Dynamic Obstacle

Dynamic Obstacle. 30x30x30 cm box.

Updates its velocity direction and amount every 3 seconds. Max velocity is 0.5.

How to Configure a Dynamic Obstacle

dynamic_obstacle/model.sdf

  <plugin name="random" filename="libRandomVelocityPlugin.so">
  
    -- Name of the link in this model that receives the velocity
    <link>link</link>
    
    -- Initial velocity that is applied to the link
    <initial_velocity>0 0.05 0</initial_velocity>
    
    -- Scaling factor that is used to compute a new velocity
    <velocity_factor>0.5</velocity_factor>
    
    -- Time delay between new velocities
    <update_period>3</update_period>
    
    -- X velocity treshold values
    <min_x>-0.5</min_x>
    <max_x>0.5</max_x>
    
    -- Y velocity treshold values
    <min_y>-0.5</min_y>
    <max_y>0.5</max_y>
    
    -- Z velocity treshold values
    <min_z>-10</min_z>
    <max_z>-5</max_z>
    
  </plugin>