forked from Archive/PX4-Autopilot
add windy default world (#22273)
* add windy default world * Rename windy_default.sdf to windy.sdf * rename windy.sdf world --------- Co-authored-by: frederik <frederik@auterion.com>
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Frederik Markus
GitHub
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<sdf version='1.9'>
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<world name='windy'>
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<physics type="ode">
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
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<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
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<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
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<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
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<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
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<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
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<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
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<plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
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<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
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<render_engine>ogre2</render_engine>
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</plugin>
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<gui fullscreen='false'>
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<plugin name='3D View' filename='GzScene3D'>
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<gz-gui>
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<title>3D View</title>
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<property type='bool' key='showTitleBar'>0</property>
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<property type='string' key='state'>docked</property>
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</gz-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
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<background_color>0.8984631152222222 0.8984631152222222 0.8984631152222222</background_color>
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<camera_pose>-6 0 6 0 0.5 0</camera_pose>
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</plugin>
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<plugin name='World control' filename='WorldControl'>
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<gz-gui>
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<title>World control</title>
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<property type='bool' key='showTitleBar'>0</property>
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<property type='bool' key='resizable'>0</property>
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<property type='double' key='height'>72</property>
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<property type='double' key='width'>121</property>
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<property type='double' key='z'>1</property>
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<property type='string' key='state'>floating</property>
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<anchors target='3D View'>
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<line own='left' target='left'/>
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<line own='bottom' target='bottom'/>
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</anchors>
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</gz-gui>
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<play_pause>1</play_pause>
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<step>1</step>
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<start_paused>1</start_paused>
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</plugin>
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<plugin name='World stats' filename='WorldStats'>
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<gz-gui>
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<title>World stats</title>
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<property type='bool' key='showTitleBar'>0</property>
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<property type='bool' key='resizable'>0</property>
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<property type='double' key='height'>110</property>
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<property type='double' key='width'>290</property>
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<property type='double' key='z'>1</property>
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<property type='string' key='state'>floating</property>
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<anchors target='3D View'>
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<line own='right' target='right'/>
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<line own='bottom' target='bottom'/>
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</anchors>
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</gz-gui>
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<sim_time>1</sim_time>
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<real_time>1</real_time>
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<real_time_factor>1</real_time_factor>
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<iterations>1</iterations>
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</plugin>
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<plugin name='Entity tree' filename='EntityTree'/>
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</gui>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<scene>
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<grid>false</grid>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>true</shadows>
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</scene>
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<model name='ground_plane'>
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<static>true</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1 1</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode/>
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</friction>
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<bounce/>
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<contact/>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<enable_wind>true</enable_wind>
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</link>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>false</self_collide>
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</model>
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<light name='sunUTC' type='directional'>
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<pose>0 0 500 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1</intensity>
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<direction>0.001 0.625 -0.78</direction>
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<diffuse>0.904 0.904 0.904 1</diffuse>
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<specular>0.271 0.271 0.271 1</specular>
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<attenuation>
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<range>2000</range>
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<linear>0</linear>
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<constant>1</constant>
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<quadratic>0</quadratic>
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</attenuation>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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<wind>
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<linear_velocity>10 10 10</linear_velocity>
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</wind>
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</world>
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</sdf>
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