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Better Lighting

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This commit is contained in:
Bastian Hofmann 2023-06-27 14:02:18 +00:00
parent 72a37287eb
commit 313b6d09a1
1 changed files with 18 additions and 11 deletions
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29
src/ign_world/world/world.sdf
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@ -9,20 +9,27 @@
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/> <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/> <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<light type="directional" name="sun"> <light type="point" name="point_light_1">
<cast_shadows>true</cast_shadows> <cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose> <pose>1 1 2.5 0 0 0</pose>
<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>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.1 0.1 -0.9 </direction>
</light> </light>
<light type="point" name="point_light_2">
<cast_shadows>true</cast_shadows>
<pose>5 1 2.5 0 0 0</pose>
</light>
<light type="point" name="point_light_3">
<cast_shadows>true</cast_shadows>
<pose>1 5 2.5 0 0 0</pose>
</light>
<light type="point" name="point_light_4">
<cast_shadows>true</cast_shadows>
<pose>5 5 2.5 0 0 0</pose>
</light>
<actor name="actor_walking"> <actor name="actor_walking">
<plugin name="ignition::gazebo::ActorSystem" filename="$(find ign_actor_plugin)/libign_actor_plugin.so"> <plugin name="ignition::gazebo::ActorSystem" filename="$(find ign_actor_plugin)/libign_actor_plugin.so">
<x>2</x> <x>2</x>