Subsea structure #13
Subsea structure #13
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vortexuser
commented
Sep 27, 2025
vortexuser
commented
- Improve scenario file for structure
- Make it possible to transform entire structure from config file (previously you had to move the structure and the valves separately)
- Update color of valves to orange
- Add two aruco markers to the structure for testing
- Add initial .gitignore file configuration (only ignores .vscode/)
…config file, add two aruco markers to the structure and update colors of valves
| drone_position: "2.25 -16.5 6.5" | ||
| drone_orientation: "-1.57 0.0 0.0" | ||
| water_jerlow: "0.20" | ||
| seafloor_position: "0.0 0.0 3.0" | ||
| seafloor_orientation: "1.57 0.0 0.0" | ||
| structure_position: "1.0 -18.0 8.1" | ||
| structure_orientation: "-1.57 0.0 -1.57" |
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Could be nice to add a comment behind every field here to indicate what it represents? For example
drone_position: "2.25 -16.5 6.5" # In NED coordinates| xyz="1.196441 1.42144 1.807916" | ||
| rpy="0.0 0.0 1.57"/> |
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These are still magic numbers, which could be moved to config file if that is wanted. Maybe in a future pull requests all such relationships (like the thruster positions in orca.scn) could be moved to yaml files too. That is issue material
| <water density="1031.0" jerlov="$(param water_jerlow)"/> | ||
| <waves height="10.0"/> |
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Make waves height param too?
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Should be a separate issue, just copied the setup in the tacc.scn
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Set the height to 0 then probably, don't think tsunamies are common in Stavanger 😂
Co-authored-by: Anders Høgden <[email protected]>
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Pull Request Overview
This PR enhances the subsea structure simulation by improving configurability and visual representation. The changes enable parameterized positioning of the entire structure through configuration files and update the visual appearance of valves.
Key changes:
- Added parameterized positioning for the structure and valves using configuration variables
- Changed valve color from yellow to orange and added ArUco markers for testing
- Replaced default seafloor with TACC-specific seafloor configuration
Reviewed Changes
Copilot reviewed 5 out of 6 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| stonefish_sim/scenarios/structure.scn | Updated water parameters and switched seafloor configuration |
| stonefish_sim/objects/structure.scn | Restructured valve definitions with parameterized positioning and added ArUco markers |
| stonefish_sim/metadata/looks.scn | Added orange color definition for valve appearance |
| stonefish_sim/config/tacc_config.yaml | Added structure position and orientation parameters |
| stonefish_sim/config/structure_config.yaml | New configuration file with complete structure parameters |
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| <ocean> | ||
| <water density="1031.0" jerlov="0.60"/> | ||
| <waves height="0.0"/> | ||
| <water density="1031.0" jerlov="$(param water_jerlow)"/> |
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The parameter name 'water_jerlow' appears to be misspelled. It should likely be 'water_jerlov' to match the jerlov attribute name.
| <water density="1031.0" jerlov="$(param water_jerlow)"/> | |
| <water density="1031.0" jerlov="$(param water_jerlov)"/> |
| <material name="Neutral"/> | ||
| <look name="Invisible"/> |
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The formatting is inconsistent - these lines should be properly indented to match the surrounding XML structure.
| <material name="Neutral"/> | |
| <look name="Invisible"/> | |
| <material name="Neutral"/> | |
| <look name="Invisible"/> |
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I think you are wrong here buddy.
| <material name="Neutral"/> | ||
| <look name="Invisible"/> |
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| <material name="Neutral"/> | |
| <look name="Invisible"/> | |
| <material name="Neutral"/> | |
| <look name="Invisible"/> |
my bad, didnt think it would mess up the indentation. I think this should be correct.
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