dynamic_wind_world.sdf adds time-varying wind to a base obstacle world. The wind direction and magnitude vary smoothly across each episode, exposing the policy to disturbances it wouldn’t see in a still indoor environment.
Current status: in design. The current obstacle_maze and warehouse_v2 worlds have no wind — indoor flight typically doesn’t have meaningful wind, and the current RL training scope is indoor-only. A wind-augmented world becomes relevant for the monitoring use case where the drone may need to operate semi-outdoors (rooftop HVAC inspection, indoor-to-outdoor transitions).
Planned design
- Base world: copy of
obstacle_maze.sdfwith a<wind>block added. - Wind model: 1D vector that varies sinusoidally with random phase + Perlin-noise gust component.
- Magnitude range: 0–3 m/s (typical indoor airflow from HVAC up to mild outdoor breeze).
- Direction range: full 360°.
- Randomized per-episode for RL training.
Where to go next
- Obstacle maze — the base world this extends
- Roadmap H2 2026 — when domain randomization work lands
- Worlds hub — sibling pages