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Align empty world with upstream #336

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merged 2 commits into from
Apr 28, 2021
Merged

Align empty world with upstream #336

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84d49bd
Update default world
diegoferigo Apr 6, 2021
e7555e2
Update documentation
diegoferigo Apr 6, 2021
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7 changes: 4 additions & 3 deletions cpp/scenario/gazebo/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -170,16 +170,17 @@ std::string utils::getWorldNameFromSdf(const std::string& fileName,

std::string utils::getEmptyWorld()
{
// The empty world matches default.sdf from upstream without models
const std::string world = R""""(<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<physics default="true" type="dart">
<physics default="true" type="ignored">
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This is not a spec compliant SDF, but this is definitely not related to this PR, I opened gazebosim/sdformat#550 for track the actual problem.

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Thanks! I think that currently Ignition supports selecting physics engine through the PhysicsEnginePlugin introduced in gazebosim/gz-sim#136 (couldn't find the actual PR). I already have a local branch that I'm about to push that introduces that component in our logic. I'm not really sure whether the /world/physics@type attribute is even read nor supported in Ignition.

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Btw, I'll proceed merging as it is. We can update it as soon as we figure this out, both current and new attributes are not breaking any existing logic.

</physics>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
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6 changes: 3 additions & 3 deletions docs/sphinx/info/faq.rst
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Expand Up @@ -59,13 +59,13 @@ extracting it from the simulator with :cpp:func:`~scenario::gazebo::GazeboSimula
<?xml version="1.0" ?>
<sdf version="1.7">
<world name="default">
<physics default="true" type="dart">
<physics default="true" type="ignored">
</physics>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
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