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Subsea structure #13

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9a2fb3f
Add .vscode/ to .gitignore
vortexuser Sep 27, 2025
89d5186
feat(looks): add the color orange for valve objects
vortexuser Sep 27, 2025
9b27964
feat(structure): make it possible to transform entire structure from …
vortexuser Sep 27, 2025
8ff3c3c
Update stonefish_sim/objects/structure.scn
kluge7 Sep 29, 2025
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1 change: 1 addition & 0 deletions .gitignore
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@@ -0,0 +1 @@
.vscode/
7 changes: 7 additions & 0 deletions stonefish_sim/config/structure_config.yaml
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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"
Comment on lines +1 to +7
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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

4 changes: 3 additions & 1 deletion stonefish_sim/config/tacc_config.yaml
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Expand Up @@ -4,4 +4,6 @@ water_jerlow: "0.20"
seafloor_position: "0.0 0.0 3.0"
seafloor_orientation: "1.57 0.0 0.0"
pipeline_position: "1.85 0.0 5.65"
pipeline_orientation: "-0.14 0.175 0.0"
pipeline_orientation: "-0.14 0.175 0.0"
structure_position: "1.0 -18.0 8.1"
structure_orientation: "-1.57 0.0 -1.57"
1 change: 1 addition & 0 deletions stonefish_sim/metadata/looks.scn
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Expand Up @@ -2,6 +2,7 @@
<scenario>
<looks>
<look name="Yellow" rgb="1.0 0.9 0.0" roughness="0.3"/>
<look name="Orange" rgb="1.0 0.55 0.0" roughness="0.3"/>
<look name="Gray" gray="0.1" roughness="0.4" metalness="0.5"/>
<look name="Green" rgb="0.0 0.2 0.0" roughness="0.9"/>
<look name="Red" rgb="0.8 0.0 0.0" roughness="0.9"/>
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112 changes: 82 additions & 30 deletions stonefish_sim/objects/structure.scn
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@@ -1,8 +1,5 @@
<?xml version="1.0"?>
<scenario>
<!-- ===========================================
Static structure (stable concave collisions)
=========================================== -->
<static name="structure_with_valves_base" type="model">
<physical>
<mesh filename="object_files/structure_mesh.obj" scale="1.0"/>
Expand All @@ -14,14 +11,19 @@
</visual>
<material name="Neutral"/>
<look name="Yellow"/>
<world_transform xyz="1.0 -18.0 8.1" rpy="-1.57 0.0 -1.57"/>
<world_transform
xyz="$(param structure_position)"
rpy="$(param structure_orientation)"/>
</static>

<!-- =========================
Valve 1 as its own robot
========================= -->
<robot name="valve1" fixed="true" self_collisions="false">
<base_link name="valve1_base" type="model" physics="submerged">
<base_link name="valve1_frame" type="box" physics="submerged">
<dimensions xyz="0.001 0.001 0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="Neutral"/><look name="Orange"/>
</base_link>

<link name="valve1_base" type="model" physics="submerged">
<physical>
<mesh filename="object_files/valve_base_mesh.obj" scale="1.0"/>
<origin rpy="-1.57 0 1.57" xyz="0 0 0"/>
Expand All @@ -30,9 +32,16 @@
<mesh filename="object_files/valve_base.obj" scale="1.0"/>
<origin rpy="-1.57 0 1.57" xyz="0 0 0"/>
</visual>
<material name="Steel"/>
<look name="Yellow"/>
</base_link>
<material name="Steel"/><look name="Orange"/>
</link>

<joint name="valve1_mount" type="fixed">
<parent name="valve1_frame"/>
<child name="valve1_base"/>
<origin
xyz="1.196441 1.42144 1.807916"
rpy="0.0 0.0 1.57"/>
Comment on lines +42 to +43
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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

</joint>

<link name="valve1_turnable" type="model" physics="submerged">
<physical>
Expand All @@ -43,8 +52,7 @@
<mesh filename="object_files/valve_turnable.obj" scale="1.0"/>
<origin rpy="-1.57 0 1.57" xyz="0 0 0.1"/>
</visual>
<material name="Steel"/>
<look name="Yellow"/>
<material name="Steel"/><look name="Orange"/>
</link>

<joint name="valve1_joint" type="revolute">
Expand All @@ -53,20 +61,21 @@
<axis xyz="0 1 0"/>
<limits min="0.0" max="1.57"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<!-- <damping value="2.0"/> -->
</joint>

<!-- Composed world pose for valve 1 -->
<world_transform
xyz="2.80999954 -19.19500003 6.68000014"
rpy="0.0 0.0 1.57079632"/>
xyz="$(param structure_position)"
rpy="$(param structure_orientation)"/>
</robot>

<!-- =========================
Valve 2 as its own robot
========================= -->
<robot name="valve2" fixed="true" self_collisions="false">
<base_link name="valve2_base" type="model" physics="submerged">
<base_link name="valve2_frame" type="box" physics="submerged">
<dimensions xyz="0.001 0.001 0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="Neutral"/><look name="Orange"/>
</base_link>

<link name="valve2_base" type="model" physics="submerged">
<physical>
<mesh filename="object_files/valve_base_mesh.obj" scale="1.0"/>
<origin rpy="-1.57 0 1.57" xyz="0 0 0"/>
Expand All @@ -75,9 +84,16 @@
<mesh filename="object_files/valve_base.obj" scale="1.0"/>
<origin rpy="-1.57 0 1.57" xyz="0 0 0"/>
</visual>
<material name="Steel"/>
<look name="Yellow"/>
</base_link>
<material name="Steel"/><look name="Orange"/>
</link>

<joint name="valve2_mount" type="fixed">
<parent name="valve2_frame"/>
<child name="valve2_base"/>
<origin
xyz="0.665 0.95140878 1.76872493"
rpy="0.0 0.0 0.0"/>
</joint>

<link name="valve2_turnable" type="model" physics="submerged">
<physical>
Expand All @@ -88,8 +104,7 @@
<mesh filename="object_files/valve_turnable.obj" scale="1.0"/>
<origin rpy="-1.57 0 1.57" xyz="0 0 0.1"/>
</visual>
<material name="Steel"/>
<look name="Yellow"/>
<material name="Steel"/><look name="Orange"/>
</link>

<joint name="valve2_joint" type="revolute">
Expand All @@ -98,12 +113,49 @@
<axis xyz="0 1 0"/>
<limits min="0.0" max="1.57"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<!-- <damping value="2.0"/> -->
</joint>

<!-- Composed world pose for valve 2 -->
<world_transform
xyz="2.77000017 -18.64999971 7.15"
rpy="0 1.57079632 1.57079632"/>
xyz="$(param structure_position)"
rpy="$(param structure_orientation)"/>
</robot>

<robot name="structure_markers" fixed="true" self_collisions="false">
<base_link name="markers_frame" type="box" physics="submerged">
<dimensions xyz="0.001 0.001 0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="Neutral"/>
<look name="Invisible"/>
Comment on lines +127 to +128
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The formatting is inconsistent - these lines should be properly indented to match the surrounding XML structure.

Suggested change
<material name="Neutral"/>
<look name="Invisible"/>
<material name="Neutral"/>
<look name="Invisible"/>

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I think you are wrong here buddy.

Comment on lines +127 to +128
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Suggested change
<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.

</base_link>

<link name="aruco_structure_01" type="box">
<dimensions xyz="0.15 0.15 0.002"/>
<material name="Neutral"/>
<look name="Aruco19" uv_mode="1"/>
<origin xyz="1.29 1.32144 0.25" rpy="-1.57 0.0 1.57"/>
</link>

<joint name="aruco_structure_01_joint" type="fixed">
<parent name="markers_frame"/>
<child name="aruco_structure_01"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<link name="aruco_structure_02" type="box">
<dimensions xyz="0.15 0.15 0.002"/>
<material name="Neutral"/>
<look name="Aruco28" uv_mode="1"/>
<origin xyz="0.05 0.975 0.65" rpy="1.57 0.0 1.57"/>
</link>

<joint name="aruco_structure_02_joint" type="fixed">
<parent name="markers_frame"/>
<child name="aruco_structure_02"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<world_transform
xyz="$(param structure_position)"
rpy="$(param structure_orientation)"/>
</robot>
</scenario>
9 changes: 5 additions & 4 deletions stonefish_sim/scenarios/structure.scn
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Expand Up @@ -3,8 +3,8 @@
<environment>
<ned latitude="63.446827" longitude="10.421906"/>
<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.

Suggested change
<water density="1031.0" jerlov="$(param water_jerlow)"/>
<water density="1031.0" jerlov="$(param water_jerlov)"/>

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<waves height="10.0"/>
Comment on lines +6 to +7
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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 😂

<particles enabled="true"/>
<current type="uniform">
<velocity xyz="0.1 0.1 0.0"/>
Expand All @@ -28,8 +28,9 @@

<include file="$(find stonefish_sim)/drones/orca.scn"/>

<include file="$(find stonefish_sim)/objects/tacc_seafloor.scn"/>

<include file="$(find stonefish_sim)/objects/structure.scn"/>

<include file="$(find stonefish_sim)/objects/default_seafloor.scn"/>

</scenario>
</scenario>