Unofficial 3D Model of a **Prototype Docking Station** for the MOLA AUV (MBARI, CoMPAS Lab). MOLA AUV Model is available [here](https://sketchfab.com/3d-models/unofficial-mbari-mola-auv-8414b1b7e94c4212a5e7fcd667551858) Original structure described on [Docking MOLA: Apriltag detection, data fusion, and control of a 6-DOF AUV](https://www.mbari.org/wp-content/uploads/Hemmi_Juri.pdf), by Jury Hemmi et al. **Disclaimer:** Dimensions are not the real one, and some fiducial markers (apriltag 36h11 familty) may be different from the original configuration. Structure **dimensions** (meters): Base frame ("docking floor"): 0.1 x 1.5 x 1.5 Vertical frame ("tag board support"): 1 x 1.5 x 0.1 Upper supports ("vertical piles"): 0.35 x 0.1 x 0.1 Fiducial marker board: 0.75 x 1.3 x 0.025 Fiducial marker support: 0.30 x 0.30 x 0.025 Fiducial marker size (AprilTag): 0.24 x 0.24 Created for simulation purposes (more on my [GitHub](https://github.com/AlePuglisi/MBARI-vehicles-sim-ros2) ).