SurfaceVessel

../../_images/surface.png

Description

A simple surface vessel with 2 thrusters in the rear for propulsion.

See the SurfaceVessel.

Control Schemes

Thrusters (``0``)

A 2-length floating point vector specifying the force on each thruster. The vector is in the format [Left Thruster, Right Thruster].

PD Controller (``1``)

A 2-length floating point vector of desired x and y coordinates in the global frame. A basic PD controller has been implemented to move the vehicle to that position.

Custom Dynamics (``2``)

A 6-length floating point vector of linear and angular accelerations in the global frame. This is to be used for implementing custom dynamics. Besides collisions, all other forces and torques (including gravity, buoyancy, and damping) have been disabled in the simulator to allow for a clean slate for custom dynamics.

Sockets

All sockets are oriented in the agent’s body frame (right-handed NWU, with the x-axis pointing forward, the y-axis pointing to the left, and the z-axis pointing upward) unless stated otherwise. See Sensor Placement & Sockets for details.

Socket Definitions

  • Payload where the payload with sensors will be in the water. Rotated 90 degrees on y-axis (x points down, y points left, z points forward).

  • Platform sensors placed on platform.

  • Viewport where the robot is viewed from.

Socket Frames

../../_images/surface-sockets.png

Flashlights

The SurfaceVessel comes with a single forward-facing flashlight mounted at the front of the vehicle for illumination.

../../_images/surface_vessel_flashlight.png

  • flashlight1: (94, 0, 126)

Please refer to flashlights for information on available control commands.