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Commit fb73aa98 authored by Ugo Albanese's avatar Ugo Albanese
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Merged in fix-demo-labyrinth-NRRPLT-8301 (pull request #59)

[NRRPLT-8301] Fix demo spacebot labyrinth world model.

* [NRRPLT-8301] Add spot element to spotlights in spacebotcup_world_labyrinth
* [NRRPLT-8301] Increase spotlight_3's {inner,outer}angle so to increase red stimulus

Approved-by: Vahid Zolfaghari
parent a959e703
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...@@ -36,19 +36,6 @@ ...@@ -36,19 +36,6 @@
</attenuation> </attenuation>
<cast_shadows>1</cast_shadows> <cast_shadows>1</cast_shadows>
</light> </light>
<light name="spotlight_0" type="spot">
<pose frame="">7.07424 -2.47124 2.80354 0 -0.63253 0</pose>
<diffuse>0 0 1 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>1.0</constant>
<linear>0.02</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
</light>
<model name="concretewall1_0"> <model name="concretewall1_0">
<static>1</static> <static>1</static>
<link name="concretewall::body"> <link name="concretewall::body">
...@@ -1897,29 +1884,58 @@ ...@@ -1897,29 +1884,58 @@
</link> </link>
<pose frame="">3.37926 -1.23993 -0.32657 0 -0 0</pose> <pose frame="">3.37926 -1.23993 -0.32657 0 -0 0</pose>
</model> </model>
<light name="spotlight_0" type="spot">
<pose frame="">7.07424 -2.47124 2.80354 0 -0.63253 0</pose>
<diffuse>0 0 1 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>4</range>
<constant>1.0</constant>
<linear>0.02</linear>
<quadratic>0.001</quadratic>
</attenuation>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
<cast_shadows>0</cast_shadows>
</light>
<light name="spotlight_1" type="spot"> <light name="spotlight_1" type="spot">
<pose frame="">6.72151 5.23056 2.80354 0.40181 -0 0</pose> <pose frame="">6.72151 5.23056 2.80354 0.40181 -0 0</pose>
<diffuse>0 0 1 1</diffuse> <diffuse>0 0 1 1</diffuse>
<specular>0.2 0.2 0.2 1</specular> <specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction> <direction>0 0 -1</direction>
<attenuation> <attenuation>
<range>20</range> <range>4</range>
<constant>0.8</constant> <constant>0.8</constant>
<linear>0.01</linear> <linear>0.01</linear>
<quadratic>0.001</quadratic> <quadratic>0.001</quadratic>
</attenuation> </attenuation>
<cast_shadows>0</cast_shadows> </light> <spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
<cast_shadows>0</cast_shadows>
</light>
<light name="spotlight_2" type="spot"> <light name="spotlight_2" type="spot">
<pose frame="">-0.05874 4.69112 2.80354 0 0.34808 0</pose> <pose frame="">-0.05874 4.69112 2.80354 0 0.34808 0</pose>
<diffuse>0 0 1 1</diffuse> <diffuse>0 0 1 1</diffuse>
<specular>0.2 0.2 0.2 1</specular> <specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction> <direction>0 0 -1</direction>
<attenuation> <attenuation>
<range>20</range> <range>4</range>
<constant>0.8</constant> <constant>0.8</constant>
<linear>0.01</linear> <linear>0.01</linear>
<quadratic>0.001</quadratic> <quadratic>0.001</quadratic>
</attenuation> </attenuation>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light> </light>
<light name="spotlight_3" type="spot"> <light name="spotlight_3" type="spot">
<pose frame="">-0.28349 -0.04642 2.80354 -0.23301 -0 0</pose> <pose frame="">-0.28349 -0.04642 2.80354 -0.23301 -0 0</pose>
...@@ -1927,11 +1943,16 @@ ...@@ -1927,11 +1943,16 @@
<specular>0.2 0.2 0.2 1</specular> <specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction> <direction>0 0 -1</direction>
<attenuation> <attenuation>
<range>20</range> <range>4</range>
<constant>0.8</constant> <constant>0.8</constant>
<linear>0.01</linear> <linear>0.01</linear>
<quadratic>0.001</quadratic> <quadratic>0.001</quadratic>
</attenuation> </attenuation>
<spot>
<inner_angle>2</inner_angle>
<outer_angle>2</outer_angle>
<falloff>1</falloff>
</spot>
</light> </light>
<light name="spotlight_4" type="spot"> <light name="spotlight_4" type="spot">
<pose frame="">-6.04052 0.03868 2.80354 0 0.50012 0</pose> <pose frame="">-6.04052 0.03868 2.80354 0 0.50012 0</pose>
...@@ -1939,11 +1960,16 @@ ...@@ -1939,11 +1960,16 @@
<specular>0.2 0.2 0.2 1</specular> <specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction> <direction>0 0 -1</direction>
<attenuation> <attenuation>
<range>20</range> <range>4</range>
<constant>0.8</constant> <constant>0.8</constant>
<linear>0.01</linear> <linear>0.01</linear>
<quadratic>0.001</quadratic> <quadratic>0.001</quadratic>
</attenuation> </attenuation>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light> </light>
<light name="spotlight_5" type="spot"> <light name="spotlight_5" type="spot">
<pose frame="">-6.26486 -5.27743 2.80354 -0.34211 -0 0</pose> <pose frame="">-6.26486 -5.27743 2.80354 -0.34211 -0 0</pose>
...@@ -1951,11 +1977,16 @@ ...@@ -1951,11 +1977,16 @@
<specular>0.2 0.2 0.2 1</specular> <specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction> <direction>0 0 -1</direction>
<attenuation> <attenuation>
<range>20</range> <range>4</range>
<constant>0.8</constant> <constant>0.8</constant>
<linear>0.01</linear> <linear>0.01</linear>
<quadratic>0.001</quadratic> <quadratic>0.001</quadratic>
</attenuation> </attenuation>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light> </light>
<light name="spotlight_6" type="spot"> <light name="spotlight_6" type="spot">
<pose frame="">0.76868 -5.38456 2.80354 0 -0.47097 0</pose> <pose frame="">0.76868 -5.38456 2.80354 0 -0.47097 0</pose>
...@@ -1963,11 +1994,50 @@ ...@@ -1963,11 +1994,50 @@
<specular>0.2 0.2 0.2 1</specular> <specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction> <direction>0 0 -1</direction>
<attenuation> <attenuation>
<range>20</range> <range>4</range>
<constant>0.8</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light>
<light name="spotlight_7" type="spot">
<pose frame="">0.532714 -11.1621 2.89741 0 -0 0</pose>
<diffuse>0 0 1 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>4</range>
<constant>0.8</constant> <constant>0.8</constant>
<linear>0.01</linear> <linear>0.01</linear>
<quadratic>0.001</quadratic> <quadratic>0.001</quadratic>
</attenuation> </attenuation>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light>
<light name="spotlight_8" type="spot">
<pose frame="">0.484453 -8.68082 4.01946 0 -0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>4</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light> </light>
<state world_name="default"> <state world_name="default">
<sim_time>0 1000000</sim_time> <sim_time>0 1000000</sim_time>
...@@ -2395,29 +2465,6 @@ ...@@ -2395,29 +2465,6 @@
<pose frame="">-0.80127 -1.47128 11.378 0 -0 0</pose> <pose frame="">-0.80127 -1.47128 11.378 0 -0 0</pose>
</light> </light>
</state> </state>
<light name="spotlight_7" type="spot">
<pose frame="">0.532714 -11.1621 2.89741 0 -0 0</pose>
<diffuse>0 0 1 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>0.8</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
</light>
<light name="spotlight_8" type="spot">
<pose frame="">0.484453 -8.68082 4.01946 0 -0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
</light>
</world> </world>
</sdf> </sdf>
\ No newline at end of file
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