Adjusted temperature variation per world (#797)

angelacmaio · adlarkin · iche033 · web-flow · commit 8d7573a93b03 · 2021-03-01T14:28:00.000-08:00
* add thermal camera to marble husky

Signed-off-by: Ashton Larkin &lt;ashton@openrobotics.org&gt;

* new marble husky config 3 with thermal camera

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* reuse config_1 files, add config_4

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* add config_4 files

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* remove thermal camera from config_1

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* remove files

Signed-off-by: Ian Chen &lt;ichen@osrfoundation.org&gt;

* add thermal properties to qual worlds

* adjust lower gradient

* apply thermal to remaining worlds

* add thermal to stix and niosh

* vary in-scene temperature gradients per world

Co-authored-by: Ashton Larkin &lt;ashton@openrobotics.org&gt;
Co-authored-by: Ian Chen &lt;ichen@osrfoundation.org&gt;
Co-authored-by: Nate Koenig &lt;nate@openrobotics.org&gt;
diff --git a/subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf b/subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf
@@ -16,7 +16,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- START ROCK FALL 1: Global obstacle -->
diff --git a/subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf b/subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf
@@ -16,7 +16,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.4</temperature_gradient>
     </atmosphere>
 
     <!-- START ROCK FALL 1: Global obstacle -->
diff --git a/subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf b/subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf
@@ -22,7 +22,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- START ROCK FALL 1: Global obstacle -->
diff --git a/subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf b/subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf
@@ -22,7 +22,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- START ROCK FALL 1: Global obstacle -->
diff --git a/subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf b/subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf
@@ -18,7 +18,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.4</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/cave_circuit_practice_02.sdf b/subt_ign/worlds/cave_circuit_practice_02.sdf
@@ -16,7 +16,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- START ROCK FALL 1 -->
diff --git a/subt_ign/worlds/cave_circuit_practice_03.sdf b/subt_ign/worlds/cave_circuit_practice_03.sdf
@@ -16,7 +16,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.4</temperature_gradient>
     </atmosphere>
 
     <!-- START ROCK FALL 1 -->
diff --git a/subt_ign/worlds/cave_qual.sdf b/subt_ign/worlds/cave_qual.sdf
@@ -17,7 +17,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/simple_cave_02.sdf b/subt_ign/worlds/simple_cave_02.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/simple_cave_03.sdf b/subt_ign/worlds/simple_cave_03.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.4</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/simple_tunnel_01.sdf b/subt_ign/worlds/simple_tunnel_01.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/simple_tunnel_03.sdf b/subt_ign/worlds/simple_tunnel_03.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.4</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/simple_urban_01.sdf b/subt_ign/worlds/simple_urban_01.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.4</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/simple_urban_02.sdf b/subt_ign/worlds/simple_urban_02.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.6</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/simple_urban_03.sdf b/subt_ign/worlds/simple_urban_03.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.5</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/tunnel_circuit/01/tunnel_circuit_01.sdf b/subt_ign/worlds/tunnel_circuit/01/tunnel_circuit_01.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.4</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/tunnel_circuit/02/tunnel_circuit_02.sdf b/subt_ign/worlds/tunnel_circuit/02/tunnel_circuit_02.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/tunnel_circuit/03/tunnel_circuit_03.sdf b/subt_ign/worlds/tunnel_circuit/03/tunnel_circuit_03.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/tunnel_circuit/04/tunnel_circuit_04.sdf b/subt_ign/worlds/tunnel_circuit/04/tunnel_circuit_04.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.5</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/tunnel_circuit_practice_01.sdf b/subt_ign/worlds/tunnel_circuit_practice_01.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.5</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/tunnel_circuit_practice_02.sdf b/subt_ign/worlds/tunnel_circuit_practice_02.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/tunnel_qual_ign.sdf b/subt_ign/worlds/tunnel_qual_ign.sdf
@@ -15,7 +15,7 @@
 
    <atmosphere type="adiabatic">
       <temperature>288</temperature>
-      <temperature_gradient>0.2</temperature_gradient>
+      <temperature_gradient>0.3</temperature_gradient>
    </atmosphere>
 
    <light type="directional" name="sun">
diff --git a/subt_ign/worlds/urban_circuit/01/urban_circuit_01.sdf b/subt_ign/worlds/urban_circuit/01/urban_circuit_01.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.7</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_circuit/02/urban_circuit_02.sdf b/subt_ign/worlds/urban_circuit/02/urban_circuit_02.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.6</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_circuit/03/urban_circuit_03.sdf b/subt_ign/worlds/urban_circuit/03/urban_circuit_03.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.7</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_circuit/04/urban_circuit_04.sdf b/subt_ign/worlds/urban_circuit/04/urban_circuit_04.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.6</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_circuit/05/urban_circuit_05.sdf b/subt_ign/worlds/urban_circuit/05/urban_circuit_05.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.3</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_circuit/06/urban_circuit_06.sdf b/subt_ign/worlds/urban_circuit/06/urban_circuit_06.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.5</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_circuit/07/urban_circuit_07.sdf b/subt_ign/worlds/urban_circuit/07/urban_circuit_07.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.6</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_circuit/08/urban_circuit_08.sdf b/subt_ign/worlds/urban_circuit/08/urban_circuit_08.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.7</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
diff --git a/subt_ign/worlds/urban_qual.sdf b/subt_ign/worlds/urban_qual.sdf
@@ -20,7 +20,7 @@
 
     <atmosphere type="adiabatic">
        <temperature>288</temperature>
-       <temperature_gradient>0.2</temperature_gradient>
+       <temperature_gradient>0.6</temperature_gradient>
     </atmosphere>
 
     <!-- The staging area -->
