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Adding two ocean worlds with seastates 5 and 8 #1

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393 changes: 393 additions & 0 deletions vrx_gz/worlds/ocean_seastate_5.sdf
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<?xml version="1.0" ?>

<sdf version="1.9">
<world name="ocean_seastate_5">

<physics name="4ms" type="dart">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<!-- <camera_pose>-181.9 1147.8 28.1 0 0.25 -1.18</camera_pose> -->
<camera_clip>
<near>0.25</near>
<far>10000</far>
</camera_clip>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<gz-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Screenshot -->
<plugin filename="Screenshot" name="Screenshot">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">50</property>
<property key="width" type="double">50</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>

<!-- Video recorder -->
<plugin filename="VideoRecorder" name="VideoRecorder">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">300</property>
<property key="y" type="double">50</property>
<property key="width" type="double">50</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>

<record_video>
<use_sim_time>true</use_sim_time>
<lockstep>true</lockstep>
<bitrate>4000000</bitrate>
</record_video>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>
</plugin>

<!-- View angle -->
<plugin filename="ViewAngle" name="View angle">
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

</gui>

<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
<disable_on_drained_battery>true</disable_on_drained_battery>
</plugin>
<plugin
filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin
filename="gz-sim-magnetometer-system"
name="gz::sim::systems::Magnetometer">
</plugin>
<plugin
filename="gz-sim-forcetorque-system"
name="gz::sim::systems::ForceTorque">
</plugin>
<plugin
filename="gz-sim-particle-emitter2-system"
name="gz::sim::systems::ParticleEmitter2">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin
filename="gz-sim-navsat-system"
name="gz::sim::systems::NavSat">
</plugin>

<scene>
<sky></sky>
<grid>false</grid>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
</scene>

<!-- Estimated latitude/longitude of Nathan Benderson Park
from satellite imagery -->
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<world_frame_orientation>ENU</world_frame_orientation>
<latitude_deg>37.52827</latitude_deg>
<longitude_deg>-146/20589</longitude_deg>
<elevation>0.0</elevation>
<heading_deg>0.0</heading_deg>
</spherical_coordinates>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0 0 0 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<include>
<name>Coast Waves</name>
<pose>0 0 0 0 0 0</pose>
<uri>coast_waves</uri>
</include>

<!-- RoboBoat 01 -->
<include>
<name>roboboat01</name>
<pose>0 0 0 0 0 0</pose>
<uri>roboboat01</uri>
</include>

<!-- The wave field -->
<plugin filename="libPublisherPlugin.so" name="vrx::PublisherPlugin">
<message type="gz.msgs.Param" topic="/vrx/wavefield/parameters"
every="2.0">
params {
key: "direction"
value {
type: DOUBLE
double_value: 0.0
}
}
params {
key: "gain"
value {
type: DOUBLE
double_value: 1.5
}
}
params {
key: "period"
value {
type: DOUBLE
double_value: 12.4
}
}
params {
key: "steepness"
value {
type: DOUBLE
double_value: 0
}
}
</message>
</plugin>

</world>
</sdf>
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