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osrf / vrx

Virtual RobotX (VRX) resources.
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Reduce oscillations of buoys in perception task #699

Closed tejalbarnwal closed 1 year ago

tejalbarnwal commented 1 year ago

aims to close #689

Summary: A detailed analysis of the various parameters can be found in the discussion of the associated issue. The following updates have been done:

  1. Round Buoys: geometry radius updated to 0.21(for both perception_task1 and perception_task2) updated drag coefficient to 75(for both perception_task1 and perception_task2) updated spawning z=0.7 in perception_task1
  2. Marker Buoys Updated spawning z=0.7 for both (perception_task1 and perception_task2) Updated linear drag coefficient to 50 in perception_task2 to reduce the magnitude of oscillations a little.

Test: Run 2023_practice/practice_2023_perception1_task and 2023_practice/practice_2023_perception2_task worlds

Results:

https://github.com/osrf/vrx/assets/64950661/d2787769-611b-406a-bdbf-f6d7c27625b7

https://github.com/osrf/vrx/assets/64950661/41444310-c9e1-4a15-bd4e-e3a0bea7767e