60 lines
2.3 KiB
Plaintext
60 lines
2.3 KiB
Plaintext
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<!-- Population -->
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<element name="population" required="*">
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<description>
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The population element defines how and where a set of models will
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be automatically populated in Gazebo.
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</description>
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<attribute name="name" type="string" default="__default__" required="1">
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<description>
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A unique name for the population. This name must not match
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another population in the world.
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</description>
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</attribute>
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<include filename="box_shape.sdf" required="0"/>
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<include filename="cylinder_shape.sdf" required="0"/>
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<element name="model_count" type="int" default="1" required="1">
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<description>The number of models to place.</description>
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</element><!-- End Model_count -->
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<element name="distribution" required="1">
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<description>
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Specifies the type of object distribution and its optional parameters.
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</description>
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<element name="type" type="string" default="random" required="1">
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<description>
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Define how the objects will be placed in the specified region.
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- random: Models placed at random.
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- uniform: Models approximately placed in a 2D grid pattern with control
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over the number of objects.
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- grid: Models evenly placed in a 2D grid pattern. The number of objects
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is not explicitly specified, it is based on the number of rows and
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columns of the grid.
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- linear-x: Models evently placed in a row along the global x-axis.
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- linear-y: Models evently placed in a row along the global y-axis.
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- linear-z: Models evently placed in a row along the global z-axis.
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</description>
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</element><!-- End Type -->
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<element name="rows" type="int" default="1" required="0">
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<description>Number of rows in the grid.</description>
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</element><!-- End Rows -->
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<element name="cols" type="int" default="1" required="0">
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<description>Number of columns in the grid.</description>
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</element><!-- End Columns -->
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<element name="step" type="vector3" default="0.5 0.5 0" required="0">
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<description>Distance between elements of the grid.</description>
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</element><!-- End Step -->
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</element><!-- End Distribution -->
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<include filename="frame.sdf" required="*"/>
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<include filename="pose.sdf" required="0"/>
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<include filename="model.sdf" required="1"/>
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</element> <!-- End Population -->
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