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Create cyberzoo world

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To-do: set origin coordinates and rotate environment
This commit is contained in:
Tom van Dijk
2018-01-18 11:58:06 +01:00
parent ebf7eaf9a7
commit 1a99ebb7bd
1 changed files with 48 additions and 0 deletions
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conf/simulator/gazebo/world/cyberzoo.world
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<?xml version='1.0'?>
<sdf version="1.6">
<world name="cyberzoo">
<physics type="ode">
<max_step_size>0.001</max_step_size>
<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
</physics>
<scene>
<ambient>0.6 0.6 0.6 1</ambient>
<background>0.7 0.7 0.7 1</background>
</scene>
<light name='toplight' type='directional'>
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.9 0.9 0.9 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>0 0 -1</direction>
</light>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>51.9906340</latitude_deg>
<longitude_deg>4.3767889</longitude_deg>
<elevation>45.110</elevation>
<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
</spherical_coordinates>
<include>
<uri>model://ground_plane</uri>
<pose>0 0 -0.02 0 0 0</pose>
</include>
<include>
<uri>model://cyberzoo2</uri>
</include>
<include>
<uri>model://cyberzoo_surroundings</uri>
</include>
<include>
<uri>model://cyberzoo_outer_walls</uri>
</include>
</world>
</sdf>