70 lines
2.1 KiB
XML
70 lines
2.1 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<world name='simple_baylands'>
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<atmosphere type='adiabatic'/>
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<scene>
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<ambient>0.8 0.5 1</ambient>
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<grid>false</grid>
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<sky>
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<clouds>true</clouds>
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</sky>
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<shadows>1</shadows>
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</scene>
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<light name='sunUTC' type='directional'>
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<pose>0 0 500 0 -0 0</pose>
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<cast_shadows>false</cast_shadows>
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<intensity>1</intensity>
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<direction>0.001 0.625 -0.78</direction>
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<diffuse>0.904 0.904 0.904 1</diffuse>
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<specular>0.271 0.271 0.271 1</specular>
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<attenuation>
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<range>2000</range>
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<linear>0</linear>
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<constant>1</constant>
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<quadratic>0</quadratic>
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</attenuation>
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</light>
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<include>
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<uri>
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https://fuel.gazebosim.org/1.0/saurav/models/simple_baylands
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</uri>
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<name>park</name>
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<pose>248 200 -1 0 0 -0.45</pose>
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</include>
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<include>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water
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</uri>
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<pose relative_to="park">0 0 -2 0 0 0</pose>
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</include>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<world_frame_orientation>ENU</world_frame_orientation>
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<latitude_deg>37.412173071650805</latitude_deg>
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<longitude_deg>-121.998878727967</longitude_deg>
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<elevation>38</elevation>
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</spherical_coordinates>
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</world>
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</sdf>
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