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Adding heavy weight torpedo model #225

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Merged
merged 2 commits into from
Feb 25, 2022
Merged

Adding heavy weight torpedo model #225

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881f7f9
Adding Mk48 torpedo
bsb808 Feb 23, 2022
51f4b27
Merge branch 'master' into feature/bsb/moremodels
bsb808 Feb 25, 2022
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21 changes: 21 additions & 0 deletions models/dave_object_models/models/torpedo_mk48/inertial_calcs.py
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@@ -0,0 +1,21 @@
'''
iPython script to calculate inertial properties
'''
from math import pi

# Mass [kg]
m = 1558
# Length and dia [m]
l = 5.8
d = 0.53
# Volume
v = pi*(d/2)**2*l

# "mass" in water [kg]
m_water = m - v*1000
print("Mass in water %f kg"%m_water)

ixx = 0.5 * m_water * (d/2)**2
iyy = (0.25 * m_water * (d/2)**2) + (1.0/12.0 * m_water * l**2)

print("ixx = %f, iyy = izz = %.f"%(ixx,iyy))
115 changes: 115 additions & 0 deletions models/dave_object_models/models/torpedo_mk48/meshes/torpedo_mk48.dae
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Binary file added models/dave_object_models/models/torpedo_mk48/meshes/torpedo_mk48.png
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70 changes: 70 additions & 0 deletions models/dave_object_models/models/torpedo_mk48/meshes/torpedo_mk48_collision.dae
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16 changes: 16 additions & 0 deletions models/dave_object_models/models/torpedo_mk48/model.config
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<?xml version="1.0"?>

<model>
<name>torpedo_mk48</name>
<version>1.0</version>
<sdf version='1.6'>model.sdf</sdf>

<author>
<name>Brian Bingham</name>
<email>[email protected]</email>
</author>

<description>
Torpedo
</description>
</model>
35 changes: 35 additions & 0 deletions models/dave_object_models/models/torpedo_mk48/model.sdf
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<?xml version="1.0"?>
<sdf version="1.6">
<model name="torpedo_mk48">
<static>false</static>
<link name="base_link">
<inertial>
<!-- See python script in model folder for calcs -->
<mass>278</mass>
<inertia>
<ixx>9.8</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>785</iyy>
<iyz>0.0</iyz>
<izz>785</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>file://torpedo_mk48/meshes/torpedo_mk48.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>file://torpedo_mk48/meshes/torpedo_mk48_collision.dae</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>
14 changes: 14 additions & 0 deletions models/dave_worlds/worlds/dave_ocean_models.world
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Expand Up @@ -138,6 +138,12 @@
<uri>model://torpedo_mk46</uri>
</include>

<include>
<name>torpedo_mk48</name>
<pose>13 -1.5 -94 0 0 0</pose>
<uri>model://torpedo_mk48</uri>
</include>

<include>
<name>sonobuoy</name>
<pose>13 -2 -94 0 0 0</pose>
Expand Down Expand Up @@ -223,6 +229,14 @@
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
</include>

<!-- Still pending
<include>
<name>airplane_wreck</name>
<pose>20 -11 -94 0 0 0</pose>
<uri>model://airplane_wreck</uri>
</include>
-->

<include>
<pose>35 -10 -94 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
Expand Down