Fixed formatting and updated the world services

Author: ayushgnv

srv/GetAvailableWorlds.srv

@@ -1,18 +1,23 @@
 # Return a list of available world resources which can be used with LoadWorld.
 # Support for this interface is indicated through the AVAILABLE_WORLDS value in GetSimulatorFeatures.
+# By default, a simulator will search its default local and online sources. If some
+# default sources can't be accessed (e.g. due to connectivity issues), the
+# DEFAULT_SOURCES_FAILED error result code will be returned.
 
-# Optional field for additional sources (local or remote) to search, 
-# specified as standard URIs if possible.
-string[] additional_sources
+string[] additional_sources             # Optional field for additional sources (local or remote) to search, 
+                                        # specified as standard URIs if possible.
 
-# Only get worlds with tags matching the filter. The filter is optional and matches everything by default.
-# This feature is supported if WORLD_TAGS feature is included in output of GetSimulatorFeatures.
-TagsFilter filter
+TagsFilter filter                       # Only get worlds with tags matching the filter. The filter is optional and matches everything by default.
+                                        # This feature is supported if WORLD_TAGS feature is included in output of GetSimulatorFeatures.
 
+bool offline_only                       # If true, only offline/local sources should be searched. Defaults to false.
+
+bool continue_on_error                  # If true, the simulator will continue to search sources even if some fail.
+                                        # The service will return success if any source yielded worlds. Defaults to false.
 ---
 
-# Standard result message
-Result result
+uint8 DEFAULT_SOURCES_FAILED = 101      # Some default sources could not be accessed.
+
+Result result                           # Standard result message. A specific result code should be used if some sources were not accessible.
 
-# Available world resources.
-WorldResource[] worlds 
+WorldResource[] worlds                  # Available world resources.

srv/GetCurrentWorld.srv

@@ -3,10 +3,8 @@
 
 ---
 
-uint8 NO_WORLD_LOADED = 101      # No world is loaded at the moment.
+uint8 NO_WORLD_LOADED = 101     # No world is loaded at the moment.
 
-# Standard result message
-Result result
+Result result                   # Standard result message
 
-# Information about the currently loaded world. Only valid if result is RESULT_OK.
-WorldResource world 
+WorldResource world             # Information about the currently loaded world. Only valid if result is RESULT_OK.

srv/LoadWorld.srv

@@ -5,29 +5,25 @@
 # Currently loaded worlds will be unloaded before attempting to load a new one.
 # Any previously spawned entities will be removed. Once a world is loaded, simulation will be left in a Stopped state.
 
-# Resource such as SDF, USD, MJCF, or other simulator-native format world file.
-string uri
+string uri                                  # Resource such as SDF, USD, MJCF, or other simulator-native format world file.
 
-# Simulation world passed as a string. This field is used if the uri field is empty.
-string resource_string
+string resource_string                      # Simulation world passed as a string. This field is used if the uri field is empty.
 
-# Fail on unsupported elements (such as SDFormat sub-tags). By default, such elements are ignored.
-bool fail_on_unsupported_element
+bool fail_on_unsupported_element            # Fail on unsupported elements (such as SDFormat sub-tags). By default, such elements are ignored.
 
-# Ignore missing or unsupported assets. By default, missing or unsupported assets result in failure.
-bool ignore_missing_or_unsupported_assets
+
+bool ignore_missing_or_unsupported_assets   # Ignore missing or unsupported assets. By default, missing or unsupported assets result in failure.
 
 ---
 
-uint8 UNSUPPORTED_FORMAT = 101      # Format for uri or resource string is unsupported.
-uint8 NO_RESOURCE = 102             # Both uri and resource string are empty.
-uint8 RESOURCE_PARSE_ERROR = 103    # Resource file or string failed to parse.
-uint8 MISSING_ASSETS = 104          # At least one of resource assets (such as meshes) was not found.
-uint8 UNSUPPORTED_ASSETS = 105      # At least one of resource assets (such as meshes) is not supported.
-uint8 UNSUPPORTED_ELEMENTS = 106    # At least one of world definition elements such as format tags is unsupported.
+uint8 UNSUPPORTED_FORMAT = 101              # Format for uri or resource string is unsupported.
+uint8 NO_RESOURCE = 102                     # Both uri and resource string are empty.
+uint8 RESOURCE_PARSE_ERROR = 103            # Resource file or string failed to parse.
+uint8 MISSING_ASSETS = 104                  # At least one of resource assets (such as meshes) was not found.
+uint8 UNSUPPORTED_ASSETS = 105              # At least one of resource assets (such as meshes) is not supported.
+uint8 UNSUPPORTED_ELEMENTS = 106            # At least one of world definition elements such as format tags is unsupported.
+
 
-# Standard result message
-Result result
+Result result                               # Standard result message
 
-# Information about the loaded world. Only valid if result is RESULT_OK.
-WorldResource world
+WorldResource world                         # Information about the loaded world. Only valid if result is RESULT_OK.

srv/UnloadWorld.srv

@@ -6,5 +6,4 @@
 
 uint8 NO_WORLD_LOADED = 101      # No world is loaded at the moment.
 
-# Standard result message
-Result result 
+Result result # Standard result message