66 lines
1.8 KiB
Plaintext
66 lines
1.8 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="box">
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<pose>0 0 0.5 0 0 0</pose>
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<link name="link">
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<kinematic>true</kinematic>
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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<!-- Apply a random velocity to the specified link-->
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<!-- In this example, we move a box around. A key property of the link
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is the frictionless surface -->
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<plugin name="random" filename="libRandomVelocityPlugin.so">
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<!-- Name of the link in this model that receives the velocity -->
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<link>link</link>
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<!-- Initial velocity that is applied to the link -->
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<initial_velocity>0 0.5 0</initial_velocity>
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<!-- Scaling factor that is used to compute a new velocity -->
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<velocity_factor>0.5</velocity_factor>
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<!-- Time, in seconds, between new velocities -->
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<update_period>5</update_period>
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<!-- Clamp the Z velocity value to zero. You can also clamp x and
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y values -->
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<min_z>0</min_z>
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<max_z>0</max_z>
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</plugin>
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</model>
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</world>
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</sdf>
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