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wind.sdf
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wind.sdf
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<?xml version="1.0" ?>
<!-- Adapted from Gazebo classic (gazebo/world/wind_demo.world)
After starting the simulation, the wind velocity can be adjusted by publishing a Wind message
Example:
gz topic -t "/world/wind_demo/wind/" -m gz.msgs.Wind -p "linear_velocity: {x:-50, y:50}, enable_wind: true"
-->
<sdf version="1.6">
<world name="wind_demo">
<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-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<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>
<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>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<model name="wind_model">
<pose>0 0 0 0 0 0</pose>
<static>false</static>
<enable_wind>true</enable_wind>
<self_collide>true</self_collide>
<link name="roof">
<pose>0 0 1 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>1 1 0.1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.1</mu>
<mu2>0</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<joint name="roofJoint" type="fixed">
<parent>world</parent>
<child>roof</child>
</joint>
<link name="sphere_1">
<pose>0 0 0.93 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_1_joint" type="ball">
<parent>roof</parent>
<child>sphere_1</child>
</joint>
<link name="sphere_2">
<pose>0 0 0.89 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_2_joint" type="ball">
<parent>sphere_1</parent>
<child>sphere_2</child>
</joint>
<link name="sphere_3">
<pose>0 0 0.85 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_3_joint" type="ball">
<parent>sphere_2</parent>
<child>sphere_3</child>
</joint>
<link name="sphere_4">
<pose>0 0 0.81 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_4_joint" type="ball">
<parent>sphere_3</parent>
<child>sphere_4</child>
</joint>
<link name="sphere_5">
<pose>0 0 0.77 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_5_joint" type="ball">
<parent>sphere_4</parent>
<child>sphere_5</child>
</joint>
<link name="sphere_6">
<pose>0 0 0.73 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_6_joint" type="ball">
<parent>sphere_5</parent>
<child>sphere_6</child>
</joint>
<link name="sphere_7">
<pose>0 0 0.69 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_7_joint" type="ball">
<parent>sphere_6</parent>
<child>sphere_7</child>
</joint>
<link name="sphere_8">
<pose>0 0 0.65 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_8_joint" type="ball">
<parent>sphere_7</parent>
<child>sphere_8</child>
</joint>
<link name="sphere_9">
<pose>0 0 0.61 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_9_joint" type="ball">
<parent>sphere_8</parent>
<child>sphere_9</child>
</joint>
<link name="sphere_10">
<pose>0 0 0.57 0 0 0</pose>
<enable_wind>true</enable_wind>
<collision name="collision">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.02</radius>
</sphere>
</geometry>
<material>
<ambient>1.0 0 0 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
<specular>1.0 0 0 1.0</specular>
</material>
</visual>
</link>
<joint name="sphere_10_joint" type="ball">
<parent>sphere_9</parent>
<child>sphere_10</child>
</joint>
</model>
<wind>
<linear_velocity>0 10 0</linear_velocity>
</wind>
<!-- Load the plugin for the wind -->
<plugin
filename="gz-sim-wind-effects-system"
name="gz::sim::systems::WindEffects">
<force_approximation_scaling_factor>1</force_approximation_scaling_factor>
<horizontal>
<magnitude>
<time_for_rise>10</time_for_rise>
<sin>
<amplitude_percent>0.05</amplitude_percent>
<period>60</period>
</sin>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.0002</stddev>
</noise>
</magnitude>
<direction>
<time_for_rise>30</time_for_rise>
<sin>
<amplitude>5</amplitude>
<period>20</period>
</sin>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.03</stddev>
</noise>
</direction>
</horizontal>
<vertical>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.03</stddev>
</noise>
</vertical>
</plugin>
</world>
</sdf>