Robot URDF integrated with the simulator environment

[AnthonZh]

Robot URDF integrated with the simulator environment

Motivation

As a developer, I want to:

Integrate our robot's URDF model into the simulation environment.

So that I can:

Have an accurate virtual representation of the actual vehicle placed in the simulated pool, as a foundation for later control/sensor integration.

Completion criteria

Minimum Viable Product (MVP)

• Robot URDF loads into the simulation environment without errors
• Visual mesh renders correctly and matches the real vehicle's dimensions/appearance
• Robot spawns correctly positioned within the pool scene

Stretch

• Joint/thruster visualization reflects real vehicle articulation
• Collision geometry validated against real vehicle dimensions

Timeline

TBD

Testing requirements

• Visual comparison of the rendered URDF model against the real vehicle
• Confirm URDF loads reliably across team dev machines

Implementation

High-level overview

Finalize/export the robot's URDF, confirm it's compatible with whichever simulation tool is chosen, import it into the pool scene from the prior issue, and verify link/joint/mesh rendering and spawn position.

Checklist

• Obtain/finalize robot URDF
• Confirm URDF compatibility with chosen simulation tool
• Import URDF into simulation environment
• Verify visual/collision geometry renders correctly
• Spawn robot within pool scene

Additional notes