From dd5400077171c2c5d5a60b4bbb119ebd3cb71d5c Mon Sep 17 00:00:00 2001
From: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Mon, 29 Jan 2018 15:04:43 +0100
Subject: [PATCH] Add cyberzoo world with orange poles for orange_avoider

---
 .../gazebo/world/cyberzoo_orange_poles.world  | 72 +++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100644 conf/simulator/gazebo/world/cyberzoo_orange_poles.world

diff --git a/conf/simulator/gazebo/world/cyberzoo_orange_poles.world b/conf/simulator/gazebo/world/cyberzoo_orange_poles.world
new file mode 100644
index 0000000000..75c9a9b5c5
--- /dev/null
+++ b/conf/simulator/gazebo/world/cyberzoo_orange_poles.world
@@ -0,0 +1,72 @@
+<?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>51.9906361</latitude_deg>
+      <longitude_deg>4.3767874</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 0.454</pose>
+    </include>
+    
+    <include>
+      <uri>model://cyberzoo2</uri>
+      <pose>0 0 0 0 0 0.454</pose>
+    </include>
+    <include>
+      <uri>model://cyberzoo_surroundings</uri>
+      <pose>0 0 0 0 0 0.454</pose>
+    </include>
+    <include>
+      <uri>model://cyberzoo_outer_walls</uri>
+      <pose>0 0 0 0 0 0.454</pose>
+    </include>
+    
+    <include>
+      <uri>model://orange_pole2</uri>
+      <pose>-1.8 -3.4 0 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://orange_pole2</uri>
+      <pose>-1.8 0.5 0 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://orange_pole2</uri>
+      <pose>0.6 0.7 0 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://orange_pole2</uri>
+      <pose>1.5 -2.5 0 0 0 0</pose>
+    </include>
+    <include>
+      <uri>model://orange_pole2</uri>
+      <pose>2.8 2.5 0 0 0 0</pose>
+    </include>
+  </world>
+</sdf>