1463 lines
42 KiB
Plaintext
1463 lines
42 KiB
Plaintext
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<convert name="gazebo">
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<convert name="world">
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<convert name="state">
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<rename>
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<from attribute="time"/>
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<to element="time"/>
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</rename>
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</convert>
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<convert name="physics">
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<rename>
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<from attribute="update_rate"/>
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<to element="update_rate"/>
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</rename>
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<rename>
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<from element="gravity" attribute="xyz"/>
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<to element="gravity"/>
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</rename>
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<convert name="ode">
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<convert name="solver">
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<rename>
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<from attribute="type"/>
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<to element="type"/>
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</rename>
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<rename>
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<from attribute="dt"/>
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<to element="dt"/>
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</rename>
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<rename>
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<from attribute="iters"/>
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<to element="iters"/>
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</rename>
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<rename>
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<from attribute="precon_iters"/>
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<to element="precon_iters"/>
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</rename>
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<rename>
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<from attribute="sor"/>
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<to element="sor"/>
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</rename>
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</convert> <!-- End solver -->
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<convert name="constraints">
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<rename>
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<from attribute="cfm"/>
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<to element="cfm"/>
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</rename>
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<rename>
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<from attribute="erp"/>
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<to element="erp"/>
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</rename>
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<rename>
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<from attribute="contact_max_correcting_vel"/>
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<to element="contact_max_correcting_vel"/>
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</rename>
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<rename>
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<from attribute="contact_surface_layer"/>
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<to element="contact_surface_layer"/>
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</rename>
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</convert> <!-- End constraints -->
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</convert> <!-- End ode -->
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</convert> <!-- End physics -->
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<convert name="gui">
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<convert name="camera">
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<rename>
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<from element="origin" attribute="pose"/>
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<to element="pose"/>
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</rename>
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</convert> <!-- End camera -->
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</convert> <!-- End gui -->
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<convert name="scene">
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<rename>
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<from element="ambient" attribute="rgba"/>
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<to element="ambient"/>
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</rename>
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<rename>
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<from element="background" attribute="rgba"/>
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<to element="background"/>
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</rename>
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<rename>
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<from element="shadows" attribute="enabled"/>
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<to element="shadows"/>
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</rename>
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<rename>
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<from element="grid" attribute="enabled"/>
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<to element="grid"/>
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</rename>
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<convert name="fog">
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<rename>
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<from attribute="rgba"/>
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<to element="color"/>
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</rename>
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<rename>
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<from attribute="type"/>
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<to element="type"/>
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</rename>
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<rename>
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<from attribute="start"/>
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<to element="start"/>
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</rename>
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<rename>
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<from attribute="end"/>
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<to element="end"/>
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</rename>
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<rename>
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<from attribute="density"/>
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<to element="density"/>
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</rename>
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</convert>
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<deprecated>background/sky/rgba</deprecated>
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<deprecated>background/sky/material</deprecated>
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</convert>
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<convert name="actor">
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<rename>
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<from element="origin" attribute="pose"/>
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<to element="pose"/>
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</rename>
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<convert name="skin">
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<rename>
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<from attribute="filename"/>
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<to element="filename"/>
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</rename>
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<rename>
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<from attribute="scale"/>
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<to element="scale"/>
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</rename>
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</convert> <!-- End skin -->
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<convert name="animation">
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<rename>
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<from attribute="filename"/>
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<to element="filename"/>
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</rename>
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<rename>
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<from attribute="scale"/>
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<to element="scale"/>
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</rename>
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<rename>
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<from attribute="interpolate_x"/>
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<to element="interpolate_x"/>
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</rename>
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</convert> <!-- End animation -->
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<convert name="script">
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<rename>
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<from attribute="loop"/>
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<to element="loop"/>
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</rename>
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<rename>
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<from attribute="delay_start"/>
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<to element="delay_start"/>
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</rename>
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<rename>
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<from attribute="auto_start"/>
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<to element="auto_start"/>
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</rename>
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<convert name="trajectory">
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<convert name="waypoint">
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<rename>
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<from attribute="time"/>
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<to element="time"/>
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</rename>
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<rename>
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<from attribute="pose"/>
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<to element="pose"/>
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</rename>
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</convert> <!-- End waypoint -->
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</convert> <!-- End trajectory -->
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</convert> <!-- End script-->
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</convert> <!-- End actor -->
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<convert name="light">
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<rename>
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<from element="origin" attribute="pose"/>
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<to element="pose"/>
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</rename>
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<rename>
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<from attribute="cast_shadows"/>
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<to element="cast_shadows"/>
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</rename>
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<rename>
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<from element="diffuse" attribute="rgba"/>
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<to element="diffuse"/>
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</rename>
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<rename>
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<from element="specular" attribute="rgba"/>
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<to element="specular"/>
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</rename>
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<rename>
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<from element="direction" attribute="xyz"/>
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<to element="direction"/>
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</rename>
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<convert name="spot">
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<rename>
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<from attribute="inner_angle"/>
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<to element="inner_angle"/>
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</rename>
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<rename>
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<from attribute="outer_angle"/>
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<to element="outer_angle"/>
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</rename>
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<rename>
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<from attribute="falloff"/>
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<to element="falloff"/>
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</rename>
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</convert> <!-- End spot -->
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<convert name="attenuation">
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<rename>
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<from attribute="range"/>
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<to element="range"/>
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</rename>
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<rename>
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<from attribute="linear"/>
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<to element="linear"/>
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</rename>
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<rename>
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<from attribute="constant"/>
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<to element="constant"/>
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</rename>
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<rename>
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<from attribute="quadratic"/>
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<to element="quadratic"/>
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</rename>
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</convert> <!-- End attenuation -->
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</convert> <!-- End light -->
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<convert name="model">
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<rename>
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<from element="origin" attribute="pose"/>
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<to element="pose"/>
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</rename>
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<rename>
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<from attribute="static"/>
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<to element="static"/>
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</rename>
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<convert name="gripper">
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<convert name="grasp_check">
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<rename>
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<from attribute="detach_steps"/>
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<to element="detach_steps"/>
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</rename>
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<rename>
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||
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<from attribute="attach_steps"/>
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<to element="attach_steps"/>
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</rename>
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<rename>
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||
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<from attribute="min_contact_count"/>
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<to element="min_contact_count"/>
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</rename>
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</convert> <!-- End grasp_check -->
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</convert> <!-- End gripper -->
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<convert name="link">
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<rename>
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<from attribute="gravity"/>
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<to element="gravity"/>
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</rename>
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<rename>
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<from element="origin" attribute="pose"/>
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<to element="pose"/>
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</rename>
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<rename>
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<from attribute="self_collide"/>
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<to element="self_collide"/>
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</rename>
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<rename>
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<from attribute="kinematic"/>
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<to element="kinematic"/>
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</rename>
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<convert name="inertial">
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<rename>
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<from element="origin" attribute="pose"/>
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<to element="pose"/>
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</rename>
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<rename>
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<from attribute="mass"/>
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<to element="mass"/>
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</rename>
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<rename>
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<from attribute="density"/>
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<to element="density"/>
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</rename>
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<convert name="inertia">
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<rename>
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<from attribute="ixx"/>
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<to element="ixx"/>
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</rename>
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<rename>
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<from attribute="ixy"/>
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<to element="ixy"/>
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</rename>
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<rename>
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<from attribute="ixz"/>
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<to element="ixz"/>
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</rename>
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<rename>
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<from attribute="iyy"/>
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<to element="iyy"/>
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</rename>
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<rename>
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||
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<from attribute="iyz"/>
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<to element="iyz"/>
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</rename>
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<rename>
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<from attribute="izz"/>
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<to element="izz"/>
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</rename>
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</convert> <!-- End inertia -->
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</convert> <!-- End inertial -->
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<convert name="sensor">
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<rename>
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<from element="origin" attribute="pose"/>
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<to element="pose"/>
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</rename>
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||
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<rename>
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||
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<from attribute="always_on"/>
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<to element="always_on"/>
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||
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</rename>
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||
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<rename>
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||
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<from attribute="update_rate"/>
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<to element="update_rate"/>
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</rename>
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||
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<rename>
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||
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<from attribute="visualize"/>
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||
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<to element="visualize"/>
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||
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</rename>
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||
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|
||
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<convert name="ray">
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<convert name="scan">
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<convert name="horizontal">
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<rename>
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||
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<from attribute="samples"/>
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<to element="samples"/>
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</rename>
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||
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<rename>
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||
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<from attribute="resolution"/>
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||
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<to element="resolution"/>
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||
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</rename>
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||
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<rename>
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||
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<from attribute="min_angle"/>
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||
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<to element="min_angle"/>
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||
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</rename>
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||
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|
<rename>
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||
|
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<from attribute="max_angle"/>
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||
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<to element="max_angle"/>
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||
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</rename>
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||
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</convert> <!-- End horizontal -->
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||
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<convert name="vertical">
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||
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<rename>
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||
|
|
<from attribute="samples"/>
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||
|
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<to element="samples"/>
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||
|
|
</rename>
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||
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<rename>
|
||
|
|
<from attribute="resolution"/>
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||
|
|
<to element="resolution"/>
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||
|
|
</rename>
|
||
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<rename>
|
||
|
|
<from attribute="min_angle"/>
|
||
|
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<to element="min_angle"/>
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||
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|
</rename>
|
||
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|
<rename>
|
||
|
|
<from attribute="max_angle"/>
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||
|
|
<to element="max_angle"/>
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||
|
|
</rename>
|
||
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</convert> <!-- End vertical -->
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||
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|
</convert> <!-- End scan -->
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||
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<convert name="range">
|
||
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<rename>
|
||
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|
<from attribute="min"/>
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||
|
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<to element="min"/>
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||
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</rename>
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||
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<rename>
|
||
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<from attribute="max"/>
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||
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<to element="max"/>
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||
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</rename>
|
||
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<rename>
|
||
|
|
<from attribute="resolution"/>
|
||
|
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<to element="resolution"/>
|
||
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|
</rename>
|
||
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</convert> <!-- End range -->
|
||
|
|
</convert> <!-- End ray -->
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||
|
|
<convert name="camera">
|
||
|
|
<rename>
|
||
|
|
<from element="horizontal_fov" attribute="angle"/>
|
||
|
|
<to element="horizontal_fov"/>
|
||
|
|
</rename>
|
||
|
|
<convert name="image">
|
||
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|
<rename>
|
||
|
|
<from attribute="width"/>
|
||
|
|
<to element="width"/>
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||
|
|
</rename>
|
||
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|
<rename>
|
||
|
|
<from attribute="height"/>
|
||
|
|
<to element="height"/>
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||
|
|
</rename>
|
||
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|
<rename>
|
||
|
|
<from attribute="format"/>
|
||
|
|
<to element="format"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End image -->
|
||
|
|
</convert> <!-- End camera -->
|
||
|
|
|
||
|
|
<convert name="clip">
|
||
|
|
<rename>
|
||
|
|
<from attribute="near"/>
|
||
|
|
<to element="near"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="far"/>
|
||
|
|
<to element="far"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End clip -->
|
||
|
|
|
||
|
|
<convert name="save">
|
||
|
|
<rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="path"/>
|
||
|
|
<to element="path"/>
|
||
|
|
</rename>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End save -->
|
||
|
|
<convert name="depth_camera">
|
||
|
|
<rename>
|
||
|
|
<from attribute="output"/>
|
||
|
|
<to element="output"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End depth_camera -->
|
||
|
|
</convert> <!-- End sensor -->
|
||
|
|
|
||
|
|
<convert name="collision">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<rename>
|
||
|
|
<from attribute="laser_retro"/>
|
||
|
|
<to element="laser_retro"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
|
||
|
|
<convert name="surface">
|
||
|
|
<convert name="bounce">
|
||
|
|
<rename>
|
||
|
|
<from attribute="restitution_coefficient"/>
|
||
|
|
<to element="restitution_coefficient"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="threshold"/>
|
||
|
|
<to element="threshold"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End bounce -->
|
||
|
|
<convert name="friction">
|
||
|
|
<convert name="ode">
|
||
|
|
<rename>
|
||
|
|
<from attribute="mu"/>
|
||
|
|
<to element="mu"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="mu2"/>
|
||
|
|
<to element="mu2"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="fdir1"/>
|
||
|
|
<to element="fdir1"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="slip1"/>
|
||
|
|
<to element="slip1"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="slip2"/>
|
||
|
|
<to element="slip2"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End ode -->
|
||
|
|
</convert> <!-- End friction -->
|
||
|
|
|
||
|
|
<convert name="contact">
|
||
|
|
<convert name="ode">
|
||
|
|
<rename>
|
||
|
|
<from attribute="soft_cfm"/>
|
||
|
|
<to element="soft_cfm"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="soft_erp"/>
|
||
|
|
<to element="soft_erp"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="kp"/>
|
||
|
|
<to element="kp"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="kd"/>
|
||
|
|
<to element="kd"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="max_vel"/>
|
||
|
|
<to element="max_vel"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="min_depth"/>
|
||
|
|
<to element="min_depth"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End ode -->
|
||
|
|
</convert> <!-- End contact -->
|
||
|
|
</convert> <!-- End surface -->
|
||
|
|
|
||
|
|
<convert name="geometry">
|
||
|
|
<convert name="box">
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End box -->
|
||
|
|
<convert name="sphere">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End sphere -->
|
||
|
|
<convert name="cylinder">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="length"/>
|
||
|
|
<to element="length"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End cylinder -->
|
||
|
|
<convert name="mesh">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End mesh -->
|
||
|
|
<convert name="image">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="threshold"/>
|
||
|
|
<to element="threshold"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="height"/>
|
||
|
|
<to element="height"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="granularity"/>
|
||
|
|
<to element="granularity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End image -->
|
||
|
|
|
||
|
|
<convert name="heightmap">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="origin"/>
|
||
|
|
<to element="pos"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End heightmap -->
|
||
|
|
|
||
|
|
|
||
|
|
<convert name="plane">
|
||
|
|
<rename>
|
||
|
|
<from attribute="normal"/>
|
||
|
|
<to element="normal"/>
|
||
|
|
</rename>
|
||
|
|
</convert>
|
||
|
|
</convert> <!-- End geometry -->
|
||
|
|
</convert> <!-- End collision -->
|
||
|
|
|
||
|
|
<convert name="visual">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="cast_shadows"/>
|
||
|
|
<to element="cast_shadows"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="laser_retro"/>
|
||
|
|
<to element="laser_retro"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="transparency"/>
|
||
|
|
<to element="transparency"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="geometry">
|
||
|
|
<convert name="box">
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End box -->
|
||
|
|
<convert name="sphere">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End sphere -->
|
||
|
|
<convert name="cylinder">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="length"/>
|
||
|
|
<to element="length"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End cylinder -->
|
||
|
|
<convert name="mesh">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End mesh -->
|
||
|
|
<convert name="image">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="threshold"/>
|
||
|
|
<to element="threshold"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="height"/>
|
||
|
|
<to element="height"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="granularity"/>
|
||
|
|
<to element="granularity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End image -->
|
||
|
|
|
||
|
|
<convert name="heightmap">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="origin"/>
|
||
|
|
<to element="pos"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End heightmap -->
|
||
|
|
|
||
|
|
<convert name="plane">
|
||
|
|
<rename>
|
||
|
|
<from attribute="normal"/>
|
||
|
|
<to element="normal"/>
|
||
|
|
</rename>
|
||
|
|
</convert>
|
||
|
|
</convert> <!-- End geometry -->
|
||
|
|
|
||
|
|
<convert name="material">
|
||
|
|
<rename>
|
||
|
|
<from attribute="script"/>
|
||
|
|
<to element="script"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="ambient" attribute="rgba"/>
|
||
|
|
<to element="ambient"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="specular" attribute="rgba"/>
|
||
|
|
<to element="specular"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="diffuse" attribute="rgba"/>
|
||
|
|
<to element="diffuse"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="emissive" attribute="rgba"/>
|
||
|
|
<to element="emissive"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End material -->
|
||
|
|
</convert> <!-- End visual -->
|
||
|
|
</convert> <!-- End link -->
|
||
|
|
|
||
|
|
<convert name="joint">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="parent" attribute="link"/>
|
||
|
|
<to element="parent"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="child" attribute="link"/>
|
||
|
|
<to element="child"/>
|
||
|
|
</rename>
|
||
|
|
<convert name="axis">
|
||
|
|
<rename>
|
||
|
|
<from attribute="xyz"/>
|
||
|
|
<to element="xyz"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="dynamics">
|
||
|
|
<rename>
|
||
|
|
<from attribute="damping"/>
|
||
|
|
<to element="damping"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="friction"/>
|
||
|
|
<to element="friction"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End dynamics -->
|
||
|
|
<convert name="limit">
|
||
|
|
<rename>
|
||
|
|
<from attribute="lower"/>
|
||
|
|
<to element="lower"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="upper"/>
|
||
|
|
<to element="upper"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="effort"/>
|
||
|
|
<to element="effort"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="velocity"/>
|
||
|
|
<to element="velocity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End limit -->
|
||
|
|
</convert> <!-- End axis -->
|
||
|
|
|
||
|
|
<convert name="axis2">
|
||
|
|
<rename>
|
||
|
|
<from attribute="xyz"/>
|
||
|
|
<to element="xyz"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="dynamics">
|
||
|
|
<rename>
|
||
|
|
<from attribute="damping"/>
|
||
|
|
<to element="damping"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="friction"/>
|
||
|
|
<to element="friction"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End dynamics -->
|
||
|
|
<convert name="limit">
|
||
|
|
<rename>
|
||
|
|
<from attribute="lower"/>
|
||
|
|
<to element="lower"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="upper"/>
|
||
|
|
<to element="upper"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="effort"/>
|
||
|
|
<to element="effort"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="velocity"/>
|
||
|
|
<to element="velocity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End limit -->
|
||
|
|
</convert> <!-- End axis2 -->
|
||
|
|
|
||
|
|
<convert name="physics">
|
||
|
|
<convert name="limit">
|
||
|
|
<rename>
|
||
|
|
<from attribute="cfm"/>
|
||
|
|
<to element="cfm"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="erp"/>
|
||
|
|
<to element="erp"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End limit -->
|
||
|
|
<convert name="suspension">
|
||
|
|
<rename>
|
||
|
|
<from attribute="cfm"/>
|
||
|
|
<to element="cfm"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="erp"/>
|
||
|
|
<to element="erp"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End suspension -->
|
||
|
|
</convert> <!-- End physics -->
|
||
|
|
</convert> <!-- End joint -->
|
||
|
|
</convert> <!-- End model -->
|
||
|
|
</convert> <!-- End world -->
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
<convert name="model">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="static"/>
|
||
|
|
<to element="static"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
|
||
|
|
<convert name="gripper">
|
||
|
|
<convert name="grasp_check">
|
||
|
|
<rename>
|
||
|
|
<from attribute="detach_steps"/>
|
||
|
|
<to element="detach_steps"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="attach_steps"/>
|
||
|
|
<to element="attach_steps"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="min_contact_count"/>
|
||
|
|
<to element="min_contact_count"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End grasp_check -->
|
||
|
|
</convert> <!-- End gripper -->
|
||
|
|
|
||
|
|
|
||
|
|
<convert name="link">
|
||
|
|
<rename>
|
||
|
|
<from attribute="gravity"/>
|
||
|
|
<to element="gravity"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="self_collide"/>
|
||
|
|
<to element="self_collide"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="kinematic"/>
|
||
|
|
<to element="kinematic"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<rename>
|
||
|
|
<from element="damping"/>
|
||
|
|
<to element="velocity_decay"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="inertial">
|
||
|
|
<rename>
|
||
|
|
<from attribute="mass"/>
|
||
|
|
<to element="mass"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="density"/>
|
||
|
|
<to element="density"/>
|
||
|
|
</rename>
|
||
|
|
<convert name="inertia">
|
||
|
|
<rename>
|
||
|
|
<from attribute="ixx"/>
|
||
|
|
<to element="ixx"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="ixy"/>
|
||
|
|
<to element="ixy"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="ixz"/>
|
||
|
|
<to element="ixz"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="iyy"/>
|
||
|
|
<to element="iyy"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="iyz"/>
|
||
|
|
<to element="iyz"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="izz"/>
|
||
|
|
<to element="izz"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End inertia -->
|
||
|
|
</convert> <!-- End inertial -->
|
||
|
|
|
||
|
|
<convert name="sensor">
|
||
|
|
<rename>
|
||
|
|
<from attribute="always_on"/>
|
||
|
|
<to element="always_on"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="update_rate"/>
|
||
|
|
<to element="update_rate"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="visualize"/>
|
||
|
|
<to element="visualize"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="ray">
|
||
|
|
<convert name="scan">
|
||
|
|
<convert name="horizontal">
|
||
|
|
<rename>
|
||
|
|
<from attribute="samples"/>
|
||
|
|
<to element="samples"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="resolution"/>
|
||
|
|
<to element="resolution"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="min_angle"/>
|
||
|
|
<to element="min_angle"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="max_angle"/>
|
||
|
|
<to element="max_angle"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End horizontal -->
|
||
|
|
<convert name="vertical">
|
||
|
|
<rename>
|
||
|
|
<from attribute="samples"/>
|
||
|
|
<to element="samples"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="resolution"/>
|
||
|
|
<to element="resolution"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="min_angle"/>
|
||
|
|
<to element="min_angle"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="max_angle"/>
|
||
|
|
<to element="max_angle"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End vertical -->
|
||
|
|
</convert> <!-- End scan -->
|
||
|
|
<convert name="range">
|
||
|
|
<rename>
|
||
|
|
<from attribute="min"/>
|
||
|
|
<to element="min"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="max"/>
|
||
|
|
<to element="max"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="resolution"/>
|
||
|
|
<to element="resolution"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End range -->
|
||
|
|
</convert> <!-- End ray -->
|
||
|
|
<convert name="camera">
|
||
|
|
<rename>
|
||
|
|
<from element="horizontal_fov" attribute="angle"/>
|
||
|
|
<to element="horizontal_fov"/>
|
||
|
|
</rename>
|
||
|
|
<convert name="image">
|
||
|
|
<rename>
|
||
|
|
<from attribute="width"/>
|
||
|
|
<to element="width"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="height"/>
|
||
|
|
<to element="height"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="format"/>
|
||
|
|
<to element="format"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End image -->
|
||
|
|
</convert> <!-- End camera -->
|
||
|
|
|
||
|
|
<convert name="clip">
|
||
|
|
<rename>
|
||
|
|
<from attribute="near"/>
|
||
|
|
<to element="near"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="far"/>
|
||
|
|
<to element="far"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End clip -->
|
||
|
|
|
||
|
|
<convert name="save">
|
||
|
|
<rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="path"/>
|
||
|
|
<to element="path"/>
|
||
|
|
</rename>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End save -->
|
||
|
|
<convert name="depth_camera">
|
||
|
|
<rename>
|
||
|
|
<from attribute="output"/>
|
||
|
|
<to element="output"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End depth_camera -->
|
||
|
|
</convert> <!-- End sensor -->
|
||
|
|
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="sensor">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
</convert>
|
||
|
|
|
||
|
|
<convert name="inertial">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End inertial-->
|
||
|
|
|
||
|
|
<convert name="collision">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<rename>
|
||
|
|
<from attribute="laser_retro"/>
|
||
|
|
<to element="laser_retro"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
|
||
|
|
<convert name="surface">
|
||
|
|
<convert name="bounce">
|
||
|
|
<rename>
|
||
|
|
<from attribute="restitution_coefficient"/>
|
||
|
|
<to element="restitution_coefficient"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="threshold"/>
|
||
|
|
<to element="threshold"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End bounce -->
|
||
|
|
<convert name="friction">
|
||
|
|
<convert name="ode">
|
||
|
|
<rename>
|
||
|
|
<from attribute="mu"/>
|
||
|
|
<to element="mu"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="mu2"/>
|
||
|
|
<to element="mu2"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="fdir1"/>
|
||
|
|
<to element="fdir1"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="slip1"/>
|
||
|
|
<to element="slip1"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="slip2"/>
|
||
|
|
<to element="slip2"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End ode -->
|
||
|
|
</convert> <!-- End friction -->
|
||
|
|
|
||
|
|
<convert name="contact">
|
||
|
|
<convert name="ode">
|
||
|
|
<rename>
|
||
|
|
<from attribute="soft_cfm"/>
|
||
|
|
<to element="soft_cfm"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="soft_erp"/>
|
||
|
|
<to element="soft_erp"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="kp"/>
|
||
|
|
<to element="kp"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="kd"/>
|
||
|
|
<to element="kd"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="max_vel"/>
|
||
|
|
<to element="max_vel"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="min_depth"/>
|
||
|
|
<to element="min_depth"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End ode -->
|
||
|
|
</convert> <!-- End contact -->
|
||
|
|
</convert> <!-- End surface -->
|
||
|
|
|
||
|
|
<convert name="geometry">
|
||
|
|
<convert name="box">
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End box -->
|
||
|
|
<convert name="sphere">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End sphere -->
|
||
|
|
<convert name="cylinder">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="length"/>
|
||
|
|
<to element="length"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End cylinder -->
|
||
|
|
<convert name="mesh">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End mesh -->
|
||
|
|
<convert name="image">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="threshold"/>
|
||
|
|
<to element="threshold"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="height"/>
|
||
|
|
<to element="height"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="granularity"/>
|
||
|
|
<to element="granularity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End image -->
|
||
|
|
|
||
|
|
<convert name="heightmap">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="origin"/>
|
||
|
|
<to element="pos"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End heightmap -->
|
||
|
|
|
||
|
|
|
||
|
|
<convert name="plane">
|
||
|
|
<rename>
|
||
|
|
<from attribute="normal"/>
|
||
|
|
<to element="normal"/>
|
||
|
|
</rename>
|
||
|
|
</convert>
|
||
|
|
</convert> <!-- End geometry -->
|
||
|
|
</convert> <!-- End collision -->
|
||
|
|
|
||
|
|
<convert name="visual">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="cast_shadows"/>
|
||
|
|
<to element="cast_shadows"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="laser_retro"/>
|
||
|
|
<to element="laser_retro"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="transparency"/>
|
||
|
|
<to element="transparency"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="geometry">
|
||
|
|
<convert name="box">
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End box -->
|
||
|
|
<convert name="sphere">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End sphere -->
|
||
|
|
<convert name="cylinder">
|
||
|
|
<rename>
|
||
|
|
<from attribute="radius"/>
|
||
|
|
<to element="radius"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="length"/>
|
||
|
|
<to element="length"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End cylinder -->
|
||
|
|
<convert name="mesh">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End mesh -->
|
||
|
|
<convert name="image">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="scale"/>
|
||
|
|
<to element="scale"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="threshold"/>
|
||
|
|
<to element="threshold"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="height"/>
|
||
|
|
<to element="height"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="granularity"/>
|
||
|
|
<to element="granularity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End image -->
|
||
|
|
|
||
|
|
<convert name="heightmap">
|
||
|
|
<rename>
|
||
|
|
<from attribute="filename"/>
|
||
|
|
<to element="filename"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="size"/>
|
||
|
|
<to element="size"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="origin"/>
|
||
|
|
<to element="pos"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End heightmap -->
|
||
|
|
|
||
|
|
<convert name="plane">
|
||
|
|
<rename>
|
||
|
|
<from attribute="normal"/>
|
||
|
|
<to element="normal"/>
|
||
|
|
</rename>
|
||
|
|
</convert>
|
||
|
|
</convert> <!-- End geometry -->
|
||
|
|
|
||
|
|
<convert name="material">
|
||
|
|
<rename>
|
||
|
|
<from attribute="script"/>
|
||
|
|
<to element="script"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="ambient" attribute="rgba"/>
|
||
|
|
<to element="ambient"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="specular" attribute="rgba"/>
|
||
|
|
<to element="specular"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="diffuse" attribute="rgba"/>
|
||
|
|
<to element="diffuse"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="emissive" attribute="rgba"/>
|
||
|
|
<to element="emissive"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End material -->
|
||
|
|
</convert> <!-- End visual -->
|
||
|
|
</convert> <!-- End link -->
|
||
|
|
|
||
|
|
<convert name="joint">
|
||
|
|
<rename>
|
||
|
|
<from element="origin" attribute="pose"/>
|
||
|
|
<to element="pose"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="parent" attribute="link"/>
|
||
|
|
<to element="parent"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from element="child" attribute="link"/>
|
||
|
|
<to element="child"/>
|
||
|
|
</rename>
|
||
|
|
<convert name="axis">
|
||
|
|
<rename>
|
||
|
|
<from attribute="xyz"/>
|
||
|
|
<to element="xyz"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="dynamics">
|
||
|
|
<rename>
|
||
|
|
<from attribute="damping"/>
|
||
|
|
<to element="damping"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="friction"/>
|
||
|
|
<to element="friction"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End dynamics -->
|
||
|
|
<convert name="limit">
|
||
|
|
<rename>
|
||
|
|
<from attribute="lower"/>
|
||
|
|
<to element="lower"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="upper"/>
|
||
|
|
<to element="upper"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="effort"/>
|
||
|
|
<to element="effort"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="velocity"/>
|
||
|
|
<to element="velocity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End limit -->
|
||
|
|
</convert> <!-- End axis -->
|
||
|
|
<convert name="axis2">
|
||
|
|
<rename>
|
||
|
|
<from attribute="xyz"/>
|
||
|
|
<to element="xyz"/>
|
||
|
|
</rename>
|
||
|
|
|
||
|
|
<convert name="dynamics">
|
||
|
|
<rename>
|
||
|
|
<from attribute="damping"/>
|
||
|
|
<to element="damping"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="friction"/>
|
||
|
|
<to element="friction"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End dynamics -->
|
||
|
|
<convert name="limit">
|
||
|
|
<rename>
|
||
|
|
<from attribute="lower"/>
|
||
|
|
<to element="lower"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="upper"/>
|
||
|
|
<to element="upper"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="effort"/>
|
||
|
|
<to element="effort"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="velocity"/>
|
||
|
|
<to element="velocity"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End limit -->
|
||
|
|
</convert> <!-- End axis2 -->
|
||
|
|
|
||
|
|
<convert name="physics">
|
||
|
|
<convert name="limit">
|
||
|
|
<rename>
|
||
|
|
<from attribute="cfm"/>
|
||
|
|
<to element="cfm"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="erp"/>
|
||
|
|
<to element="erp"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End limit -->
|
||
|
|
<convert name="suspension">
|
||
|
|
<rename>
|
||
|
|
<from attribute="cfm"/>
|
||
|
|
<to element="cfm"/>
|
||
|
|
</rename>
|
||
|
|
<rename>
|
||
|
|
<from attribute="erp"/>
|
||
|
|
<to element="erp"/>
|
||
|
|
</rename>
|
||
|
|
</convert> <!-- End suspension -->
|
||
|
|
</convert> <!-- End physics -->
|
||
|
|
</convert> <!-- End joint -->
|
||
|
|
</convert> <!-- End model -->
|
||
|
|
|
||
|
|
</convert> <!-- End gazebo -->
|