• The behavior of the VRX environment is generated by a set of Gazebo Plugins.
• Many parameters that determine environmental conditions, such as waves, wind, etc. can be changed through the use of SDF configuration files.
• Changing these parameters allows users to test their solutions under a variety of conditions.
• See the Theory of Operations for an explanation of parameter values.

This sequence gives examples explaining how to change wind, wave, fog and ambient lighting parameters.

• All parameters discussed are stored in individual world files, found in vrx_gz/worlds.
• Throughout this sequence we will use the sydney_regatta world as an example.

• Adjusting Wind Parameters
• Adjusting Wave Parameters
• Adjusting Fog Parameters
• Adjusting Ambient Light