File: audio.sdf

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sdformat 4.2.0-1
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<sdf version='1.4'>
  <model name='full_audio_parameters'>
    <link name="link">

    <collision name="collision">
      <geometry>
        <box>
          <size>1 1 1</size>
        </box>
      </geometry>
    </collision>

    <audio_sink/>

    <audio_source>
      <uri>file://foo.mp3</uri>
      <pitch>2.0</pitch>
      <gain>1.0</gain>
      <loop>false</loop>
      <pose>0 0 0 0 0 0</pose>
      <contact><collision>collision</collision></contact>
    </audio_source>
  </link>
 </model>
</sdf>