diff --git a/vrx_gz/hooks/resource_paths.dsv.in b/vrx_gz/hooks/resource_paths.dsv.in
index daada84ca..97311339a 100644
--- a/vrx_gz/hooks/resource_paths.dsv.in
+++ b/vrx_gz/hooks/resource_paths.dsv.in
@@ -1,5 +1,6 @@
prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds
prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds/2023_practice
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/worlds/2023_phase2
prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models
prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/models/tmp
prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;@CMAKE_INSTALL_PREFIX@/lib
diff --git a/vrx_gz/hooks/resource_paths.sh b/vrx_gz/hooks/resource_paths.sh
index afa29e909..8cb1a1e6f 100644
--- a/vrx_gz/hooks/resource_paths.sh
+++ b/vrx_gz/hooks/resource_paths.sh
@@ -1,5 +1,6 @@
ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/worlds"
ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/worlds/2023_practice"
+ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/worlds/2023_phase2"
ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/models"
ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/vrx_gz/models/tmp"
ament_prepend_unique_value GZ_SIM_SYSTEM_PLUGIN_PATH "$AMENT_CURRENT_PREFIX/lib"
diff --git a/vrx_gz/src/vrx_gz/launch.py b/vrx_gz/src/vrx_gz/launch.py
index 098a1c639..7a4274c01 100644
--- a/vrx_gz/src/vrx_gz/launch.py
+++ b/vrx_gz/src/vrx_gz/launch.py
@@ -38,6 +38,18 @@
PERCEPTION_WORLDS = [
'perception_task',
+ 'phase2_2023_perception0',
+ 'phase2_2023_perception1',
+ 'phase2_2023_perception2',
+ 'phase2_2023_perception3',
+ 'phase2_2023_perception4',
+ 'phase2_2023_perception5',
+ 'phase3_2023_perception0',
+ 'phase3_2023_perception1',
+ 'phase3_2023_perception2',
+ 'phase3_2023_perception3',
+ 'phase3_2023_perception4',
+ 'phase3_2023_perception5',
'practice_2023_perception0_task',
'practice_2023_perception1_task',
'practice_2023_perception2_task',
@@ -51,6 +63,18 @@
STATIONKEEPING_WORLDS = [
'stationkeeping_task',
+ 'phase2_2023_stationkeeping0',
+ 'phase2_2023_stationkeeping1',
+ 'phase2_2023_stationkeeping2',
+ 'phase2_2023_stationkeeping3',
+ 'phase2_2023_stationkeeping4',
+ 'phase2_2023_stationkeeping5',
+ 'phase3_2023_stationkeeping0',
+ 'phase3_2023_stationkeeping1',
+ 'phase3_2023_stationkeeping2',
+ 'phase3_2023_stationkeeping3',
+ 'phase3_2023_stationkeeping4',
+ 'phase3_2023_stationkeeping5',
'practice_2023_stationkeeping0_task',
'practice_2023_stationkeeping1_task',
'practice_2023_stationkeeping2_task',
@@ -64,6 +88,18 @@
WAYFINDING_WORLDS = [
'wayfinding_task',
+ 'phase2_2023_wayfinding0',
+ 'phase2_2023_wayfinding1',
+ 'phase2_2023_wayfinding2',
+ 'phase2_2023_wayfinding3',
+ 'phase2_2023_wayfinding4',
+ 'phase2_2023_wayfinding5',
+ 'phase3_2023_wayfinding0',
+ 'phase3_2023_wayfinding1',
+ 'phase3_2023_wayfinding2',
+ 'phase3_2023_wayfinding3',
+ 'phase3_2023_wayfinding4',
+ 'phase3_2023_wayfinding5',
'practice_2023_wayfinding0_task',
'practice_2023_wayfinding1_task',
'practice_2023_wayfinding2_task',
@@ -77,6 +113,18 @@
WILDLIFE_WORLDS = [
'wildlife_task',
+ 'phase2_2023_wildlife0',
+ 'phase2_2023_wildlife1',
+ 'phase2_2023_wildlife2',
+ 'phase2_2023_wildlife3',
+ 'phase2_2023_wildlife4',
+ 'phase2_2023_wildlife5',
+ 'phase3_2023_wildlife0',
+ 'phase3_2023_wildlife1',
+ 'phase3_2023_wildlife2',
+ 'phase3_2023_wildlife3',
+ 'phase3_2023_wildlife4',
+ 'phase3_2023_wildlife5',
'practice_2023_wildlife0_task',
'practice_2023_wildlife1_task',
'practice_2023_wildlife2_task',
@@ -90,6 +138,18 @@
SCAN_DOCK_DELIVER_WORLDS = [
'scan_dock_deliver_task',
+ 'phase2_2023_scan_dock_deliver0',
+ 'phase2_2023_scan_dock_deliver1',
+ 'phase2_2023_scan_dock_deliver2',
+ 'phase2_2023_scan_dock_deliver3',
+ 'phase2_2023_scan_dock_deliver4',
+ 'phase2_2023_scan_dock_deliver5',
+ 'phase3_2023_scan_dock_deliver0',
+ 'phase3_2023_scan_dock_deliver1',
+ 'phase3_2023_scan_dock_deliver2',
+ 'phase3_2023_scan_dock_deliver3',
+ 'phase3_2023_scan_dock_deliver4',
+ 'phase3_2023_scan_dock_deliver5',
'practice_2023_scan_dock_deliver0_task',
'practice_2023_scan_dock_deliver1_task',
'practice_2023_scan_dock_deliver2_task',
@@ -103,6 +163,18 @@
ACOUSTIC_TRACKING_WORLDS = [
'acoustic_tracking_task',
+ 'phase2_2023_acoustic_tracking0',
+ 'phase2_2023_acoustic_tracking1',
+ 'phase2_2023_acoustic_tracking2',
+ 'phase2_2023_acoustic_tracking3',
+ 'phase2_2023_acoustic_tracking4',
+ 'phase2_2023_acoustic_tracking5',
+ 'phase3_2023_acoustic_tracking0',
+ 'phase3_2023_acoustic_tracking1',
+ 'phase3_2023_acoustic_tracking2',
+ 'phase3_2023_acoustic_tracking3',
+ 'phase3_2023_acoustic_tracking4',
+ 'phase3_2023_acoustic_tracking5',
'practice_2023_acoustic_tracking0_task',
'practice_2023_acoustic_tracking1_task',
'practice_2023_acoustic_tracking2_task',
@@ -116,6 +188,18 @@
FOLLOWPATH_WORLDS = [
'follow_path_task',
+ 'phase2_2023_follow_path0',
+ 'phase2_2023_follow_path1',
+ 'phase2_2023_follow_path2',
+ 'phase2_2023_follow_path3',
+ 'phase2_2023_follow_path4',
+ 'phase2_2023_follow_path5',
+ 'phase3_2023_follow_path0',
+ 'phase3_2023_follow_path1',
+ 'phase3_2023_follow_path2',
+ 'phase3_2023_follow_path3',
+ 'phase3_2023_follow_path4',
+ 'phase3_2023_follow_path5',
'practice_2023_follow_path0_task',
'practice_2023_follow_path1_task',
'practice_2023_follow_path2_task',
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception0.sdf
new file mode 100644
index 000000000..99fa1e8f9
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception0.sdf
@@ -0,0 +1,512 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ x: -560,
+ y: 185,
+ z: -2
+
+
+
+
+
+ wamv
+ acoustic_perception
+ /vrx/acoustic_perception/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ 3
+ -560 185 -2
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception1.sdf
new file mode 100644
index 000000000..43004bf84
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception1.sdf
@@ -0,0 +1,512 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ x: -528,
+ y: 225,
+ z: -2
+
+
+
+
+
+ wamv
+ acoustic_perception
+ /vrx/acoustic_perception/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ 3
+ -528 225 -2
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 96
+
+ 3.0
+ 2.0
+ 2
+ 11
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception2.sdf
new file mode 100644
index 000000000..276841673
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception2.sdf
@@ -0,0 +1,512 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
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+ false
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+
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+ World control
+ false
+ false
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+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
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+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
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+ #777777
+
+
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+ true
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+
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+
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+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.3 0.3 0.3
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ x: -490,
+ y: 175,
+ z: -2
+
+
+
+
+
+ wamv
+ acoustic_perception
+ /vrx/acoustic_perception/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ 3
+ -490 175 -2
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 17
+
+ 8.0
+ 4.0
+ 2
+ 19
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 1.570797
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception3.sdf
new file mode 100644
index 000000000..cd5b7e2d4
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception3.sdf
@@ -0,0 +1,512 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
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+ false
+ #666666
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+ #777777
+
+
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+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
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+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
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+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.3 0.3 0.3
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ x: -560,
+ y: 187,
+ z: -2
+
+
+
+
+
+ wamv
+ acoustic_perception
+ /vrx/acoustic_perception/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ 3
+ -560 187 -2
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception4.sdf
new file mode 100644
index 000000000..3c1fcbe65
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception4.sdf
@@ -0,0 +1,512 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
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+ false
+ #666666
+
+
+
+
+
+
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+ 0
+ 50
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+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ x: -528,
+ y: 223,
+ z: -2
+
+
+
+
+
+ wamv
+ acoustic_perception
+ /vrx/acoustic_perception/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ 3
+ -528 223 -2
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 96
+
+ 3.0
+ 2.0
+ 2
+ 11
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception5.sdf
new file mode 100644
index 000000000..7401fce03
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_perception5.sdf
@@ -0,0 +1,512 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
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+ false
+ 0
+ 0
+ 250
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+ #666666
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+ 150
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+ false
+ #666666
+
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+ 0
+ 50
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+ 50
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+ false
+ #777777
+
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+
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+ 250
+ 50
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+ 50
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+ false
+ #777777
+
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+
+
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+ 300
+ 50
+ 50
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+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
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+
+ docked_collapsed
+
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+
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+
+
+ docked_collapsed
+
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+
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+ 0 0 0.2 0 0 0
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+
+
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+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
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+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+
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+ y: 177,
+ z: -2
+
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+
+
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+ 10
+ 10
+ 300
+ /vrx/release
+ 3
+ -484 177 -2
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
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+ 4.0
+ 2
+ 19
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 1.570797
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking0.sdf
new file mode 100644
index 000000000..09d53005a
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking0.sdf
@@ -0,0 +1,815 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
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+ 5
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+
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+
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+ true
+ true
+ true
+ true
+
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+
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+ ENU
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+ 0.2 0.2 0.2 1
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+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
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+ 0 0 0 0 0 0
+ coast_waves
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+
+
+ platform
+ platform
+
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+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ 0.21
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+ mb_round_buoy_black_3
+ -530 190 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ 0.21
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+ mb_round_buoy_black_5
+ -505 203 0.0 0 0 0
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+ mb_round_buoy_black_6
+ -528.5 190 0.0 0 0 0
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+ mb_round_buoy_black_7
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+ /vrx/task/info
+ /vrx/acoustic_tracking/debug/contact
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+ /vrx/release
+ /pinger/set_pinger_position
+ pinger
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+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking1.sdf
new file mode 100644
index 000000000..77a7ef6e8
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking1.sdf
@@ -0,0 +1,917 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
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+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
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+
+
+ platform
+ platform
+
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+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_2
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
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+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ 0.0
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+ 0.0285
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+ /vrx/wavefield/parameters
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+ mb_round_buoy_black_0
+ -527 200 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ 0.21
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+ mb_round_buoy_black_1
+ -523 180 0.0 0 0 0
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+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_3
+ -530 190 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
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+ 0 0 0 0 0 0
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+ 0.21
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+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_4
+ -530 182 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
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+ link
+ 0 0 0 0 0 0
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+
+ 0.21
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+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_10
+ -525 160 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
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+
+ 0.21
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+
+
+ /vrx/wavefield/parameters
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+
+
+
+
+
+ mb_round_buoy_black_5
+ -527 183 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
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+ 0.21
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+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_11
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+
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+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+ mb_round_buoy_black_6
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
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+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_7
+ -530 206 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
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+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
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+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_8
+ -529 175 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
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+
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+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_9
+ -531 170 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
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+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_12
+ -504 196 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
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+ 0 0 0 0 0 0
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+ 0.21
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+ /vrx/wavefield/parameters
+
+
+
+
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+ mb_round_buoy_black_13
+ -512 185 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
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+ 0.75 0.35 0.16
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+ true
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+ 1.5
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+ -536 167
+ -505 200
+ -536 200
+ -505 167
+
+
+
+
+
+
+ wamv
+ acoustic_tracking
+ /vrx/task/info
+ /vrx/acoustic_tracking/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ /pinger/set_pinger_position
+ pinger
+ 2.0
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 96
+
+ 3.0
+ 2.0
+ 2
+ 11
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking2.sdf
new file mode 100644
index 000000000..51605fa16
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking2.sdf
@@ -0,0 +1,816 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
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+ false
+ 5
+ 5
+ floating
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+ World control
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+ false
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+
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+
+
+
+
+
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+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
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+
+
+
+
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+ true
+ true
+ true
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+ false
+ #777777
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+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
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+ true
+ true
+ 4000000
+
+
+
+ false
+
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+ ogre2
+ true
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+ 0.3 0.3 0.3
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
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+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
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+ 1000
+ 0.0
+ 25.0
+ 2.0
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+
+
+ 0.0285
+
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+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_0
+ -527 200 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ 0.0
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+ 2.0
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+
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+ mb_round_buoy_black_1
+ -504 180 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ 2.0
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+
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+ /vrx/wavefield/parameters
+
+
+
+
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+ mb_round_buoy_black_2
+ -525 203 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_3
+ -536.5 190 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
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+
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+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_4
+ -535.5 182 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_5
+ -527 183 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_6
+ -505 190 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_7
+ -530 206 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
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+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_8
+ -520 167 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
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+ 0 0 0 0 0 0
+
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+
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+ /vrx/wavefield/parameters
+
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+ mb_round_buoy_black_9
+ -531 170 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
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+ 0 0 0 0 0 0
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+ 0.21
+
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+ /vrx/wavefield/parameters
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+ -536 167 0 0 0 0
+
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+ 0 0 -0.3 0 0 0
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+ 0.24683
+ 0
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+ 0
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+ 0 0 0 0 0 0
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+ 0.75 0.35 0.16
+
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+
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+ /vrx/wavefield/parameters
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+
+ link
+ true
+ 350
+ 1.5
+
+ -536 167
+ -536 200
+ -505 200
+ -505 167
+
+
+
+
+
+
+ wamv
+ acoustic_tracking
+ /vrx/task/info
+ /vrx/acoustic_tracking/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ /pinger/set_pinger_position
+ pinger
+ 2.0
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 17
+
+ 8.0
+ 4.0
+ 2
+ 19
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.8
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking3.sdf
new file mode 100644
index 000000000..76c15c022
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking3.sdf
@@ -0,0 +1,831 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
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+ 5
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+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
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+ World stats
+ false
+ false
+ 110
+ 290
+ 1
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+ floating
+
+
+
+
+
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+ true
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+ false
+ #777777
+
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+ 300
+ 50
+ 50
+ 50
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+ false
+ #777777
+
+
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+ true
+ true
+ 4000000
+
+
+
+ false
+
+
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+
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+ docked_collapsed
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+
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+ docked_collapsed
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+
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+ docked_collapsed
+
+
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+ false
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+
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+
+
+
+
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+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
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+
+
+ post_2
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ mb_round_buoy_black_0
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+
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+
+
+
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+ mb_round_buoy_black_1
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+
+
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+ mb_round_buoy_black_2
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+ /vrx/wavefield/parameters
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+
+
+
+
+ mb_round_buoy_black_3
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+
+
+
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+ mb_round_buoy_black_4
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+
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+ mb_round_buoy_black_5
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+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_6
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
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+ 0 0 0 0 0 0
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+
+
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+
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+ mb_round_buoy_black_7
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+ /vrx/wavefield/parameters
+
+
+
+
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+ mb_round_buoy_black_8
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+
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+
+ /vrx/wavefield/parameters
+
+
+
+
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+ mb_round_buoy_black_9
+ -512 185 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ acoustic_tracking
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+ /vrx/acoustic_tracking/debug/contact
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+ 10
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+ /vrx/release
+ /pinger/set_pinger_position
+ pinger
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+
+
+
+
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+ wamv
+ wamv/base_link
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+ 0
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+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
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+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking4.sdf
new file mode 100644
index 000000000..eac01f423
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking4.sdf
@@ -0,0 +1,824 @@
+
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+ 0.004
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+ 3D View
+ false
+ docked
+
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+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
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+ 10000
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+ 50
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+ false
+ #777777
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+ 4000000
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+ true
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+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
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+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
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+ 0.2 0.2 0.2 1
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+ 0.9
+ 0.01
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+ -0.5 0.1 -0.9
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+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
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+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
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+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+
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+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
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+ 0.0
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+ 2.0
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+
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+ -527 200 0.0 0 0 0
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+ -504 180 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ 0.0
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+ 2.0
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+ -525 203 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ 0.0
+ 75.0
+ 2.0
+
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+ 0 0 0 0 0 0
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+ mb_round_buoy_black_3
+ -536.5 190 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
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+ 0 0 0 0 0 0
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+ mb_round_buoy_black_4
+ -535.5 182 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
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+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
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+ mb_round_buoy_black_5
+ -527 183 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
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+ 1000
+ 0.0
+ 75.0
+ 2.0
+
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+ 0 0 0 0 0 0
+
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+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_6
+ -505 190 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_7
+ -530 206 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
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+ 0 0 0 0 0 0
+
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+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
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+ mb_round_buoy_black_8
+ -520 167 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
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+ 2.0
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+ 0 0 0 0 0 0
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+ mb_round_buoy_black_9
+ -531 170 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
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+ 0.0
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+ 2.0
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+ -538 187
+ -527.5 204.5
+ -523 210
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+ acoustic_tracking
+ /vrx/task/info
+ /vrx/acoustic_tracking/debug/contact
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+ 10
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+ /vrx/release
+ /pinger/set_pinger_position
+ pinger
+ 2.0
+
+
+
+
+
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+ wamv
+ wamv/base_link
+ .5 .5 .33
+
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+ 17
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+ 4.0
+ 2
+ 19
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
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+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
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+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking5.sdf
new file mode 100644
index 000000000..6b29d0503
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_acoustic_tracking5.sdf
@@ -0,0 +1,820 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
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+ 5
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+ true
+
+
+
+
+
+
+
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+
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+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
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+ 150.679736
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+ 0.0
+
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+ 0.2 0.2 0.2 1
+
+ 1000
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+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
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+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_0
+ -526 180 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_1
+ -507 199.645 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_2
+ -482.91 199.645 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
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+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_3
+ -482.91 220.355 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_4
+ -507 220.355 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_5
+ -540.09 220.355 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_6
+ -565.09 220.355 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_7
+ -565.09 199.645 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_8
+ -540.09 199.645 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
+ 1000
+ 0.0
+ 75.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ mb_round_buoy_black_9
+ -524 195 0.0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_round_buoy_black
+
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+ 0.0
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+ 2.0
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+ 0 0 -0.3 0 0 0
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+ -524 210
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+ -474 210
+ -491.82 189.289
+ -524 210
+ -556.18 230.71
+ -574 210
+ -556.18 189.289
+
+
+
+
+
+
+ wamv
+ acoustic_tracking
+ /vrx/task/info
+ /vrx/acoustic_tracking/debug/contact
+ 10
+ 10
+ 300
+ /vrx/release
+ /pinger/set_pinger_position
+ pinger
+ 2.0
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 17
+
+ 8.0
+ 4.0
+ 2
+ 19
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.8
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path0.sdf
new file mode 100644
index 000000000..6bd3a7a8d
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path0.sdf
@@ -0,0 +1,522 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
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+ floating
+ 5
+ 5
+ false
+
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+ 5
+ 5
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+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
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+ true
+ true
+ true
+
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+ #777777
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+ 300
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+ 50
+ 50
+ floating
+ false
+ #777777
+
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+ true
+ true
+ 4000000
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+ ogre2
+ true
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+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ model://short_navigation_course_0
+ -524 186 0 0 0 -1.44
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
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+ 1000
+ 0.0
+ 25.0
+ 2.0
+
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+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+ wamv
+ follow_path
+ /vrx/task/info
+ /vrx/follow_path/debug/contact
+ 10
+ 10
+ 300
+ 10
+ /vrx/release
+
+ short_navigation_course_0
+ 10
+ 3.0
+ 1
+
+
+ red_bound_0
+ green_bound_0
+
+
+ red_bound_1
+ green_bound_1
+
+
+ red_bound_2
+ green_bound_2
+
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path1.sdf
new file mode 100644
index 000000000..c5bd77f1c
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path1.sdf
@@ -0,0 +1,534 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
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+ 5
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+ false
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+ 5
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+ floating
+ false
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+ World control
+ false
+ false
+ 72
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+ 1
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+
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+
+
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+ true
+ true
+ true
+ true
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+ World stats
+ false
+ false
+ 110
+ 290
+ 1
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+ 50
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+ false
+ #777777
+
+
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+ true
+ true
+ 4000000
+
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+ false
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+
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+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
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+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
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+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
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+ 1000
+ 0.9
+ 0.01
+ 0.001
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+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ model://short_navigation_course_1
+ -535 180 0 0 0 -1.44
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
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+ 25.0
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+ /vrx/wavefield/parameters
+
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+ wamv
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+ .5 .5 .33
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+ 72
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+ 4.0
+ 2
+ 7
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+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
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+ wamv
+ follow_path
+ /vrx/task/info
+ /vrx/follow_path/debug/contact
+ 10
+ 10
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+ /vrx/release
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+ short_navigation_course_1
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path2.sdf
new file mode 100644
index 000000000..71545285a
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path2.sdf
@@ -0,0 +1,546 @@
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+ params {
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+ double_value: 0.0
+ }
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+ params {
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+ type: DOUBLE
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path3.sdf
new file mode 100644
index 000000000..1ea191625
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path3.sdf
@@ -0,0 +1,522 @@
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+ params {
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+ params {
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+ double_value: 0
+ }
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path4.sdf
new file mode 100644
index 000000000..e6206422b
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path4.sdf
@@ -0,0 +1,534 @@
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path5.sdf
new file mode 100644
index 000000000..4498bafa9
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_follow_path5.sdf
@@ -0,0 +1,546 @@
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+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
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+ ground_station_0
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+ red_bound_8
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+
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+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
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+ params {
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception0.sdf
new file mode 100644
index 000000000..159dd2c44
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception0.sdf
@@ -0,0 +1,605 @@
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+ params {
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+ double_value: 0
+ }
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception1.sdf
new file mode 100644
index 000000000..1d8f5c74a
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception1.sdf
@@ -0,0 +1,685 @@
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+ params {
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+ double_value: 0.7853982
+ }
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
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+ }
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+ value {
+ type: DOUBLE
+ double_value: 0
+ }
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception2.sdf
new file mode 100644
index 000000000..312d555e4
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception2.sdf
@@ -0,0 +1,1014 @@
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+ Coast Waves
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+ platform
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
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+
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+ ground_station_1
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+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
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+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception3.sdf
new file mode 100644
index 000000000..296ab9a2c
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception3.sdf
@@ -0,0 +1,603 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
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+ Coast Waves
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+ coast_waves
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+ platform
+ articulated_platform
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
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+ ground_station_0
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ 2.0
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+ link
+ 0 0 0 0 0 0
+
+
+ 0.21
+
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+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ wamv
+ perception
+ 10.0
+ 10.0
+ 300
+
+ wamv
+
+
+
+
+
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception4.sdf
new file mode 100644
index 000000000..e2a97ed2a
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception4.sdf
@@ -0,0 +1,740 @@
+
+
+
+
+
+
+ 0.004
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+
+
+
+
+
+ 3D View
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+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
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+
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+ World control
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+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
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+ false
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+
+
+
+
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+ true
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+ true
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+ 50
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+ false
+ #777777
+
+
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+ true
+ true
+ 4000000
+
+
+
+ false
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+ docked_collapsed
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+ docked_collapsed
+
+
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+ false
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+
+
+
+
+
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+ ogre2
+ true
+
+
+
+
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+
+
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+
+
+
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+ false
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+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
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+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
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+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ -532 162 -1 0 0 0
+ platform
+ articulated_platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
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+ blue_projectile
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+ 1000
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+
+ 0.0285
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+
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+ /vrx/wavefield/parameters
+
+
+
+
+
+
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+ wamv
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+ 10
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+ /vrx/debug/wind/direction
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+
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+ black_round_0
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+ black_round_1
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+ 0.21
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+ /vrx/wavefield/parameters
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+
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+ red_0
+ -200 104 1 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red
+
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+ 1000
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+
+ link
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+
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+ 0.325
+ 0.1
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+ /vrx/wavefield/parameters
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+ white_0
+ -200 106 1 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white
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+ 1000
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+
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+
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+ 0.325
+ 0.1
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+ /vrx/wavefield/parameters
+
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+
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+ white_1
+ -200 108 1 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_white
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+ 1000
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+ 0.325
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+ /vrx/wavefield/parameters
+
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+
+
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+ green_0
+ -200 1110 1 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green
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+ 1000
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+ 0.1
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+ /vrx/wavefield/parameters
+
+
+
+
+
+ black_0
+ -200 112 1 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_black
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+ 0.325
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+ /vrx/wavefield/parameters
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+
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+
+
+
+ wamv
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+
+ wamv
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_perception5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_perception5.sdf
new file mode 100644
index 000000000..fe427ca32
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_perception5.sdf
@@ -0,0 +1,1014 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
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+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
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+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
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+ 1
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+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
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+ EARTH_WGS84
+ ENU
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+ 150.679736
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+ -0.5 0.1 -0.9
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+
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+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
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+ -532 162 -1 0 0 0
+ platform
+ articulated_platform
+
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+
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+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ blue_projectile
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+ wamv
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+ 240
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+ /vrx/debug/wind/direction
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+
+ 0.325
+ 0.1
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+ red_2
+ -200 128 1 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red
+
+
+ 1000
+ 0.0
+ 50.0
+ 2.0
+
+ link
+ 0 0 -0.3 0 0 0
+
+
+ 0.325
+ 0.1
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ wamv
+ perception
+ 10.0
+ 10.0
+ 300
+
+ wamv
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver0.sdf
new file mode 100644
index 000000000..42035412b
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver0.sdf
@@ -0,0 +1,614 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+ robotx_light_buoy_rgy
+ -532 175 0.32 0 0 0
+ robotx_light_buoy_rgy
+
+
+ 1000
+ 0.0
+ 1000.0
+ 200.0
+
+ base_link
+ 0 0 -0.1 0 0 0
+
+
+ 1.5 1.5 0.4
+
+
+
+
+ base_link
+ 0 0 0.8 0 0 0
+
+
+ 0.2
+ 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ [blue_projectile]
+
+
+ 0.057 0.057 0.057
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+ dock_2022
+ -480 190 0 0 0 1.0
+
+
+
+
+ wamv
+ scan_dock_deliver
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ /vrx/scan_dock_deliver/color_sequence
+ red
+ green
+ yellow
+
+ 15
+ 5
+
+
+ bay1
+ /vrx/dock_2022/bay_1/contain
+ /vrx/dock_2022/bay_1_external/contain
+ /vrx/dock_2022_placard1/symbol
+ 10.0
+ True
+ red_rectangle
+
+
+ bay2
+ /vrx/dock_2022/bay_2/contain
+ /vrx/dock_2022/bay_2_external/contain
+ /vrx/dock_2022_placard2/symbol
+ 10.0
+ False
+ blue_triangle
+
+
+ bay3
+ /vrx/dock_2022/bay_3/contain
+ /vrx/dock_2022/bay_3_external/contain
+ /vrx/dock_2022_placard3/symbol
+ 10.0
+ False
+ yellow_circle
+
+
+
+
+
+
+ /vrx/dock_2022_placard1_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard1_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard2_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard2_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard3_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard3_small_hole/contain
+ 10
+
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver1.sdf
new file mode 100644
index 000000000..99a0d0cb5
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver1.sdf
@@ -0,0 +1,615 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+ robotx_light_buoy_ybr
+ -515 180 0.32 0 0 0
+ robotx_light_buoy_ybr
+
+
+ 1000
+ 0.0
+ 1000.0
+ 200.0
+
+ base_link
+ 0 0 -0.1 0 0 0
+
+
+ 1.5 1.5 0.4
+
+
+
+
+ base_link
+ 0 0 0.8 0 0 0
+
+
+ 0.2
+ 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ [blue_projectile]
+
+
+ 0.057 0.057 0.057
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 96
+
+ 3.0
+ 2.0
+ 2
+ 11
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+ dock_2022
+ -500 190 0 0 0 0
+
+
+
+
+ wamv
+ scan_dock_deliver
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ /vrx/scan_dock_deliver/color_sequence
+ yellow
+ blue
+ red
+
+ 15
+ 5
+
+
+ bay1
+ /vrx/dock_2022/bay_1/contain
+ /vrx/dock_2022/bay_1_external/contain
+ /vrx/dock_2022_placard1/symbol
+ 10.0
+ False
+ blue_rectangle
+
+
+ bay2
+ /vrx/dock_2022/bay_2/contain
+ /vrx/dock_2022/bay_2_external/contain
+ /vrx/dock_2022_placard2/symbol
+ 10.0
+ False
+ red_cross
+
+
+ bay3
+ /vrx/dock_2022/bay_3/contain
+ /vrx/dock_2022/bay_3_external/contain
+ /vrx/dock_2022_placard3/symbol
+ 10.0
+ True
+ yellow_circle
+
+
+
+
+
+
+ /vrx/dock_2022_placard1_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard1_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard2_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard2_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard3_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard3_small_hole/contain
+ 10
+
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver2.sdf
new file mode 100644
index 000000000..c1015cead
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver2.sdf
@@ -0,0 +1,616 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.3 0.3 0.3
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+ robotx_light_buoy_yrg
+ -510 175 0.32 0 0 0
+ robotx_light_buoy_yrg
+
+
+ 1000
+ 0.0
+ 1000.0
+ 200.0
+
+ base_link
+ 0 0 -0.1 0 0 0
+
+
+ 1.5 1.5 0.4
+
+
+
+
+ base_link
+ 0 0 0.8 0 0 0
+
+
+ 0.2
+ 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ [blue_projectile]
+
+
+ 0.057 0.057 0.057
+
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 17
+
+ 8.0
+ 4.0
+ 2
+ 19
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+ dock_2022
+ -540 210 0 0 0 3.14
+
+
+
+
+ wamv
+ scan_dock_deliver
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ /vrx/scan_dock_deliver/color_sequence
+ yellow
+ red
+ green
+
+ 15
+ 5
+
+
+ bay1
+ /vrx/dock_2022/bay_1/contain
+ /vrx/dock_2022/bay_1_external/contain
+ /vrx/dock_2022_placard1/symbol
+ 10.0
+ True
+ yellow_triangle
+
+
+ bay2
+ /vrx/dock_2022/bay_2/contain
+ /vrx/dock_2022/bay_2_external/contain
+ /vrx/dock_2022_placard2/symbol
+ 10.0
+ False
+ blue_cross
+
+
+ bay3
+ /vrx/dock_2022/bay_3/contain
+ /vrx/dock_2022/bay_3_external/contain
+ /vrx/dock_2022_placard3/symbol
+ 10.0
+ False
+ green_rectangle
+
+
+
+
+
+
+ /vrx/dock_2022_placard1_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard1_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard2_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard2_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard3_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard3_small_hole/contain
+ 10
+
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver3.sdf
new file mode 100644
index 000000000..8c4367a24
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver3.sdf
@@ -0,0 +1,614 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+ robotx_light_buoy_gbr
+ -531 176 0.32 0 0 0
+ robotx_light_buoy_gbr
+
+
+ 1000
+ 0.0
+ 1000.0
+ 200.0
+
+ base_link
+ 0 0 -0.1 0 0 0
+
+
+ 1.5 1.5 0.4
+
+
+
+
+ base_link
+ 0 0 0.8 0 0 0
+
+
+ 0.2
+ 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ [blue_projectile]
+
+
+ 0.057 0.057 0.057
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+ dock_2022
+ -478 189 0 0 0 1.2
+
+
+
+
+ wamv
+ scan_dock_deliver
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ /vrx/scan_dock_deliver/color_sequence
+ green
+ blue
+ red
+
+ 15
+ 5
+
+
+ bay1
+ /vrx/dock_2022/bay_1/contain
+ /vrx/dock_2022/bay_1_external/contain
+ /vrx/dock_2022_placard1/symbol
+ 10.0
+ False
+ red_cross
+
+
+ bay2
+ /vrx/dock_2022/bay_2/contain
+ /vrx/dock_2022/bay_2_external/contain
+ /vrx/dock_2022_placard2/symbol
+ 10.0
+ True
+ green_circle
+
+
+ bay3
+ /vrx/dock_2022/bay_3/contain
+ /vrx/dock_2022/bay_3_external/contain
+ /vrx/dock_2022_placard3/symbol
+ 10.0
+ False
+ blue_circle
+
+
+
+
+
+
+ /vrx/dock_2022_placard1_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard1_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard2_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard2_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard3_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard3_small_hole/contain
+ 10
+
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver4.sdf
new file mode 100644
index 000000000..15ac08010
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver4.sdf
@@ -0,0 +1,615 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+ robotx_light_buoy_bgy
+ -514 179 0.32 0 0 0
+ robotx_light_buoy_bgy
+
+
+ 1000
+ 0.0
+ 1000.0
+ 200.0
+
+ base_link
+ 0 0 -0.1 0 0 0
+
+
+ 1.5 1.5 0.4
+
+
+
+
+ base_link
+ 0 0 0.8 0 0 0
+
+
+ 0.2
+ 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ [blue_projectile]
+
+
+ 0.057 0.057 0.057
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 96
+
+ 3.0
+ 2.0
+ 2
+ 11
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+ dock_2022
+ -500 190 0 0 0 -0.7
+
+
+
+
+ wamv
+ scan_dock_deliver
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ /vrx/scan_dock_deliver/color_sequence
+ blue
+ green
+ yellow
+
+ 15
+ 5
+
+
+ bay1
+ /vrx/dock_2022/bay_1/contain
+ /vrx/dock_2022/bay_1_external/contain
+ /vrx/dock_2022_placard1/symbol
+ 10.0
+ False
+ yellow_cross
+
+
+ bay2
+ /vrx/dock_2022/bay_2/contain
+ /vrx/dock_2022/bay_2_external/contain
+ /vrx/dock_2022_placard2/symbol
+ 10.0
+ False
+ green_triangle
+
+
+ bay3
+ /vrx/dock_2022/bay_3/contain
+ /vrx/dock_2022/bay_3_external/contain
+ /vrx/dock_2022_placard3/symbol
+ 10.0
+ True
+ blue_rectangle
+
+
+
+
+
+
+ /vrx/dock_2022_placard1_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard1_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard2_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard2_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard3_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard3_small_hole/contain
+ 10
+
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver5.sdf
new file mode 100644
index 000000000..7dc4f394b
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_scan_dock_deliver5.sdf
@@ -0,0 +1,616 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.3 0.3 0.3
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+ robotx_light_buoy_rgb
+ -512 170 0.32 0 0 0
+ robotx_light_buoy_rgb
+
+
+ 1000
+ 0.0
+ 1000.0
+ 200.0
+
+ base_link
+ 0 0 -0.1 0 0 0
+
+
+ 1.5 1.5 0.4
+
+
+
+
+ base_link
+ 0 0 0.8 0 0 0
+
+
+ 0.2
+ 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ [blue_projectile]
+
+
+ 0.057 0.057 0.057
+
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 17
+
+ 8.0
+ 4.0
+ 2
+ 19
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 2.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+ dock_2022
+ -540 210 0 0 0 0.4
+
+
+
+
+ wamv
+ scan_dock_deliver
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ /vrx/scan_dock_deliver/color_sequence
+ red
+ green
+ blue
+
+ 15
+ 5
+
+
+ bay1
+ /vrx/dock_2022/bay_1/contain
+ /vrx/dock_2022/bay_1_external/contain
+ /vrx/dock_2022_placard1/symbol
+ 10.0
+ False
+ red_triangle
+
+
+ bay2
+ /vrx/dock_2022/bay_2/contain
+ /vrx/dock_2022/bay_2_external/contain
+ /vrx/dock_2022_placard2/symbol
+ 10.0
+ False
+ blue_cross
+
+
+ bay3
+ /vrx/dock_2022/bay_3/contain
+ /vrx/dock_2022/bay_3_external/contain
+ /vrx/dock_2022_placard3/symbol
+ 10.0
+ True
+ red_cross
+
+
+
+
+
+
+ /vrx/dock_2022_placard1_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard1_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard2_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard2_small_hole/contain
+ 10
+
+
+
+ /vrx/dock_2022_placard3_big_hole/contain
+ 5
+
+
+ /vrx/dock_2022_placard3_small_hole/contain
+ 10
+
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping0.sdf
new file mode 100644
index 000000000..8e4c64107
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping0.sdf
@@ -0,0 +1,502 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
+ wamv
+ stationkeeping
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ -33.722718 150.674031 0
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping1.sdf
new file mode 100644
index 000000000..5c6656c21
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping1.sdf
@@ -0,0 +1,495 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 120
+
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+ 10
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+ /vrx/debug/wind/direction
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+
+
+
+
+
+ wamv
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+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+ -33.72267 150.67406 2.0
+
+ 0.2 0.2 2.0
+ 0.5
+
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping2.sdf
new file mode 100644
index 000000000..7d153c23e
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping2.sdf
@@ -0,0 +1,502 @@
+
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+ -478.1 148.2 13.2 0 0.25 2.94
+
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+ 0.8 0.8 0.8
+
+
+
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+ EARTH_WGS84
+ ENU
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+ 150.679736
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+
+ 1000
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+ 0.01
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+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+
+
+
+ blue_projectile
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+ blue_projectile
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+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ wamv
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+
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+
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+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 1.570797
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.8
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
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+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
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+
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+
+ wamv
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+ 10
+ 10
+ 300
+ /vrx/release
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+ 0.2 0.2 2.0
+ 0.5
+
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping3.sdf
new file mode 100644
index 000000000..9965e6794
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping3.sdf
@@ -0,0 +1,502 @@
+
+
+
+
+
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+ 0.004
+ 1.0
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+ 3D View
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+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
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+ floating
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+
+
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+ true
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+ true
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+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
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+ EARTH_WGS84
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+ -0.5 0.1 -0.9
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+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
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+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
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+
+
+ platform
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+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ ground_station_1
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ .5 .5 .33
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+ 2
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+
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+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
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+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
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+
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+ stationkeeping
+ /vrx/task/info
+ 10
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+ 300
+ /vrx/release
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+
+ 0.2 0.2 2.0
+ 0.5
+
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping4.sdf
new file mode 100644
index 000000000..7ce4ec902
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping4.sdf
@@ -0,0 +1,495 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
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+ floating
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+ 0.2 0.2 0.2 1
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+ -0.5 0.1 -0.9
+
+
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+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
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+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
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+
+
+ platform
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+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
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+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ ground_station_2
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+ 2
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+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
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+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
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+ params {
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+ value {
+ type: DOUBLE
+ double_value: 6
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping5.sdf
new file mode 100644
index 000000000..bc636ca7f
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_stationkeeping5.sdf
@@ -0,0 +1,502 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
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+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
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+ params {
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+ type: DOUBLE
+ double_value: 1.570797
+ }
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+ }
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+ params {
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding0.sdf
new file mode 100644
index 000000000..3815b62d2
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding0.sdf
@@ -0,0 +1,513 @@
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
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+ ground_station_0
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ /vrx/debug/wind/direction
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+ params {
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+ type: DOUBLE
+ double_value: 0.0
+ }
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+ key: "gain"
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+ type: DOUBLE
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+ params {
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding1.sdf
new file mode 100644
index 000000000..f405c3fec
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding1.sdf
@@ -0,0 +1,516 @@
+
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+ -478.1 148.2 13.2 0 0.25 2.94
+
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
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+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
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+ ground_station_0
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+ ground_station_1
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding2.sdf
new file mode 100644
index 000000000..2e4fc1f83
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding2.sdf
@@ -0,0 +1,519 @@
+
+
+
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+ 0.004
+ 1.0
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+
+
+
+ 3D View
+ false
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+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
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+
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+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_2
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ ground_station_1
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+ ground_station_2
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+ /vrx/debug/wind/direction
+
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+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
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+ type: DOUBLE
+ double_value: 0.8
+ }
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+ params {
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+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
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+ params {
+ key: "steepness"
+ value {
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+ double_value: 0
+ }
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+
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding3.sdf
new file mode 100644
index 000000000..690f8a054
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding3.sdf
@@ -0,0 +1,513 @@
+
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+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
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+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ /vrx/wavefield/parameters
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+ /vrx/debug/wind/direction
+
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
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+ wamv
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+ 0.2 0.2 2.0
+ 0.5
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+ /vrx/task/info
+ 10
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+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding4.sdf
new file mode 100644
index 000000000..661a7511c
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding4.sdf
@@ -0,0 +1,516 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
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+
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+ 3D View
+ false
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+
+
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+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
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+ -0.5 0.1 -0.9
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+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
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+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
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+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
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+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
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+ -545 60 0.03 0 0 0
+ blue_projectile
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+
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+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
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+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
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+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
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+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
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+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
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+
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+ 0.5
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+ 10
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diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding5.sdf
new file mode 100644
index 000000000..1d82cd6c4
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wayfinding5.sdf
@@ -0,0 +1,519 @@
+
+
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+ 0.004
+ 1.0
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+
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+ 3D View
+ false
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+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
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+ Coast Waves
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+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 244
+
+ 8.0
+ 2.0
+ 2
+ 9
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.8
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
+ wamv
+ wayfinding
+
+
+ -33.722462 150.674268 1.5
+
+
+ -33.72182 150.67365 -1.5
+
+
+ -33.722691 150.6751163 0.0
+
+
+ -33.722924 150.675302 -1.0
+
+
+ -33.7226905 150.6755162 2.5
+
+
+
+ 0.2 0.2 2.0
+ 0.5
+
+
+
+ /vrx/task/info
+ 10
+ 10
+ 300
+ /vrx/release
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife0.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife0.sdf
new file mode 100644
index 000000000..e53d3aa49
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife0.sdf
@@ -0,0 +1,629 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ -520 180 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.80 0.40 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -523 179
+ -520 180
+
+
+
+
+
+
+ -550 230 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/turtle
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0.2 0 0 0
+
+
+ 0.35
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 6
+ 1
+
+ -551 233
+ -550 230
+
+
+
+
+
+
+ -500 210 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/platypus
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.75 0.35 0.16
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -496 211
+ -500 210
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
+
+
+ wamv
+ wildlife
+ 10
+ 10
+ 300
+ 10
+
+
+
+
+ crocodile::link
+ avoid
+
+
+ platypus::link
+ circumnavigate_clockwise
+
+
+ turtle::link
+ circumnavigate_counterclockwise
+
+
+ 10.0
+ 30.0
+ /vrx/wildlife/animal
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife1.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife1.sdf
new file mode 100644
index 000000000..14943559b
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife1.sdf
@@ -0,0 +1,633 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
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+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
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+ 0
+ 50
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+ 50
+ floating
+ false
+ #777777
+
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+ false
+
+
+
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+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ -510 199 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.80 0.40 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -511 203
+ -510 199
+
+
+
+
+
+
+ turtle1
+ -550 201 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/turtle
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0.2 0 0 0
+
+
+ 0.35
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 6
+ 1
+
+ -551 203
+ -550 201
+
+
+
+
+
+
+ turtle2
+ -470 200 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/turtle
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0.2 0 0 0
+
+
+ 0.35
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 6
+ 1
+
+ -470 205
+ -470 200
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 37
+
+ 3.7
+ 3.0
+ 2
+ 12
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
+
+
+ wamv
+ wildlife
+ 10
+ 10
+ 300
+ 10
+
+
+
+
+ crocodile::link
+ avoid
+
+
+ turtle1::link
+ circumnavigate_counterclockwise
+
+
+ turtle2::link
+ circumnavigate_counterclockwise
+
+
+ 10.0
+ 30.0
+ /vrx/wildlife/animal
+ 0.33
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife2.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife2.sdf
new file mode 100644
index 000000000..84dfa91d1
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife2.sdf
@@ -0,0 +1,634 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
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+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
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+ true
+ true
+ true
+ true
+
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+ 0
+ 0
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+ #666666
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+ #666666
+
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+ 0
+ 50
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+ false
+ #777777
+
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+ #777777
+
+
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+ true
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+
+
+
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+ docked_collapsed
+
+
+
+
+
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+ docked_collapsed
+
+
+
+
+
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+ docked_collapsed
+
+
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+ false
+
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+
+
+
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+ ogre2
+ true
+
+
+
+
+
+
+
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+
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+
+
+
+
+
+
+ false
+ 0.3 0.3 0.3
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ crocodile1
+ -550 189 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.80 0.40 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -550 189
+ -520 190
+
+
+
+
+
+
+ crocodile2
+ -520 225 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.80 0.40 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -520 225
+ -500 224
+
+
+
+
+
+
+ platypus
+ -500 260 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/platypus
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.75 0.35 0.16
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -500 260
+ -500 270
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 359
+
+ 6.35
+ 4.1
+ 2
+ 11
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 3.141593
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.8
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
+
+
+ wamv
+ wildlife
+ 10
+ 10
+ 300
+ 10
+
+
+
+
+ crocodile1::link
+ avoid
+
+
+ crocodile2::link
+ avoid
+
+
+ platypus::link
+ circumnavigate_clockwise
+
+
+ 10.0
+ 30.0
+ /vrx/wildlife/animal
+ 0.1
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife3.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife3.sdf
new file mode 100644
index 000000000..f05c491db
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife3.sdf
@@ -0,0 +1,629 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
+ 5
+ 5
+ floating
+ false
+
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
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+ false
+ #666666
+
+
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+ 150
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+ #666666
+
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+ 0
+ 50
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+ 50
+ floating
+ false
+ #777777
+
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+ false
+
+
+
+
+
+ false
+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
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+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 1.0 1.0 1.0
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ -520 180 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.80 0.40 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -523 179
+ -520 180
+
+
+
+
+
+
+ -500 210 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/turtle
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0.2 0 0 0
+
+
+ 0.35
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 6
+ 1
+
+ -496 211
+ -500 210
+
+
+
+
+
+
+ -550 230 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/platypus
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.75 0.35 0.16
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -551 233
+ -550 230
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 240
+
+ 0.0
+ 0
+ 2
+ 10
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.0
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 4
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
+
+
+
+
+ wamv
+ wildlife
+ 10
+ 10
+ 300
+ 10
+
+
+
+
+ crocodile::link
+ avoid
+
+
+ platypus::link
+ circumnavigate_clockwise
+
+
+ turtle::link
+ circumnavigate_counterclockwise
+
+
+ 10.0
+ 30.0
+ /vrx/wildlife/animal
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife4.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife4.sdf
new file mode 100644
index 000000000..7e78f2140
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife4.sdf
@@ -0,0 +1,633 @@
+
+
+
+
+
+
+ 0.004
+ 1.0
+
+
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+
+ ogre2
+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
+
+ 0.25
+ 10000
+
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
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+
+
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+ 5
+ 5
+ floating
+ false
+
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+
+
+ false
+ 5
+ 5
+ floating
+ false
+
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+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
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+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 121
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+
+ floating
+
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
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+ false
+ #666666
+
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+ 0
+ 150
+ 50
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+ false
+ #666666
+
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+ 0
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+ 50
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+ false
+ #777777
+
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+
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+ 250
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ 300
+ 50
+ 50
+ 50
+ floating
+ false
+ #777777
+
+
+
+ true
+ true
+ 4000000
+
+
+
+ false
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+
+
+
+ docked_collapsed
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+ ogre2
+ true
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+ 0.8 0.8 0.8
+ 0.8 0.8 0.8
+
+
+
+
+ EARTH_WGS84
+ ENU
+ -33.724223
+ 150.679736
+ 0.0
+ 0.0
+
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
+
+
+
+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
+
+
+
+ platform
+ platform
+
+
+
+
+ -511 200 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0 0 0 0
+
+
+ 0.80 0.40 0.15
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 18
+ 1.5
+
+ -512 204
+ -511 200
+
+
+
+
+
+
+ platypus1
+ -551 202 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/platypus
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0.2 0 0 0
+
+
+ 0.35
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 6
+ 1
+
+ -552 204
+ -551 202
+
+
+
+
+
+
+ platypus2
+ -471 201 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/platypus
+
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 0.2 0 0 0
+
+
+ 0.35
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+ link
+ true
+ 6
+ 1
+
+ -471 206
+ -471 200
+
+
+
+
+
+
+ post_0
+ -535.916809 154.362869 0.675884 -0.17182 0.030464 -0.005286
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_1
+ -527.48999 153.854782 0.425844 -0.1365 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+ post_2
+ -544.832825 156.671951 0.499025 -0.162625 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
+
+
+
+
+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
+
+
+
+
+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
+
+
+
+
+ blue_projectile
+ -545 60 0.03 0 0 0
+ blue_projectile
+
+ 1000
+ 0.0
+ 25.0
+ 2.0
+
+ link
+ 0 0 -0.02 0 0 0
+
+
+ 0.0285
+
+
+
+
+ /vrx/wavefield/parameters
+
+
+
+
+
+
+
+
+ wamv
+ wamv/base_link
+ .5 .5 .33
+
+
+ 37
+
+ 3.7
+ 3.0
+ 2
+ 12
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
+
+
+
+
+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 0.7853982
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.6
+ }
+ }
+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6
+ }
+ }
+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
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+ wamv
+ wildlife
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+ 10
+ 300
+ 10
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+ crocodile::link
+ avoid
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+ platypus1::link
+ circumnavigate_clockwise
+
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+ platypus2::link
+ circumnavigate_clockwise
+
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+ 10.0
+ 30.0
+ /vrx/wildlife/animal
+ 0.33
+
+
+
+
diff --git a/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife5.sdf b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife5.sdf
new file mode 100644
index 000000000..a932b4afc
--- /dev/null
+++ b/vrx_gz/worlds/2023_phase2/phase2_2023_wildlife5.sdf
@@ -0,0 +1,634 @@
+
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+ 3D View
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+ scene
+ -478.1 148.2 13.2 0 0.25 2.94
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+ 0.25
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+ 0.8 0.8 0.8
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+ EARTH_WGS84
+ ENU
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+ 150.679736
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+ 0.2 0.2 0.2 1
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+ 0 0 0.2 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/sydney_regatta
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+ Coast Waves
+ 0 0 0 0 0 0
+ coast_waves
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+ platform
+ platform
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+ crocodile1
+ -552 191 0 0 0 0
+ https://fuel.gazebosim.org/1.0/openrobotics/models/crocodile
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+ -522 192
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+ 0.75 0.35 0.16
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+ /vrx/wavefield/parameters
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ https://fuel.gazebosim.org/1.0/openrobotics/models/post
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+ -531.063721 147.668579 1.59471 -0.068142 0 -0.1
+ https://fuel.gazebosim.org/1.0/openrobotics/models/antenna
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+ ground_station_0
+ -540.796448 146.493744 1.671421 -0.00834 0.01824 1.301726
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ ground_station_1
+ -537.622681 145.827896 1.681931 -0.00603 0.018667 1.301571
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ ground_station_2
+ -534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492
+ https://fuel.gazebosim.org/1.0/openrobotics/models/ground_station
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+ blue_projectile
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+ .5 .5 .33
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+ 6.35
+ 4.1
+ 2
+ 11
+
+ 10
+ /vrx/debug/wind/speed
+ /vrx/debug/wind/direction
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+
+ params {
+ key: "direction"
+ value {
+ type: DOUBLE
+ double_value: 3.141593
+ }
+ }
+ params {
+ key: "gain"
+ value {
+ type: DOUBLE
+ double_value: 0.8
+ }
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+ params {
+ key: "period"
+ value {
+ type: DOUBLE
+ double_value: 6.0
+ }
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+ params {
+ key: "steepness"
+ value {
+ type: DOUBLE
+ double_value: 0
+ }
+ }
+
+
+
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+ wamv
+ wildlife
+ 10
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+ 10
+
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+ crocodile1::link
+ avoid
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+ crocodile2::link
+ avoid
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+ platypus::link
+ circumnavigate_clockwise
+
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+ 10.0
+ 30.0
+ /vrx/wildlife/animal
+ 0.1
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+