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Unity Scene Information
Pool is constructed with 30m long walls, and is 5m deep. Used Unity's water surface material asset and the HDRP core to achieve pool graphics.
There are 3 camera views to choose from currently, including a down cam simulating the down cam on the AUV, a front cam doing the same, and a main cam that can be controlled by the user. The main cam controls were implemented to simulate Gazebo's camera controls (left click and drag to move around, rotate with right click, zoom with scroll wheel). GUI also added to switch between camera views while running the sim.
The AUV is modeled with a 0.3x0.3x0.3m cube, but dimensions are subject to change as we're unsure of the final AUV's measurements. Has a front cam and down cam attached.
Models for buoys, gates, lane markers, etc. are found in Assets > Objects. These can essentially be dragged & dropped into the pool to create different layouts.