File: gazebo/ModelState.msg
# Set Gazebo Model pose and twist
string model_name # model to set state (pose and twist)
geometry_msgs/Pose pose # desired pose in reference frame
geometry_msgs/Twist twist # desired twist in reference frame
string reference_frame # set pose/twist relative to the frame of this entity (Body/Model)
# leave empty or "world" or "map" defaults to world-frame
Expanded Definition