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… only Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Buoyancy in gz-maritime acts at the flat z = 0 plane and the waves are only drawn. Wave-coupled buoyancy is the planned gz_waves_buoyancy consumer, a wave-modeling effort outside the SITL task. Phase numbers 8 and 9 are kept so existing references stay valid. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Spec only, no source change. Stacked on #82 (phase 6).
This removes phase 7, "Waves, boat only", from the SITL spec, because wave buoyancy is outside the scope of the SITL task.
Phase 7 assumed that flying the phase 6 mission in a wave world would "work out of the box" and work as a regression test and demo. That doesn't hold today. The BlueBoat does spawn into gz-maritime's
open_water.sdfwith FFT waves (gz-maritimedocs/vehicles/bluerobotics.md), but buoyancy there acts at the flat z = 0 plane and the waves are only visual . gz-maritime's own docs say so ("Waves and physics today"). The boat sits on flat water while the sea passes through the hull,t.The wave-aware buoyancy is a big effort and outside the scope of the SITL work. I'm proposing that this part of our SITL plan be deferred until later, when the wave forcing is introduced. The reason for the PR is to keep us aligned on the plan instead of unilaterally dropping this part.