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Add particle_scatter_ratio to SDF 1.6 spec #595

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merged 2 commits into from
Jun 23, 2021
Merged

Add particle_scatter_ratio to SDF 1.6 spec #595

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61b1a14
port particle scatter ratio param to sdf 1.6
iche033 Jun 15, 2021
8baaa6f
Merge branch 'sdf10' into particle_scatter_ratio_1.6
iche033 Jun 16, 2021
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11 changes: 11 additions & 0 deletions sdf/1.6/particle_emitter.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,17 @@
</description>
</element>

<element name="particle_scatter_ratio" type="float" default="0.65" required="0">
<description>
This is used to determine the ratio of particles that will be detected
by sensors. Increasing the ratio means there is a higher chance of
particles reflecting and interfering with depth sensing, making the
emitter appear more dense. Decreasing the ratio decreases the chance
of particles reflecting and interfering with depth sensing, making it
appear less dense.
</description>
</element>

<include filename="pose.sdf" required="0"/>
<include filename="material.sdf" required="0"/>
</element>