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SCL XML file options

SCL supports a variety of xml options. Some are given below... You may add them to the <robot> tag.

<robot>
  <!-- For rigid body frames and sorting. See specs/Puma/PumaCfg.xml for more -->
  <option_axis_frame_size>0.2</option_axis_frame_size>
  <option_rigid_body_sort_order>arm5-upper_arm5</option_rigid_body_sort_order>
  
  <!-- For muscle specs etc.. See specs/ArmWithMuscles/Arm3Cfg.xml for more -->
  <option_actuator_set_muscle>Arm2Msys</option_actuator_set_muscle>
  <option_muscle_sort_order>musc-id0 musc-id1 <!-- .... --></option_muscle_sort_order>
  <option_muscle_via_pt_sz>0.013</option_muscle_via_pt_sz>
</robot>

While options can be strings etc., flags are merely bools.

<robot>
  <!-- For specifying various options. See specs/Puma/PumaCfg.xml for more -->
  <flag_gc_damping>false</flag_gc_damping>
  <flag_gc_limits>false</flag_gc_limits>
  <flag_actuator_force_limits>true</flag_actuator_force_limits>
  <flag_actuator_vel_limits>true</flag_actuator_vel_limits>
  <flag_actuator_acc_limits>true</flag_actuator_acc_limits>
  <flag_controller_on>true</flag_controller_on>
  <flag_logging_on>false</flag_logging_on>
  <flag_wireframe_on>false</flag_wireframe_on>
</robot>