RoboBoat Reference Models

osrf / vrx

Virtual RobotX (VRX) resources.

Apache License 2.0

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RoboBoat Reference Models #704

Closed M1chaelM closed 5 months ago

M1chaelM commented 12 months ago

We need to produce 2 reference models for vehicles similar to those that might be used by competitors in RoboBoat.

M1chaelM commented 11 months ago

Example Vehicles from RoboBoat 2023:

PXL_20230322_173139787 PXL_20230322_173150513 PXL_20230322_173207078 PXL_20230322_173217877 PXL_20230322_173225231 PXL_20230322_173232859 PXL_20230322_173242275 PXL_20230322_173254509 PXL_20230322_184924661 PXL_20230322_185007737

caguero commented 10 months ago

@ColeOSRF , I loaded preliminary versions of your models in Gazebo. See my comments below:

Roboboat01

Overall, it looks pretty good.

Screenshot from 2023-08-17 23-04-51

Can we change the reference frame to have +x pointing forward and +y pointing to the left? This is how it looks like now:

Screenshot from 2023-08-17 22-37-15

Same suggestion for the thruster model if that's the case.

Roboboat02

I see some rectangular artifact surrounding the boat.

Screenshot from 2023-08-17 23-05-12

I only loaded the roboboat02.dae mesh but it loaded propellers. It looks like the third pontoon has a wrong offset as it's overlapping one of the other two pontoons.

Screenshot from 2023-08-17 23-05-39

There's an upper circular platform on the top but it looks like it's floating, there's nothing connecting it to the main chassis.

Screenshot from 2023-08-17 23-05-45

Can we also apply the same transformation to the reference frame as the 01 model? This is how it looks like now: Screenshot from 2023-08-17 23-12-17

Besides these comments, I'd say we're ready for textures

caguero commented 10 months ago

Do you think you could also create simple colliders for these models? I can convert them into SDF geometries if you send me the raw data somehow.

ColeOSRF commented 10 months ago

Boat02 was very wrong. Apparently all hidden objects were exported as well which is why there were so many erroneous objects. I've re-exported both meshes with these comments addressed. Working on the colliders now.

ColeOSRF commented 10 months ago

Colliders are up. The SDF files for each object are located in their respective folder here. The actual prop does not have a collider since it's contained within the collision for the thruster housing. https://drive.google.com/open?id=1P28vX7s2CV-aGfjso1tSag4V1fwmUHCh&usp=drive_fs

caguero commented 10 months ago

Thanks! All looks good from my side now.

My only request is perhaps some kind of CPU box to mount on top of the platforms.

Screenshot from 2023-08-22 15-24-39