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Remove default plugins from SDF worlds #12

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merged 1 commit into from
Apr 18, 2022
Merged

Remove default plugins from SDF worlds #12

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75 changes: 1 addition & 74 deletions buoy_gazebo/worlds/electrohydraulicPTO.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,85 +1,12 @@
<?xml version="1.0" ?>
<sdf version="1.8">
<world name="world_demo">

<physics name="1ms" type="ignored">
<max_step_size>.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>

<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics">
<engine>"libignition-physics-dartsim-plugin.so"</engine>
</plugin>

<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property key="showTitleBar" type="bool">false</property>
<property key="state" type="string">docked</property>
</ignition-gui>

<engine>ogre</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property key="showTitleBar" type="bool">false</property>
<property key="resizable" type="bool">false</property>
<property key="height" type="double">72</property>
<property key="width" type="double">121</property>
<property key="z" type="double">1</property>
<property key="state" type="string">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/world_demo/control</service>
<stats_topic>/world/world_demo/stats</stats_topic>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property key="showTitleBar" type="bool">false</property>
<property key="resizable" type="bool">false</property>
<property key="height" type="double">110</property>
<property key="width" type="double">290</property>
<property key="z" type="double">1</property>
<property key="state" type="string">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/world_demo/stats</topic>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree"/>
</gui>

<light name="sun" type="directional">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
Expand Down
75 changes: 1 addition & 74 deletions buoy_gazebo/worlds/mbari_wec.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,79 +7,6 @@
<real_time_factor>1.0</real_time_factor>
</physics>

<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics">
<engine>"libignition-physics-dartsim-plugin.so"</engine>
</plugin>

<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property key="showTitleBar" type="bool">false</property>
<property key="state" type="string">docked</property>
</ignition-gui>

<engine>ogre</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property key="showTitleBar" type="bool">false</property>
<property key="resizable" type="bool">false</property>
<property key="height" type="double">72</property>
<property key="width" type="double">121</property>
<property key="z" type="double">1</property>
<property key="state" type="string">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/world_demo/control</service>
<stats_topic>/world/world_demo/stats</stats_topic>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property key="showTitleBar" type="bool">false</property>
<property key="resizable" type="bool">false</property>
<property key="height" type="double">110</property>
<property key="width" type="double">290</property>
<property key="z" type="double">1</property>
<property key="state" type="string">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/world_demo/stats</topic>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree"/>
</gui>

<light name="sun" type="directional">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
Expand Down Expand Up @@ -225,7 +152,7 @@
</limit>
<xyz>0.0 0.0 1.0</xyz>
<dynamics>
<spring_stiffness>55000</spring_stiffness>
<spring_stiffness>55000</spring_stiffness>
<spring_reference>0.0</spring_reference>
<damping>1000.0</damping>
<friction>0.0</friction>
Expand Down
75 changes: 1 addition & 74 deletions buoy_gazebo/worlds/pneumatic_spring.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,79 +7,6 @@
<real_time_factor>1.0</real_time_factor>
</physics>

<plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics">
<engine>"libignition-physics-dartsim-plugin.so"</engine>
</plugin>

<plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
<plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property key="showTitleBar" type="bool">false</property>
<property key="state" type="string">docked</property>
</ignition-gui>

<engine>ogre</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property key="showTitleBar" type="bool">false</property>
<property key="resizable" type="bool">false</property>
<property key="height" type="double">72</property>
<property key="width" type="double">121</property>
<property key="z" type="double">1</property>
<property key="state" type="string">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/world_demo/control</service>
<stats_topic>/world/world_demo/stats</stats_topic>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property key="showTitleBar" type="bool">false</property>
<property key="resizable" type="bool">false</property>
<property key="height" type="double">110</property>
<property key="width" type="double">290</property>
<property key="z" type="double">1</property>
<property key="state" type="string">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/world_demo/stats</topic>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree"/>
</gui>

<light name="sun" type="directional">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
Expand Down Expand Up @@ -337,7 +264,7 @@
<P1>410291</P1>
<P2>410266</P2>
</plugin>

<!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>-->
<plugin filename="PolytropicPneumaticSpring" name="ignition::gazebo::systems::PolytropicPneumaticSpring">
<JointName>joint_poly</JointName>
Expand Down