adding facilities

Author: IgnacioCarlucho

_pages/facilities.md

@@ -2,7 +2,7 @@
 layout: page
 permalink: /facilities/
 title: Facilities
-description: Current testing facilities
+description: Current testing facilities at OSL Lab
 nav: true
 nav_order: 5
 ---
@@ -11,6 +11,7 @@ nav_order: 5
 
 ## Wave tank
 
+We have a wave tank of 12x12x3m with wave generation capabilities. 
 
 <div class="row align-items-center">
     <div class="col-8">
@@ -21,6 +22,17 @@ nav_order: 5
     </div>
   </div>
 
+### Qualysis camera system
+The tank is equipped with a Qualysis camera tracking system for precise localization. 
+
+<div class="row align-items-center">
+    <div class="col-8">
+      {% include figure.html path="assets/img/facilities/Qualysis.jpg" title="example image" class="img-fluid rounded z-depth-1" %}
+    </div>
+    <div class="col-10">
+       <br>
+    </div>
+  </div>
 
 
 ## Test tank
@@ -40,13 +52,77 @@ nav_order: 5
 Current robots in the lab
 
 ## Bluerov2
+We have three BlueROVs with different configurations, one with 3D sonar and stereo camera systems for SLAM, one for manipulation, and for one for control.  
+
+<div class="row align-items-center">
+  <div class="col-md-6">
+    {% include figure.html 
+        path="assets/img/facilities/bluerov_v1.png" 
+        title="Example image 1" 
+        class="img-fluid rounded z-depth-1" %}
+  </div>
+  <div class="col-md-6">
+    {% include figure.html 
+        path="assets/img/facilities/blurov_arm_b.png" 
+        title="Example image 2" 
+        class="img-fluid rounded z-depth-1" %}
+  </div>
+</div>
+
+## Blueboat
 
 <div class="row align-items-center">
     <div class="col-8">
-      {% include figure.html path="assets/img/facilities/bluerov_v1.png" title="example image" class="img-fluid rounded z-depth-1" %}
+      {% include figure.html path="assets/img/facilities/marine_setup.png" title="example image" class="img-fluid rounded z-depth-1" %}
     </div>
     <div class="col-10">
-      <br>
+       <br>
+    </div>
+  </div>
+
+
+
+## NEW ROV
+A new ROV develeped in house equiped with a stereo camera system a reach bravo alpha and nortek DVL. 
+
+<div class="row align-items-center">
+    <div class="col-8">
+      {% include figure.html path="assets/img/facilities/New_ROV.png" title="example image" class="img-fluid rounded z-depth-1" %}
+    </div>
+    <div class="col-10">
+       <br>
+    </div>
+  </div>
+
+<hr>
+
+# Simulators 
+
+Additionally, our group has worked in the development of several simulation environments for marine robotics. 
+
+## Stonefish
+Developed together with the University of Girona. More information: <a href="https://stonefish.readthedocs.io/en/latest/" target="_blank" rel="noopener noreferrer">here</a>. 
+
+<div class="row align-items-center">
+    <div class="col-8">
+      {% include figure.html path="assets/img/facilities/Stonefish.png" title="example image" class="img-fluid rounded z-depth-1" %}
+    </div>
+    <div class="col-10">
+       <br>
+    </div>
+  </div>
+
+## Marine gym
+A new simulator based on Isaac Sim. 
+More information <a href="https://marine-gym.com/" target="_blank" rel="noopener noreferrer">here</a>.
+
+
+<div class="row align-items-center">
+    <div class="col-8">
+      {% include figure.html path="assets/img/facilities/marinegym.png" title="example image" class="img-fluid rounded z-depth-1" %}
+    </div>
+    <div class="col-10">
+       <br>
     </div>
   </div>