;
    LOGOUT = 3;
  }
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  .gz.msgs.RestResponse.Type type = 3;
  string msg = 4;
}
message Road {
  .gz.msgs.Header header = 1;
  string name = 2;
  double width = 3;
  repeated .gz.msgs.Vector3d point = 4;
  .gz.msgs.Material material = 5;
}
message Scene {
  .gz.msgs.Header header = 1;
  string name = 2;
  .gz.msgs.Color ambient = 3;
  .gz.msgs.Color background = 4;
  .gz.msgs.Sky sky = 5;
  bool shadows = 6;
  .gz.msgs.Fog fog = 7;
  bool grid = 8;
  repeated .gz.msgs.Model model = 9;
  repeated .gz.msgs.Light light = 10;
  repeated .gz.msgs.Joint joint = 11;
  bool origin_visual = 12;
  .gz.msgs.Material.Script shadow_caster_material_script = 13;
}
message SdfGeneratorConfig {
  message EntityGeneratorConfig {
    .gz.msgs.Boolean expand_include_tags = 1;
    .gz.msgs.Boolean save_fuel_version = 2;
    .gz.msgs.Boolean resources_use_absolute_paths = 3;
    .gz.msgs.Boolean copy_model_resources = 4;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.SdfGeneratorConfig.EntityGeneratorConfig global_entity_gen_config = 2;
  map<string, .gz.msgs.SdfGeneratorConfig.EntityGeneratorConfig> override_entity_gen_configs = 3;
}
message Selection {
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string name = 3;
  bool selected = 4;
}
message Sensor {
  .gz.msgs.Header header = 1;
  string name = 2;
  uint32 id = 3;
  string parent = 4;
  uint32 parent_id = 5;
  string type = 6;
  bool always_on = 7;
  double update_rate = 8;
  .gz.msgs.Pose pose = 9;
  .gz.msgs.CameraSensor camera = 10;
  .gz.msgs.ContactSensor contact = 11;
  bool visualize = 12;
  string topic = 13;
  .gz.msgs.LogicalCameraSensor logical_camera = 14;
  .gz.msgs.GPSSensor gps = 15;
  .gz.msgs.IMUSensor imu = 16;
  .gz.msgs.MagnetometerSensor magnetometer = 17;
  .gz.msgs.AltimeterSensor altimeter = 18;
  .gz.msgs.AirPressureSensor air_pressure = 19;
  .gz.msgs.LidarSensor lidar = 20;
}
message SensorNoise {
  enum Type {
    NONE = 0;
    GAUSSIAN = 2;
    GAUSSIAN_QUANTIZED = 3;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.SensorNoise.Type type = 2;
  double mean = 3;
  double stddev = 4;
  double bias_mean = 5;
  double bias_stddev = 6;
  double precision = 7;
  double dynamic_bias_stddev = 8;
  double dynamic_bias_correlation_time = 9;
}
message Sensor_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Sensor sensors = 2;
}
message SerializedComponent {
  uint64 type = 1;
  bytes component = 2;
  bool remove = 3;
}
message SerializedEntity {
  uint64 id = 1;
  repeated .gz.msgs.SerializedComponent components = 2;
  bool remove = 3;
}
message SerializedEntityMap {
  uint64 id = 1;
  map<int64, .gz.msgs.SerializedComponent> components = 2;
  bool remove = 3;
}
message SerializedState {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.SerializedEntity entities = 2;
}
message SerializedStateMap {
  .gz.msgs.Header header = 1;
  map<uint64, .gz.msgs.SerializedEntityMap> entities = 2;
  bool has_one_time_component_changes = 3;
}
message SerializedStep {
  .gz.msgs.WorldStatistics stats = 1;
  .gz.msgs.SerializedState state = 2;
}
message SerializedStepMap {
  .gz.msgs.WorldStatistics stats = 1;
  .gz.msgs.SerializedStateMap state = 2;
}
message ServerControl {
  .gz.msgs.Header header = 1;
  string save_world_name = 2;
  string save_filename = 3;
  string open_filename = 4;
  bool new_world = 5;
  bool stop = 6;
  bool clone = 7;
  uint32 new_port = 8;
}
message Shadows {
  enum ShadowType {
    STENCIL_ADDITIVE = 0;
    STENCIL_MODULATIVE = 1;
    TEXTURE_ADDITIVE = 2;
    TEXTURE_MODULATIVE = 3;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Shadows.ShadowType type = 2;
  .gz.msgs.Color color = 3;
}
message SimEvent {
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string type = 3;
  string name = 4;
  .gz.msgs.WorldStatistics world_statistics = 5;
  string data = 6;
}
message Sky {
  .gz.msgs.Header header = 1;
  double time = 2;
  double sunrise = 3;
  double sunset = 4;
  double wind_speed = 5;
  double wind_direction = 6;
  .gz.msgs.Color cloud_ambient = 7;
  double humidity = 8;
  double mean_cloud_size = 9;
}
message Sonar {
  .gz.msgs.Header header = 1;
  string frame = 2;
  .gz.msgs.Pose world_pose = 3;
  double range_min = 4;
  double range_max = 5;
  double radius = 6;
  double range = 7;
  string geometry = 8;
  .gz.msgs.Vector3d contact = 9;
}
message SphereGeom {
  .gz.msgs.Header header = 1;
  double radius = 2;
}
message SphericalCoordinates {
  enum SurfaceModel {
    EARTH_WGS84 = 0;
    MOON_SCS = 1;
    CUSTOM_SURFACE = 2;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.SphericalCoordinates.SurfaceModel surface_model = 2;
  double latitude_deg = 3;
  double longitude_deg = 4;
  double elevation = 5;
  double heading_deg = 6;
  .gz.msgs.Entity entity = 7;
  double surface_axis_equatorial = 8;
  double surface_axis_polar = 9;
}
message Statistic {
  enum DataType {
    UNINITIALIZED = 0;
    AVERAGE = 1;
    MINIMUM = 2;
    MAXIMUM = 3;
    VARIANCE = 4;
    STDDEV = 5;
    SAMPLE_COUNT = 6;
    ROOT_MEAN_SQUARE = 7;
    MAX_ABS_VALUE = 8;
  }
  .gz.msgs.Header header = 1;
  .gz.msgs.Statistic.DataType type = 2;
  string name = 3;
  double value = 4;
}
message StatisticsGroup {
  .gz.msgs.Header header = 1;
  string name = 2;
  repeated .gz.msgs.Statistic statistics = 3;
}
message StringMsg {
  .gz.msgs.Header header = 1;
  string data = 2;
}
message StringMsg_V {
  .gz.msgs.Header header = 1;
  repeated string data = 2;
}
message Subscribe {
  .gz.msgs.Header header = 1;
  string topic = 2;
  string host = 3;
  uint32 port = 4;
  string msg_type = 5;
  bool latching = 6;
}
message Surface {
  .gz.msgs.Header header = 1;
  .gz.msgs.Friction friction = 2;
  double restitution_coefficient = 3;
  double bounce_threshold = 4;
  double soft_cfm = 5;
  double soft_erp = 6;
  double kp = 7;
  double kd = 8;
  double max_vel = 9;
  double min_depth = 10;
  bool collide_without_contact = 11;
  uint32 collide_without_contact_bitmask = 12;
  uint32 collide_bitmask = 13;
  double elastic_modulus = 14;
}
message Tactile {
  .gz.msgs.Header header = 1;
  repeated string collision_name = 2;
  repeated uint32 collision_id = 3;
  repeated double pressure = 4;
}
message Test {
  .gz.msgs.Header header = 1;
}
message Time {
  int64 sec = 1;
  int32 nsec = 2;
}
message TopicInfo {
  .gz.msgs.Header header = 1;
  string msg_type = 2;
  repeated .gz.msgs.Publish publisher = 3;
  repeated .gz.msgs.Subscribe subscriber = 4;
}
message TrackVisual {
  .gz.msgs.Header header = 1;
  string name = 2;
  uint32 id = 3;
  bool inherit_orientation = 4;
  double min_dist = 5;
  double max_dist = 6;
  bool static = 7;
  bool use_model_frame = 8;
  .gz.msgs.Vector3d xyz = 9;
  bool inherit_yaw = 10;
}
message Twist {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d linear = 2;
  .gz.msgs.Vector3d angular = 3;
}
message TwistWithCovariance {
  .gz.msgs.Twist twist = 1;
  .gz.msgs.Float_V covariance = 2;
}
message UInt32 {
  .gz.msgs.Header header = 1;
  uint32 data = 2;
}
message UInt32_V {
  .gz.msgs.Header header = 1;
  repeated uint32 data = 2;
}
message UInt64 {
  .gz.msgs.Header header = 1;
  uint64 data = 2;
}
message UInt64_V {
  .gz.msgs.Header header = 1;
  repeated uint64 data = 2;
}
message UndoRedo {
  .gz.msgs.Header header = 1;
  bool undo = 2;
  uint32 id = 3;
}
message UserCmd {
  enum Type {
    MOVING = 0;
    WORLD_CONTROL = 1;
    WRENCH = 2;
    SCALING = 3;
  }
  .gz.msgs.Header header = 1;
  uint32 id = 2;
  string description = 3;
  .gz.msgs.UserCmd.Type type = 4;
  repeated .gz.msgs.Model model = 5;
  repeated .gz.msgs.Light light = 6;
  string entity_name = 7;
  .gz.msgs.WorldControl world_control = 8;
  .gz.msgs.Wrench wrench = 9;
}
message UserCmdStats {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.UserCmd undo_cmd = 2;
  repeated .gz.msgs.UserCmd redo_cmd = 3;
}
message Vector2d {
  .gz.msgs.Header header = 1;
  double x = 2;
  double y = 3;
}
message Vector3d {
  .gz.msgs.Header header = 1;
  double x = 2;
  double y = 3;
  double z = 4;
}
message Version {
  int32 major = 1;
  int32 minor = 2;
  int32 patch = 3;
  string prerelease = 4;
  string build = 5;
}
message VersionRange {
  .gz.msgs.Version min = 1;
  .gz.msgs.Version max = 2;
}
message VersionedName {
  .gz.msgs.Version version = 1;
  string name = 2;
}
message VideoRecord {
  .gz.msgs.Header header = 1;
  bool start = 2;
  bool stop = 3;
  string format = 4;
  string save_filename = 5;
}
message Visual {
  message Meta {
    int32 layer = 1;
  }
  enum Type {
    ENTITY = 0;
    MODEL = 1;
    LINK = 2;
    VISUAL = 3;
    COLLISION = 4;
    SENSOR = 5;
    GUI = 6;
    PHYSICS = 7;
  }
  .gz.msgs.Header header = 1;
  string name = 2;
  uint32 id = 3;
  string parent_name = 4;
  uint32 parent_id = 5;
  bool cast_shadows = 6;
  double transparency = 7;
  double laser_retro = 8;
  .gz.msgs.Pose pose = 9;
  .gz.msgs.Geometry geometry = 10;
  .gz.msgs.Material material = 11;
  bool visible = 12;
  bool delete_me = 13;
  bool is_static = 14;
  repeated .gz.msgs.Plugin plugin = 15;
  .gz.msgs.Vector3d scale = 16;
  .gz.msgs.Visual.Meta meta = 17;
  .gz.msgs.Visual.Type type = 18;
}
message Visual_V {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.Visual visuals = 2;
}
message WebRequest {
  .gz.msgs.Header header = 1;
  string operation = 2;
  string topic = 3;
  string msg_type = 4;
  string compression = 5;
  double hz = 6;
}
message WheelSlipParametersCmd {
  .gz.msgs.Header header = 1;
  .gz.msgs.Entity entity = 2;
  double slip_compliance_lateral = 4;
  double slip_compliance_longitudinal = 5;
}
message Wind {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d linear_velocity = 2;
  bool enable_wind = 3;
}
message WirelessNode {
  .gz.msgs.Header header = 1;
  string essid = 2;
  double frequency = 3;
  double signal_level = 4;
}
message WirelessNodes {
  .gz.msgs.Header header = 1;
  repeated .gz.msgs.WirelessNode node = 2;
}
message WorldControl {
  .gz.msgs.Header header = 1;
  bool pause = 2;
  bool step = 3;
  uint32 multi_step = 4;
  .gz.msgs.WorldReset reset = 5;
  uint32 seed = 6;
  .gz.msgs.Time run_to_sim_time = 7;
}
message WorldControlState {
  .gz.msgs.Header header = 1;
  .gz.msgs.WorldControl world_control = 2;
  .gz.msgs.SerializedState state = 3;
}
message WorldModify {
  .gz.msgs.Header header = 1;
  string world_name = 2;
  bool remove = 3;
  bool create = 4;
  bool cloned = 5;
  string cloned_uri = 6;
}
message WorldReset {
  .gz.msgs.Header header = 1;
  bool all = 2;
  bool time_only = 3;
  bool model_only = 4;
}
message WorldStatistics {
  .gz.msgs.Header header = 1;
  .gz.msgs.Time sim_time = 2;
  .gz.msgs.Time pause_time = 3;
  .gz.msgs.Time real_time = 4;
  bool paused = 5;
  uint64 iterations = 6;
  int32 model_count = 7;
  .gz.msgs.LogPlaybackStatistics log_playback_stats = 8;
  double real_time_factor = 9;
  .gz.msgs.Time step_size = 10;
  bool stepping = 11;
}
message Wrench {
  .gz.msgs.Header header = 1;
  .gz.msgs.Vector3d force = 2;
  .gz.msgs.Vector3d torque = 3;
  .gz.msgs.Vector3d force_offset = 4;
}