Merge pull request #336 from robotology/update_default_world

Align empty world with upstream
robotology-legacy · Apr 28, 2021 · 9394833 · 9394833
2 parents 159bb15 + e7555e2
commit 9394833
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/cpp/scenario/gazebo/src/utils.cpp b/cpp/scenario/gazebo/src/utils.cpp
@@ -162,16 +162,17 @@ 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">
         </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>

diff --git a/docs/sphinx/info/faq.rst b/docs/sphinx/info/faq.rst
@@ -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>