From b6271a21884ec23c256a71b5879b6ec2a0fd2523 Mon Sep 17 00:00:00 2001 From: tejalbarnwal Date: Sat, 10 Jun 2023 16:39:17 +0530 Subject: [PATCH 1/2] update order of wavefield parameters message --- ...ractice_2023_acoustic_perception0_task.sdf | 60 +++++++++---------- ...ractice_2023_acoustic_perception1_task.sdf | 60 +++++++++---------- ...ractice_2023_acoustic_perception2_task.sdf | 60 +++++++++---------- .../practice_2023_acoustic_tracking0_task.sdf | 60 +++++++++---------- .../practice_2023_acoustic_tracking1_task.sdf | 60 +++++++++---------- .../practice_2023_acoustic_tracking2_task.sdf | 60 +++++++++---------- .../practice_2023_perception0_task.sdf | 60 +++++++++---------- .../practice_2023_perception1_task.sdf | 60 +++++++++---------- .../practice_2023_perception2_task.sdf | 60 +++++++++---------- .../practice_2023_scan_dock_deliver0_task.sdf | 60 +++++++++---------- .../practice_2023_scan_dock_deliver1_task.sdf | 60 +++++++++---------- .../practice_2023_scan_dock_deliver2_task.sdf | 60 +++++++++---------- .../practice_2023_stationkeeping0_task.sdf | 60 +++++++++---------- .../practice_2023_stationkeeping1_task.sdf | 60 +++++++++---------- .../practice_2023_stationkeeping2_task.sdf | 60 +++++++++---------- .../practice_2023_wayfinding0_task.sdf | 60 +++++++++---------- .../practice_2023_wayfinding1_task.sdf | 60 +++++++++---------- .../practice_2023_wayfinding2_task.sdf | 60 +++++++++---------- .../practice_2023_wildlife0_task.sdf | 60 +++++++++---------- .../practice_2023_wildlife1_task.sdf | 60 +++++++++---------- .../practice_2023_wildlife2_task.sdf | 60 +++++++++---------- vrx_gz/worlds/acoustic_perception_task.sdf | 60 +++++++++---------- vrx_gz/worlds/acoustic_tracking_task.sdf | 60 +++++++++---------- vrx_gz/worlds/follow_path_task.sdf | 60 +++++++++---------- vrx_gz/worlds/gymkhana_task.sdf | 60 +++++++++---------- vrx_gz/worlds/navigation_task.sdf | 60 +++++++++---------- vrx_gz/worlds/nbpark.sdf | 60 +++++++++---------- vrx_gz/worlds/perception_task.sdf | 60 +++++++++---------- vrx_gz/worlds/scan_dock_deliver_task.sdf | 60 +++++++++---------- vrx_gz/worlds/stationkeeping_task.sdf | 60 +++++++++---------- vrx_gz/worlds/sydney_regatta.sdf | 60 +++++++++---------- vrx_gz/worlds/wayfinding_task.sdf | 60 +++++++++---------- vrx_gz/worlds/wildlife_task.sdf | 60 +++++++++---------- 33 files changed, 990 insertions(+), 990 deletions(-) diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception0_task.sdf index 5a026846c..3808547b3 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception0_task.sdf @@ -479,6 +479,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -503,22 +533,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -533,13 +547,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -564,13 +571,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception1_task.sdf index 91e86d150..6a56b6a43 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception1_task.sdf @@ -479,6 +479,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -503,22 +533,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.5 - } - } params { key: "model" value { @@ -533,13 +547,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -564,13 +571,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception2_task.sdf index 312ee10e9..c1812b471 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception2_task.sdf @@ -479,6 +479,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -503,22 +533,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.8 - } - } params { key: "model" value { @@ -533,13 +547,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -564,13 +571,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf index 9719c81aa..519038d95 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf @@ -782,6 +782,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -806,22 +836,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -836,13 +850,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -867,13 +874,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf index b15c3cd81..2df141eb3 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf @@ -985,6 +985,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -1009,22 +1039,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.5 - } - } params { key: "model" value { @@ -1039,13 +1053,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -1070,13 +1077,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf index 1452751a2..79a3f58c8 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf @@ -883,6 +883,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -907,22 +937,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.8 - } - } params { key: "model" value { @@ -937,13 +951,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -968,13 +975,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_perception0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_perception0_task.sdf index e63a5947e..ac1ad97b3 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_perception0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_perception0_task.sdf @@ -571,6 +571,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.2 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -595,22 +625,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.2 - } - } params { key: "model" value { @@ -625,13 +639,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -656,13 +663,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_perception1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_perception1_task.sdf index f36569ec1..5ee8c4024 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_perception1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_perception1_task.sdf @@ -651,6 +651,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -675,22 +705,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.5 - } - } params { key: "model" value { @@ -705,13 +719,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -736,13 +743,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_perception2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_perception2_task.sdf index f03dd9b63..c5989522c 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_perception2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_perception2_task.sdf @@ -980,6 +980,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -1004,22 +1034,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.8 - } - } params { key: "model" value { @@ -1034,13 +1048,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -1065,13 +1072,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver0_task.sdf index fcc0cc6c4..ce132b666 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver0_task.sdf @@ -496,6 +496,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.2 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -520,22 +550,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.2 - } - } params { key: "model" value { @@ -550,13 +564,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -581,13 +588,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver1_task.sdf index 499e67719..98e5d9810 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver1_task.sdf @@ -497,6 +497,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -521,22 +551,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.5 - } - } params { key: "model" value { @@ -551,13 +565,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -582,13 +589,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver2_task.sdf index c83ee4de3..14b6d74ee 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_scan_dock_deliver2_task.sdf @@ -498,6 +498,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -522,22 +552,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.8 - } - } params { key: "model" value { @@ -552,13 +566,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -583,13 +590,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping0_task.sdf index d42e8ad95..01207e933 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping0_task.sdf @@ -450,6 +450,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.2 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -474,22 +504,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.2 - } - } params { key: "model" value { @@ -504,13 +518,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -535,13 +542,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf index 2b406fcaa..430ec37ab 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping1_task.sdf @@ -450,6 +450,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -474,22 +504,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.5 - } - } params { key: "model" value { @@ -504,13 +518,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -535,13 +542,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping2_task.sdf index 5163f49d2..fff79d30d 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_stationkeeping2_task.sdf @@ -450,6 +450,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -474,22 +504,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.8 - } - } params { key: "model" value { @@ -504,13 +518,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -535,13 +542,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding0_task.sdf index 4420477b1..87434418c 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding0_task.sdf @@ -450,6 +450,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.2 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -474,22 +504,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.2 - } - } params { key: "model" value { @@ -504,13 +518,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -535,13 +542,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf index fea107dbd..fa2bfde75 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding1_task.sdf @@ -450,6 +450,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -474,22 +504,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.5 - } - } params { key: "model" value { @@ -504,13 +518,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -535,13 +542,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf index d32d28d1e..e2ef5beee 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_wayfinding2_task.sdf @@ -450,6 +450,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -474,22 +504,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.8 - } - } params { key: "model" value { @@ -504,13 +518,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -535,13 +542,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wildlife0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wildlife0_task.sdf index 0045b4ad3..fe95ed0f6 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_wildlife0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_wildlife0_task.sdf @@ -563,6 +563,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.2 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -587,22 +617,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.2 - } - } params { key: "model" value { @@ -617,13 +631,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -648,13 +655,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wildlife1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wildlife1_task.sdf index 7b26cebf1..3047d30ac 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_wildlife1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_wildlife1_task.sdf @@ -566,6 +566,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -590,22 +620,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.5 - } - } params { key: "model" value { @@ -620,13 +634,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -651,13 +658,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/2023_practice/practice_2023_wildlife2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_wildlife2_task.sdf index 4f8d39e25..485c587b2 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_wildlife2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_wildlife2_task.sdf @@ -567,6 +567,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -591,22 +621,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.8 - } - } params { key: "model" value { @@ -621,13 +635,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -652,13 +659,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/acoustic_perception_task.sdf b/vrx_gz/worlds/acoustic_perception_task.sdf index 570bf6e90..9d215dfea 100644 --- a/vrx_gz/worlds/acoustic_perception_task.sdf +++ b/vrx_gz/worlds/acoustic_perception_task.sdf @@ -478,6 +478,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -502,22 +532,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -532,13 +546,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -563,13 +570,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/acoustic_tracking_task.sdf b/vrx_gz/worlds/acoustic_tracking_task.sdf index 54e8daec1..d891beb27 100644 --- a/vrx_gz/worlds/acoustic_tracking_task.sdf +++ b/vrx_gz/worlds/acoustic_tracking_task.sdf @@ -781,6 +781,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -805,22 +835,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -835,13 +849,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -866,13 +873,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/follow_path_task.sdf b/vrx_gz/worlds/follow_path_task.sdf index 98dcd3d7a..c31573d6d 100644 --- a/vrx_gz/worlds/follow_path_task.sdf +++ b/vrx_gz/worlds/follow_path_task.sdf @@ -488,6 +488,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -512,22 +542,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -542,13 +556,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -573,13 +580,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/gymkhana_task.sdf b/vrx_gz/worlds/gymkhana_task.sdf index b854939f2..2da448519 100644 --- a/vrx_gz/worlds/gymkhana_task.sdf +++ b/vrx_gz/worlds/gymkhana_task.sdf @@ -522,6 +522,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -546,22 +576,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -576,13 +590,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -607,13 +614,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/navigation_task.sdf b/vrx_gz/worlds/navigation_task.sdf index 69a455441..d9614439c 100644 --- a/vrx_gz/worlds/navigation_task.sdf +++ b/vrx_gz/worlds/navigation_task.sdf @@ -460,6 +460,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -484,22 +514,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -514,13 +528,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -545,13 +552,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/nbpark.sdf b/vrx_gz/worlds/nbpark.sdf index 0a1172790..b41ddd85e 100644 --- a/vrx_gz/worlds/nbpark.sdf +++ b/vrx_gz/worlds/nbpark.sdf @@ -417,6 +417,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -441,22 +471,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -471,13 +485,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -502,13 +509,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/perception_task.sdf b/vrx_gz/worlds/perception_task.sdf index 9f93aa910..9cf8abeb6 100644 --- a/vrx_gz/worlds/perception_task.sdf +++ b/vrx_gz/worlds/perception_task.sdf @@ -569,6 +569,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -593,22 +623,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -623,13 +637,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -654,13 +661,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index b3d548faf..a7d9415b2 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -582,6 +582,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -606,22 +636,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -636,13 +650,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -667,13 +674,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/stationkeeping_task.sdf b/vrx_gz/worlds/stationkeeping_task.sdf index 087aa9c42..5ce447e4f 100644 --- a/vrx_gz/worlds/stationkeeping_task.sdf +++ b/vrx_gz/worlds/stationkeeping_task.sdf @@ -628,6 +628,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -652,22 +682,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -682,13 +696,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -713,13 +720,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/sydney_regatta.sdf b/vrx_gz/worlds/sydney_regatta.sdf index 96dd52c28..d86e58bde 100644 --- a/vrx_gz/worlds/sydney_regatta.sdf +++ b/vrx_gz/worlds/sydney_regatta.sdf @@ -604,6 +604,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -628,22 +658,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -658,13 +672,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -689,13 +696,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/wayfinding_task.sdf b/vrx_gz/worlds/wayfinding_task.sdf index b5364e08c..887c87252 100644 --- a/vrx_gz/worlds/wayfinding_task.sdf +++ b/vrx_gz/worlds/wayfinding_task.sdf @@ -638,6 +638,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -662,22 +692,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -692,13 +706,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -723,13 +730,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { diff --git a/vrx_gz/worlds/wildlife_task.sdf b/vrx_gz/worlds/wildlife_task.sdf index b45f22d88..0778dda55 100644 --- a/vrx_gz/worlds/wildlife_task.sdf +++ b/vrx_gz/worlds/wildlife_task.sdf @@ -596,6 +596,36 @@ + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } params { key: "amplitude" value { @@ -620,22 +650,6 @@ } } } - params { - key: "direction" - value { - type: VECTOR3D - vector3d_value { - x: 1 - } - } - } - params { - key: "gain" - value { - type: DOUBLE - double_value: 0.3 - } - } params { key: "model" value { @@ -650,13 +664,6 @@ int_value: 3 } } - params { - key: "period" - value { - type: DOUBLE - double_value: 5 - } - } params { key: "phase" value { @@ -681,13 +688,6 @@ } } } - params { - key: "steepness" - value { - type: DOUBLE - double_value: 0 - } - } params { key: "tau" value { From d56e6fe6dde6f2ff3ab1a6e9943f68d5882cdbcc Mon Sep 17 00:00:00 2001 From: tejalbarnwal Date: Tue, 13 Jun 2023 18:33:28 +0530 Subject: [PATCH 2/2] added wavefield parameters to practice_2023_worlds_follow_path sdf files --- .../practice_2023_follow_path0_task.sdf | 106 ++++++++++++++++++ .../practice_2023_follow_path1_task.sdf | 106 ++++++++++++++++++ .../practice_2023_follow_path2_task.sdf | 106 ++++++++++++++++++ 3 files changed, 318 insertions(+) diff --git a/vrx_gz/worlds/2023_practice/practice_2023_follow_path0_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_follow_path0_task.sdf index 1eedd2360..77b972194 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_follow_path0_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_follow_path0_task.sdf @@ -485,5 +485,111 @@ + + + + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.3 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "amplitude" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "angle" + value { + type: DOUBLE + double_value: 0.4 + } + } + params { + key: "cell_count" + value { + type: VECTOR3D + vector3d_value { + x: 300 + y: 300 + } + } + } + params { + key: "model" + value { + type: STRING + string_value: "PMS" + } + } + params { + key: "number" + value { + type: INT32 + int_value: 3 + } + } + params { + key: "phase" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "scale" + value { + type: DOUBLE + double_value: 1.1 + } + } + params { + key: "size" + value { + type: VECTOR3D + vector3d_value { + x: 6000 + y: 6000 + } + } + } + params { + key: "tau" + value { + type: DOUBLE + double_value: 2 + } + } + + + diff --git a/vrx_gz/worlds/2023_practice/practice_2023_follow_path1_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_follow_path1_task.sdf index 61d41f9da..4075d0d0e 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_follow_path1_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_follow_path1_task.sdf @@ -497,5 +497,111 @@ + + + + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.5 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "amplitude" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "angle" + value { + type: DOUBLE + double_value: 0.4 + } + } + params { + key: "cell_count" + value { + type: VECTOR3D + vector3d_value { + x: 300 + y: 300 + } + } + } + params { + key: "model" + value { + type: STRING + string_value: "PMS" + } + } + params { + key: "number" + value { + type: INT32 + int_value: 3 + } + } + params { + key: "phase" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "scale" + value { + type: DOUBLE + double_value: 1.1 + } + } + params { + key: "size" + value { + type: VECTOR3D + vector3d_value { + x: 6000 + y: 6000 + } + } + } + params { + key: "tau" + value { + type: DOUBLE + double_value: 2 + } + } + + + diff --git a/vrx_gz/worlds/2023_practice/practice_2023_follow_path2_task.sdf b/vrx_gz/worlds/2023_practice/practice_2023_follow_path2_task.sdf index 6b6debc5e..a8664000c 100644 --- a/vrx_gz/worlds/2023_practice/practice_2023_follow_path2_task.sdf +++ b/vrx_gz/worlds/2023_practice/practice_2023_follow_path2_task.sdf @@ -509,5 +509,111 @@ + + + + params { + key: "direction" + value { + type: VECTOR3D + vector3d_value { + x: 1 + } + } + } + params { + key: "gain" + value { + type: DOUBLE + double_value: 0.8 + } + } + params { + key: "period" + value { + type: DOUBLE + double_value: 5 + } + } + params { + key: "steepness" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "amplitude" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "angle" + value { + type: DOUBLE + double_value: 0.4 + } + } + params { + key: "cell_count" + value { + type: VECTOR3D + vector3d_value { + x: 300 + y: 300 + } + } + } + params { + key: "model" + value { + type: STRING + string_value: "PMS" + } + } + params { + key: "number" + value { + type: INT32 + int_value: 3 + } + } + params { + key: "phase" + value { + type: DOUBLE + double_value: 0 + } + } + params { + key: "scale" + value { + type: DOUBLE + double_value: 1.1 + } + } + params { + key: "size" + value { + type: VECTOR3D + vector3d_value { + x: 6000 + y: 6000 + } + } + } + params { + key: "tau" + value { + type: DOUBLE + double_value: 2 + } + } + + +