Fouling definition and small bug fix (Field-Robotics-Lab#168)

* fouling rating scale table Signed-off-by: Mabel Zhang <[email protected]> * light, camera, fix! Signed-off-by: Mabel Zhang <[email protected]>
mikemacg10 · Nov 10, 2021 · c6e3d92 · c6e3d92
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diff --git a/models/dave_worlds/worlds/distorted_coke.world b/models/dave_worlds/worlds/distorted_coke.world
@@ -3,6 +3,20 @@
 <!-- This file is generated from ERB template coke_template.erb -->
 <sdf version="1.6" xmlns:surface_props="https://github.com/Field-Robotics-Lab/dave">
   <world name="coke">
+    <gui>
+      <camera name="coke_cam">
+        <pose>1.263625 -0.334611 0.188714 0 0.271642 2.200189</pose>
+      </camera>
+    </gui>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
 
 
     <model name="coke_1">

diff --git a/urdf/scripts/mesh_distortion/README.md b/urdf/scripts/mesh_distortion/README.md
@@ -81,6 +81,28 @@ exec(open('/path/to/dave/urdf/scripts/mesh_distortion/distort.py').read());
 This will execute the script with the command line arguments defined in
 `sys.argv` and export the result to file.
 
+## Fouling rating scale
+
+Reproduced from Table 081-1-1 in Waterborne Underwater Hull Cleaning of Navy
+Ships, Chapter 081, Naval Ships' Technical Manual, S9086-CQ-STM-010,
+revision 5, 1 Oct 2006.
+
+Fouling ratings (FR) in order of increasing severity
+
+Type | FR | Description 
+:---: | :---: | ---
+Soft | 0 | A clean, foul-free surface; red and/or black AF paint or a bare metal surface.
+Soft | 10 | Light shades of red and green (incipient slime). Bare metal and painted surfaces are visible beneath the fouling.
+Soft | 20 | Slime as dark green patches with yellow or brown colored areas (advanced slime). Bare metal and painted surfaces may by obscured by the fouling.
+Soft | 30 | Grass as filaments up to 3 inches (76 mm) in length, projections up to 1/4 inch (6.4 mm) in height; or a flat network of filaments, green, yellow, or brown in color; or soft non calcareous fouling such as sea cucumbers, sea grapes, or sea squirts projecting up to 1/4 inch (6.4 mm) in height. The fouling can not be easily wiped off by hand.
+Hard | 40 | Calcareous fouling in the form of tubeworms less than 1⁄4 inch in diameter or height.
+Hard | 50 | Calcareous fouling in the form of barnacles less than 1⁄4 inch in diameter or height.
+Hard | 60 | Combination of tubeworms and barnacles, less than 1⁄4 inch (6.4 mm) in diameter or height.
+Hard | 70 | Combination of tubeworms and barnacles, greater than 1⁄4 inch in diameter or height.
+Hard | 80 | Tubeworms closely packed together and growing upright away from surface. Barnacles growing one on top of another, 1⁄4 inch or less in height. Calcareous shells appear clean or white in color.
+Hard | 90 | Dense growth of tubeworms with barnacles, 1⁄4 inch or greater in height; Calcareous shells brown in color (oysters and mussels); or with slime or grass overlay.
+Composite | 100 | All forms of fouling present, Soft and Hard, particularly soft sedentary animals without calcareous covering (tunicates) growing over various forms of hard growth.
+
 ## Tips
 
 - Collision geometry

diff --git a/urdf/scripts/mesh_distortion/distort.py b/urdf/scripts/mesh_distortion/distort.py
@@ -52,6 +52,10 @@ def viewport_shading(shading):
 
 def subdivision_modifier(obj, levels=2):
 
+    if levels == 0:
+        print('Subdivision modifier level is 0, skipping')
+        return
+
     print('Applying subdivision modifier with level {}...'.format(levels))
 
     viewport_shading('WIREFRAME')

diff --git a/urdf/scripts/sdf_custom_properties/coke.ref.sdf b/urdf/scripts/sdf_custom_properties/coke.ref.sdf
@@ -3,6 +3,20 @@
 <!-- This file is generated from ERB template coke_template.erb -->
 <sdf version="1.6" xmlns:surface_props="https://github.com/Field-Robotics-Lab/dave">
   <world name="coke">
+    <gui>
+      <camera name="coke_cam">
+        <pose>1.263625 -0.334611 0.188714 0 0.271642 2.200189</pose>
+      </camera>
+    </gui>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
 
 
     <model name="coke_1">

diff --git a/urdf/scripts/sdf_custom_properties/coke_template.erb b/urdf/scripts/sdf_custom_properties/coke_template.erb
@@ -3,6 +3,20 @@
 <!-- This file is generated from ERB template coke_template.erb -->
 <sdf version="1.6" xmlns:surface_props="https://github.com/Field-Robotics-Lab/dave">
   <world name="coke">
+    <gui>
+      <camera name="coke_cam">
+        <pose>1.263625 -0.334611 0.188714 0 0.271642 2.200189</pose>
+      </camera>
+    </gui>
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
 <%# Example of how fouling_rating can be used to vary coefficients %>
 <%
       fouling_rating = 10