diff --git a/examples/dave_demo_launch/launch/dave_models.launch b/examples/dave_demo_launch/launch/dave_models.launch new file mode 100644 index 00000000..03c389fb --- /dev/null +++ b/examples/dave_demo_launch/launch/dave_models.launch @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + meshes: + heightmap: + mesh: package://uuv_gazebo_worlds/models/sand_heightmap/meshes/heightmap.dae + model: sand_heightmap + seafloor: + plane: [2000, 2000, 0.1] + pose: + position: [0, 0, -100] + north: + plane: [0.1, 2000, 100] + pose: + position: [1000, 0, -50] + south: + plane: [0.1, 2000, 100] + pose: + position: [-1000, 0, -50] + west: + plane: [2000, 0.1, 100] + pose: + position: [0, -1000, -50] + east: + plane: [2000, 0.1, 100] + pose: + position: [0, 1000, -50] + + + + diff --git a/models/dave_object_models/models/flight_data_recorder/inertial_calcs.py b/models/dave_object_models/models/flight_data_recorder/inertial_calcs.py new file mode 100644 index 00000000..8b0d6bad --- /dev/null +++ b/models/dave_object_models/models/flight_data_recorder/inertial_calcs.py @@ -0,0 +1,16 @@ +''' +iPython script to calculate inertial properties +''' +from math import pi + +# Mass [kg] +m = 1.0 +# Length and dia [m] +l = 0.5 +# "mass" in water [kg] +m_water = m +print("Mass in water %f kg"%m_water) + +ixx = 1.0/6.0*m*l**2 + +print("ixx = iyy = izz = %f"%(ixx)) diff --git a/models/dave_object_models/models/flight_data_recorder/meshes/flight_data_recorder.dae b/models/dave_object_models/models/flight_data_recorder/meshes/flight_data_recorder.dae new file mode 100644 index 00000000..d44c8905 --- /dev/null +++ b/models/dave_object_models/models/flight_data_recorder/meshes/flight_data_recorder.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 3.0.0 commit date:2021-12-02, commit time:18:35, hash:f1cca3055776 + + 2022-02-11T08:05:37 + 2022-02-11T08:05:37 + + Z_UP + + + + + + + Flight-Data-Recorder_png + + + + + Flight-Data-Recorder_png-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + 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+ + + + + + + + 1 0 0 0 0 1 0 -0.004358335 0 0 1 0.02479342 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/dave_object_models/models/flight_data_recorder/model.config b/models/dave_object_models/models/flight_data_recorder/model.config new file mode 100644 index 00000000..32bb2d37 --- /dev/null +++ b/models/dave_object_models/models/flight_data_recorder/model.config @@ -0,0 +1,16 @@ + + + + flight_data_recorder + 1.0 + model.sdf + + + Brian Bingham + briansbingham@gmail.com + + + + Flight data recorder + + diff --git a/models/dave_object_models/models/flight_data_recorder/model.sdf b/models/dave_object_models/models/flight_data_recorder/model.sdf new file mode 100644 index 00000000..01fe3d67 --- /dev/null +++ b/models/dave_object_models/models/flight_data_recorder/model.sdf @@ -0,0 +1,37 @@ + + + + false + + + 1 + + 0.04 + 0.0 + 0.0 + 0.04 + 0.0 + 0.04 + + + + + + 2.0 2.0 2.0 + file://flight_data_recorder/meshes/flight_data_recorder.dae + + + + + + 0 0 0 0 0 0 + + + 2.0 2.0 2.0 + file://flight_data_recorder/meshes/flight_data_recorder_collision.dae + + + + + + diff --git a/models/dave_object_models/models/sonobuoy/inertial_calcs.py b/models/dave_object_models/models/sonobuoy/inertial_calcs.py new file mode 100644 index 00000000..cabdcddb --- /dev/null +++ b/models/dave_object_models/models/sonobuoy/inertial_calcs.py @@ -0,0 +1,21 @@ +''' +iPython script to calculate inertial properties +''' +from math import pi + +# Mass [kg] +m = 17.7 +# Length and dia [m] +l = 0.91 +d = 0.13 +# 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)) diff --git a/models/dave_object_models/models/sonobuoy/meshes/sonobuoy.dae b/models/dave_object_models/models/sonobuoy/meshes/sonobuoy.dae new file mode 100644 index 00000000..d2ebf66b --- /dev/null +++ b/models/dave_object_models/models/sonobuoy/meshes/sonobuoy.dae @@ -0,0 +1,118 @@ + + + + + Blender User + Blender 3.0.0 commit date:2021-12-02, commit time:18:35, hash:f1cca3055776 + + 2022-02-11T08:22:05 + 2022-02-11T08:22:05 + + Z_UP + + + + + + + Sonobuoy_png + + + + + Sonobuoy_png-surface + + + + + + 0 0 0 1 + + + + + + 1 + + + 1.45 + + + + + + + + + sonobuoy.png + + + + + + + + + + + + 0 0.06314295 -0.4496284 0 0.06314295 0.4637149 0 -0.0595625 0.2356643 0 -0.05152887 -0.08464413 0.01231855 0.06192964 -0.4496284 0.004014551 -0.0595625 0.23674 0.01231855 0.06192964 0.4637149 0.006953418 -0.0595625 0.2396789 0.01006382 -0.05152887 -0.08194756 0.02416378 0.05833649 -0.4496284 0.02416378 0.05833649 0.4637149 0.008029103 -0.0595625 0.2436935 0.01743108 -0.05152887 -0.07458031 0.006953418 -0.0595625 0.2477081 0.03508031 0.05250144 -0.4496284 0.03508031 0.05250144 0.4637149 0.02012765 -0.05152887 -0.06451648 0.004014551 -0.0595625 0.250647 0.04464876 0.04464876 -0.4496284 0.04464876 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/dave_object_models/models/sonobuoy/model.config b/models/dave_object_models/models/sonobuoy/model.config new file mode 100644 index 00000000..0e621537 --- /dev/null +++ b/models/dave_object_models/models/sonobuoy/model.config @@ -0,0 +1,16 @@ + + + + sonobuoy + 1.0 + model.sdf + + + Brian Bingham + briansbingham@gmail.com + + + + Sonobuoy + + diff --git a/models/dave_object_models/models/sonobuoy/model.sdf b/models/dave_object_models/models/sonobuoy/model.sdf new file mode 100644 index 00000000..5ea450c0 --- /dev/null +++ b/models/dave_object_models/models/sonobuoy/model.sdf @@ -0,0 +1,35 @@ + + + + false + + + + 5.6 + + 0.39 + 0.0 + 0.0 + 0.39 + 0.0 + 0.012 + + + + + + file://sonobuoy/meshes/sonobuoy.dae + + + + + 0 0 0 0 0 0 + + + file://sonobuoy/meshes/sonobuoy_collision.dae + + + + + + diff --git a/models/dave_object_models/models/torpedo_mk46/inertial_calcs.py b/models/dave_object_models/models/torpedo_mk46/inertial_calcs.py new file mode 100644 index 00000000..a65de18f --- /dev/null +++ b/models/dave_object_models/models/torpedo_mk46/inertial_calcs.py @@ -0,0 +1,21 @@ +''' +iPython script to calculate inertial properties +''' +from math import pi + +# Mass [kg] +m = 230.0 +# Length and dia [m] +l = 2.3 +d = 0.324 +# 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)) diff --git a/models/dave_object_models/models/torpedo_mk46/meshes/torpedo_mk46.dae b/models/dave_object_models/models/torpedo_mk46/meshes/torpedo_mk46.dae new file mode 100644 index 00000000..59884955 --- /dev/null +++ b/models/dave_object_models/models/torpedo_mk46/meshes/torpedo_mk46.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 3.0.0 commit date:2021-12-02, 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/dave_object_models/models/torpedo_mk46/model.config b/models/dave_object_models/models/torpedo_mk46/model.config new file mode 100644 index 00000000..7f8d258d --- /dev/null +++ b/models/dave_object_models/models/torpedo_mk46/model.config @@ -0,0 +1,16 @@ + + + + torpedo_mk46 + 1.0 + model.sdf + + + Brian Bingham + briansbingham@gmail.com + + + + Torpedo + + diff --git a/models/dave_object_models/models/torpedo_mk46/model.sdf b/models/dave_object_models/models/torpedo_mk46/model.sdf new file mode 100644 index 00000000..04c61e95 --- /dev/null +++ b/models/dave_object_models/models/torpedo_mk46/model.sdf @@ -0,0 +1,35 @@ + + + + false + + + + 40 + + 0.53 + 0.0 + 0.0 + 18.0 + 0.0 + 18.0 + + + + + + file://torpedo_mk46/meshes/torpedo_mk46.dae + + + + + 0 0 0 0 0 0 + + + file://torpedo_mk46/meshes/torpedo_mk46_collision.dae + + + + + + diff --git a/models/dave_object_models/models/uxo_a/inertial_calcs.py b/models/dave_object_models/models/uxo_a/inertial_calcs.py new file mode 100644 index 00000000..3e6b7e42 --- /dev/null +++ b/models/dave_object_models/models/uxo_a/inertial_calcs.py @@ -0,0 +1,21 @@ +''' +iPython script to calculate inertial properties +''' +from math import pi + +# Mass [kg] +m = 60.0 +# Length and dia [m] +l = 1.1 +d = 0.2 +# Volume +v = pi*(d/2)**2*l + +# "mass" in water [kg] +m_water = m - v*1000.0 +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)) diff --git a/models/dave_object_models/models/uxo_a/meshes/uxo_a.dae b/models/dave_object_models/models/uxo_a/meshes/uxo_a.dae new file mode 100644 index 00000000..fed6c46b --- /dev/null +++ b/models/dave_object_models/models/uxo_a/meshes/uxo_a.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 3.0.0 commit date:2021-12-02, 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10223 1802 3109 10224 4289 3109 10225 4141 3109 10226 1466 3110 10227 4657 3110 10228 4246 3110 10229 4507 3111 10230 1934 3111 10231 1848 3111 10232 1806 3112 10233 4277 3112 10234 4161 3112 10235 4106 3113 10236 6136 3113 10237 4197 3113 10238 1811 3114 10239 5449 3114 10240 2134 3114 10241 1807 3115 10242 1824 3115 10243 4277 3115 10244 1809 3116 10245 4095 3116 10246 977 3116 10247 3350 3117 10248 3631 3117 10249 3452 3117 10250 4106 3118 10251 4587 3118 10252 6136 3118 10253 5804 3119 10254 1824 3119 10255 1807 3119 10256 5560 3120 10257 5448 3120 10258 4078 3120 10259 1828 3121 10260 6141 3121 10261 5792 3121 10262 1813 3122 10263 4645 3122 10264 977 3122 10265 1912 3123 10266 4106 3123 10267 4197 3123 10268 4224 3124 10269 813 3124 10270 4081 3124 10271 4075 3125 10272 4290 3125 10273 4579 3125 10274 1805 3126 10275 4645 3126 10276 1813 3126 10277 1815 3127 10278 4194 3127 10279 4161 3127 10280 1176 3128 10281 1825 3128 10282 4296 3128 10283 4277 3129 10284 987 3129 10285 2047 3129 10286 1883 3130 10287 4655 3130 10288 1185 3130 10289 5846 3131 10290 1658 3131 10291 4077 3131 10292 4106 3132 10293 2134 3132 10294 4079 3132 10295 4075 3133 10296 4122 3133 10297 4670 3133 10298 5804 3134 10299 1807 3134 10300 4298 3134 10301 1818 3135 10302 4082 3135 10303 2023 3135 10304 1818 3136 10305 4194 3136 10306 1815 3136 10307 3418 3137 10308 3303 3137 10309 3185 3137 10310 4657 3138 10311 2147 3138 10312 4086 3138 10313 4631 3139 10314 2187 3139 10315 1935 3139 10316 1829 3140 10317 1593 3140 10318 929 3140 10319 1829 3141 10320 1477 3141 10321 1593 3141 10322 1891 3142 10323 1123 3142 10324 1177 3142 10325 4286 3143 10326 4078 3143 10327 4293 3143 10328 4670 3144 10329 4224 3144 10330 4075 3144 10331 5846 3145 10332 4077 3145 10333 4224 3145 10334 2024 3146 10335 1006 3146 10336 2155 3146 10337 1912 3147 10338 1829 3147 10339 1811 3147 10340 970 3148 10341 4448 3148 10342 1199 3148 10343 2144 3149 10344 1003 3149 10345 1851 3149 10346 1852 3150 10347 4666 3150 10348 1880 3150 10349 5674 3151 10350 1967 3151 10351 1423 3151 10352 813 3152 10353 4224 3152 10354 4670 3152 10355 4106 3153 10356 4079 3153 10357 4587 3153 10358 5674 3154 10359 1423 3154 10360 1966 3154 10361 5449 3155 10362 5804 3155 10363 4298 3155 10364 4284 3156 10365 1903 3156 10366 1904 3156 10367 6146 3157 10368 5665 3157 10369 5664 3157 10370 5802 3158 10371 5801 3158 10372 5680 3158 10373 5805 3159 10374 1902 3159 10375 1830 3159 10376 1860 3160 10377 4838 3160 10378 1923 3160 10379 5796 3161 10380 4412 3161 10381 4064 3161 10382 2038 3162 10383 4269 3162 10384 4250 3162 10385 6147 3163 10386 1865 3163 10387 1878 3163 10388 1010 3164 10389 1219 3164 10390 4666 3164 10391 4079 3165 10392 2134 3165 10393 5449 3165 10394 2174 3166 10395 5793 3166 10396 1887 3166 10397 5804 3167 10398 1801 3167 10399 1824 3167 10400 3706 3168 10401 6064 3168 10402 6035 3168 10403 1229 3169 10404 979 3169 10405 4640 3169 10406 5805 3170 10407 1863 3170 10408 929 3170 10409 5803 3171 10410 5819 3171 10411 1896 3171 10412 1871 3172 10413 2149 3172 10414 4271 3172 10415 1871 3173 10416 4853 3173 10417 1122 3173 10418 1054 3174 10419 4284 3174 10420 1904 3174 10421 1912 3175 10422 1811 3175 10423 4106 3175 10424 2003 3176 10425 1262 3176 10426 5453 3176 10427 6094 3177 10428 4852 3177 10429 1973 3177 10430 971 3178 10431 1891 3178 10432 1177 3178 10433 1829 3179 10434 1863 3179 10435 1811 3179 10436 1863 3180 10437 5805 3180 10438 1811 3180 10439 6098 3181 10440 3678 3181 10441 2693 3181 10442 1717 3182 10443 4395 3182 10444 1424 3182 10445 4078 3183 10446 1818 3183 10447 1815 3183 10448 1011 3184 10449 1628 3184 10450 1744 3184 10451 4892 3185 10452 4410 3185 10453 4404 3185 10454 1880 3186 10455 4665 3186 10456 983 3186 10457 981 3187 10458 1203 3187 10459 1005 3187 10460 4595 3188 10461 4174 3188 10462 4590 3188 10463 1923 3189 10464 5779 3189 10465 5663 3189 10466 1976 3190 10467 6150 3190 10468 1814 3190 10469 1923 3191 10470 4838 3191 10471 5779 3191 10472 4627 3192 10473 1008 3192 10474 1190 3192 10475 4238 3193 10476 1960 3193 10477 4289 3193 10478 4659 3194 10479 1218 3194 10480 2120 3194 10481 4224 3195 10482 1876 3195 10483 4075 3195 10484 4174 3196 10485 4405 3196 10486 4590 3196 10487 1880 3197 10488 983 3197 10489 1003 3197 10490 1209 3198 10491 1679 3198 10492 1203 3198 10493 1811 3199 10494 2134 3199 10495 4106 3199 10496 1889 3200 10497 4733 3200 10498 1978 3200 10499 3165 3201 10500 2764 3201 10501 3421 3201 10502 1890 3202 10503 4169 3202 10504 4155 3202 10505 4052 3203 10506 3485 3203 10507 3283 3203 10508 4090 3204 10509 1450 3204 10510 4086 3204 10511 1892 3205 10512 4345 3205 10513 4394 3205 10514 1892 3206 10515 4508 3206 10516 4204 3206 10517 1893 3207 10518 4346 3207 10519 4395 3207 10520 1893 3208 10521 4507 3208 10522 4416 3208 10523 1894 3209 10524 1483 3209 10525 4109 3209 10526 1754 3210 10527 4155 3210 10528 1924 3210 10529 1717 3211 10530 1951 3211 10531 4395 3211 10532 1895 3212 10533 4117 3212 10534 4169 3212 10535 1895 3213 10536 4246 3213 10537 4143 3213 10538 1972 3214 10539 4392 3214 10540 929 3214 10541 5928 3215 10542 5786 3215 10543 2354 3215 10544 1904 3216 10545 1903 3216 10546 6141 3216 10547 1811 3217 10548 5804 3217 10549 5449 3217 10550 1901 3218 10551 4150 3218 10552 4109 3218 10553 2130 3219 10554 4629 3219 10555 1962 3219 10556 4262 3220 10557 1798 3220 10558 1979 3220 10559 1717 3221 10560 4601 3221 10561 4630 3221 10562 1422 3222 10563 1937 3222 10564 5443 3222 10565 2055 3223 10566 1432 3223 10567 2158 3223 10568 4449 3224 10569 1858 3224 10570 916 3224 10571 1907 3225 10572 4222 3225 10573 1420 3225 10574 1907 3226 10575 4261 3226 10576 2129 3226 10577 1897 3227 10578 1957 3227 10579 1770 3227 10580 1877 3228 10581 4603 3228 10582 4091 3228 10583 1422 3229 10584 4851 3229 10585 1937 3229 10586 6140 3230 10587 2016 3230 10588 1420 3230 10589 2133 3231 10590 5515 3231 10591 4760 3231 10592 1909 3232 10593 5431 3232 10594 4180 3232 10595 5847 3233 10596 4236 3233 10597 4130 3233 10598 1910 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3250 3255 10662 2745 3255 10663 3466 3255 10664 1937 3256 10665 4130 3256 10666 4236 3256 10667 1937 3257 10668 4236 3257 10669 2172 3257 10670 3192 3258 10671 3716 3258 10672 3468 3258 10673 4392 3259 10674 1798 3259 10675 1902 3259 10676 4224 3260 10677 4077 3260 10678 1658 3260 10679 2105 3261 10680 4616 3261 10681 4614 3261 10682 4236 3262 10683 2101 3262 10684 4259 3262 10685 1949 3263 10686 4295 3263 10687 4608 3263 10688 1949 3264 10689 4603 3264 10690 4234 3264 10691 1950 3265 10692 1877 3265 10693 4508 3265 10694 5432 3266 10695 5828 3266 10696 809 3266 10697 1951 3267 10698 1934 3267 10699 4507 3267 10700 1952 3268 10701 4234 3268 10702 4603 3268 10703 1952 3269 10704 4631 3269 10705 1845 3269 10706 4143 3270 10707 1431 3270 10708 1770 3270 10709 1957 3271 10710 4277 3271 10711 2047 3271 10712 2439 3272 10713 3620 3272 10714 3389 3272 10715 4646 3273 10716 2146 3273 10717 4143 3273 10718 2352 3274 10719 3718 3274 10720 3417 3274 10721 4170 3275 10722 4156 3275 10723 1773 3275 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4149 3296 10787 6107 3297 10788 6074 3297 10789 3727 3297 10790 4262 3298 10791 6139 3298 10792 1902 3298 10793 5805 3299 10794 1830 3299 10795 1820 3299 10796 1935 3300 10797 1950 3300 10798 4394 3300 10799 3103 3301 10800 3657 3301 10801 3656 3301 10802 1977 3302 10803 4393 3302 10804 4091 3302 10805 1977 3303 10806 4262 3303 10807 1979 3303 10808 1978 3304 10809 4392 3304 10810 4189 3304 10811 1978 3305 10812 4733 3305 10813 1979 3305 10814 4262 3306 10815 1977 3306 10816 4091 3306 10817 1863 3307 10818 1829 3307 10819 929 3307 10820 3950 3308 10821 3789 3308 10822 3809 3308 10823 3973 3309 10824 5669 3309 10825 4276 3309 10826 3973 3310 10827 4167 3310 10828 3937 3310 10829 4704 3311 10830 2039 3311 10831 2184 3311 10832 3972 3312 10833 3912 3312 10834 3815 3312 10835 4272 3313 10836 4862 3313 10837 3562 3313 10838 2013 3314 10839 3840 3314 10840 3946 3314 10841 3789 3315 10842 3886 3315 10843 3809 3315 10844 4167 3316 10845 3973 3316 10846 4276 3316 10847 3592 3317 10848 3436 3317 10849 2116 3317 10850 2165 3318 10851 3943 3318 10852 1839 3318 10853 3967 3319 10854 3970 3319 10855 3812 3319 10856 3935 3320 10857 6114 3320 10858 3790 3320 10859 2179 3321 10860 4856 3321 10861 3827 3321 10862 6112 3322 10863 3788 3322 10864 3902 3322 10865 3907 3323 10866 6118 3323 10867 3781 3323 10868 3891 3324 10869 1195 3324 10870 6048 3324 10871 3964 3325 10872 5434 3325 10873 3867 3325 10874 4055 3326 10875 1838 3326 10876 5967 3326 10877 3934 3327 10878 6120 3327 10879 3907 3327 10880 3790 3328 10881 6123 3328 10882 3930 3328 10883 6115 3329 10884 3826 3329 10885 6116 3329 10886 5951 3330 10887 3924 3330 10888 3921 3330 10889 5966 3331 10890 2177 3331 10891 6125 3331 10892 2012 3332 10893 3875 3332 10894 3877 3332 10895 1985 3333 10896 4056 3333 10897 3784 3333 10898 1195 3334 10899 3433 3334 10900 6048 3334 10901 2070 3335 10902 2073 3335 10903 3899 3335 10904 1174 3336 10905 4269 3336 10906 1835 3336 10907 2121 3337 10908 3440 3337 10909 2142 3337 10910 3882 3338 10911 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10974 3841 3359 10975 3944 3359 10976 3820 3360 10977 3836 3360 10978 3806 3360 10979 3951 3361 10980 3840 3361 10981 3858 3361 10982 3462 3362 10983 3678 3362 10984 3637 3362 10985 3951 3363 10986 3851 3363 10987 3946 3363 10988 3822 3364 10989 3844 3364 10990 3890 3364 10991 3441 3365 10992 2065 3365 10993 2004 3365 10994 3859 3366 10995 5615 3366 10996 2759 3366 10997 3807 3367 10998 6119 3367 10999 3781 3367 11000 3818 3368 11001 3847 3368 11002 3868 3368 11003 3841 3369 11004 3956 3369 11005 3858 3369 11006 3843 3370 11007 3957 3370 11008 3864 3370 11009 4856 3371 11010 3839 3371 11011 3827 3371 11012 1660 3372 11013 2061 3372 11014 1730 3372 11015 3851 3373 11016 3951 3373 11017 3858 3373 11018 3822 3374 11019 3939 3374 11020 3949 3374 11021 3960 3375 11022 3817 3375 11023 3950 3375 11024 4042 3376 11025 4329 3376 11026 4889 3376 11027 3841 3377 11028 3953 3377 11029 3860 3377 11030 3854 3378 11031 3958 3378 11032 3864 3378 11033 3969 3379 11034 2007 3379 11035 4146 3379 11036 1988 3380 11037 3925 3380 11038 3850 3380 11039 4088 3381 11040 3817 3381 11041 3959 3381 11042 3592 3382 11043 2004 3382 11044 3593 3382 11045 2000 3383 11046 2100 3383 11047 3445 3383 11048 1987 3384 11049 4140 3384 11050 4149 3384 11051 3802 3385 11052 3946 3385 11053 4056 3385 11054 4168 3386 11055 2091 3386 11056 3888 3386 11057 3823 3387 11058 3848 3387 11059 3916 3387 11060 3809 3388 11061 3960 3388 11062 3950 3388 11063 6109 3389 11064 3865 3389 11065 6110 3389 11066 3830 3390 11067 2094 3390 11068 5951 3390 11069 2103 3391 11070 5738 3391 11071 2088 3391 11072 3889 3392 11073 3814 3392 11074 3831 3392 11075 1988 3393 11076 3850 3393 11077 3933 3393 11078 6113 3394 11079 1985 3394 11080 3862 3394 11081 3410 3395 11082 2018 3395 11083 2121 3395 11084 3782 3396 11085 4088 3396 11086 3959 3396 11087 3419 3397 11088 3609 3397 11089 3454 3397 11090 3812 3398 11091 2080 3398 11092 3942 3398 11093 2033 3399 11094 4250 3399 11095 4269 3399 11096 2715 3400 11097 3828 3400 11098 2020 3400 11099 3848 3401 11100 3870 3401 11101 2716 3401 11102 3748 3402 11103 3352 3402 11104 3733 3402 11105 2082 3403 11106 3849 3403 11107 3852 3403 11108 3929 3404 11109 4146 3404 11110 3861 3404 11111 3866 3405 11112 3950 3405 11113 3817 3405 11114 2157 3406 11115 3493 3406 11116 2199 3406 11117 3931 3407 11118 2167 3407 11119 6111 3407 11120 3928 3408 11121 3832 3408 11122 3874 3408 11123 3927 3409 11124 3801 3409 11125 3868 3409 11126 3927 3410 11127 3847 3410 11128 3875 3410 11129 2102 3411 11130 3845 3411 11131 2087 3411 11132 3926 3412 11133 3847 3412 11134 3874 3412 11135 3348 3413 11136 3683 3413 11137 2412 3413 11138 2715 3414 11139 3947 3414 11140 3908 3414 11141 3851 3415 11142 2165 3415 11143 3784 3415 11144 2019 3416 11145 4856 3416 11146 2179 3416 11147 2177 3417 11148 5966 3417 11149 2152 3417 11150 3924 3418 11151 3439 3418 11152 3895 3418 11153 5678 3419 11154 5498 3419 11155 2054 3419 11156 5547 3420 11157 5535 3420 11158 6078 3420 11159 2018 3421 11160 3593 3421 11161 2121 3421 11162 3921 3422 11163 3924 3422 11164 3434 3422 11165 5951 3423 11166 5949 3423 11167 3541 3423 11168 5941 3424 11169 4276 3424 11170 5500 3424 11171 5740 3425 11172 6082 3425 11173 5957 3425 11174 3961 3426 11175 1174 3426 11176 1835 3426 11177 2001 3427 11178 2010 3427 11179 3783 3427 11180 3839 3428 11181 3837 3428 11182 3916 3428 11183 3818 3429 11184 4168 3429 11185 3874 3429 11186 2161 3430 11187 2075 3430 11188 5677 3430 11189 2165 3431 11190 3797 3431 11191 3862 3431 11192 3898 3432 11193 6133 3432 11194 3899 3432 11195 2002 3433 11196 3918 3433 11197 3923 3433 11198 1262 3434 11199 6043 3434 11200 5480 3434 11201 3915 3435 11202 4102 3435 11203 3813 3435 11204 3889 3436 11205 3831 3436 11206 3805 3436 11207 6128 3437 11208 3821 3437 11209 3903 3437 11210 3857 3438 11211 3823 3438 11212 3893 3438 11213 2646 3439 11214 2621 3439 11215 2386 3439 11216 3824 3440 11217 6128 3440 11218 3949 3440 11219 5790 3441 11220 3813 3441 11221 4055 3441 11222 3909 3442 11223 3925 3442 11224 3970 3442 11225 3955 3443 11226 3942 3443 11227 4056 3443 11228 6110 3444 11229 3900 3444 11230 3885 3444 11231 5498 3445 11232 4279 3445 11233 2054 3445 11234 3906 3446 11235 2069 3446 11236 3819 3446 11237 5962 3447 11238 3785 3447 11239 3792 3447 11240 2001 3448 11241 1986 3448 11242 2010 3448 11243 2070 3449 11244 3899 3449 11245 3787 3449 11246 3923 3450 11247 3922 3450 11248 4093 3450 11249 3838 3451 11250 3969 3451 11251 3929 3451 11252 3844 3452 11253 6124 3452 11254 3890 3452 11255 3839 3453 11256 3916 3453 11257 3827 3453 11258 6113 3454 11259 3955 3454 11260 1985 3454 11261 6120 3455 11262 3934 3455 11263 6119 3455 11264 3851 3456 11265 3811 3456 11266 3943 3456 11267 6126 3457 11268 6127 3457 11269 2154 3457 11270 3802 3458 11271 3843 3458 11272 3946 3458 11273 3911 3459 11274 3929 3459 11275 3795 3459 11276 3541 3460 11277 2109 3460 11278 4072 3460 11279 3492 3461 11280 2093 3461 11281 2766 3461 11282 3906 3462 11283 2085 3462 11284 3807 3462 11285 3824 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3567 11598 4285 3567 11599 3164 3567 11600 3942 3568 11601 3955 3568 11602 3812 3568 11603 2008 3569 11604 3164 3569 11605 3933 3569 11606 3796 3570 11607 3908 3570 11608 3947 3570 11609 4146 3571 11610 2169 3571 11611 2064 3571 11612 3860 3572 11613 3798 3572 11614 3841 3572 11615 2697 3573 11616 2090 3573 11617 3515 3573 11618 3955 3574 11619 3967 3574 11620 3812 3574 11621 3908 3575 11622 3796 3575 11623 3930 3575 11624 5951 3576 11625 3541 3576 11626 3924 3576 11627 2010 3577 11628 3803 3577 11629 3783 3577 11630 5434 3578 11631 3871 3578 11632 3867 3578 11633 3798 3579 11634 3948 3579 11635 3841 3579 11636 2003 3580 11637 2153 3580 11638 2175 3580 11639 2172 3581 11640 4236 3581 11641 4259 3581 11642 4226 3582 11643 2115 3582 11644 3444 3582 11645 3840 3583 11646 2156 3583 11647 3858 3583 11648 3849 3584 11649 2082 3584 11650 3828 3584 11651 4834 3585 11652 2095 3585 11653 1849 3585 11654 3824 3586 11655 6118 3586 11656 3907 3586 11657 3840 3587 11658 2013 3587 11659 3864 3587 11660 3782 3588 11661 3876 3588 11662 4088 3588 11663 2150 3589 11664 4608 3589 11665 4295 3589 11666 3809 3590 11667 3886 3590 11668 3881 3590 11669 5687 3591 11670 2029 3591 11671 4861 3591 11672 3840 3592 11673 3951 3592 11674 3946 3592 11675 3801 3593 11676 3808 3593 11677 3867 3593 11678 3805 3594 11679 2166 3594 11680 3869 3594 11681 3799 3595 11682 2080 3595 11683 3935 3595 11684 6126 3596 11685 2160 3596 11686 6118 3596 11687 2021 3597 11688 3963 3597 11689 3964 3597 11690 3810 3598 11691 3909 3598 11692 3967 3598 11693 3790 3599 11694 3930 3599 11695 3796 3599 11696 2165 3600 11697 3851 3600 11698 3943 3600 11699 3784 3601 11700 4056 3601 11701 3946 3601 11702 3794 3602 11703 2020 3602 11704 3828 3602 11705 3808 3603 11706 3801 3603 11707 3875 3603 11708 3791 3604 11709 3904 3604 11710 6135 3604 11711 3791 3605 11712 5686 3605 11713 3881 3605 11714 3949 3606 11715 2169 3606 11716 6117 3606 11717 2103 3607 11718 4287 3607 11719 6082 3607 11720 2008 3608 11721 3872 3608 11722 4275 3608 11723 2351 3609 11724 3721 3609 11725 3131 3609 11726 2089 3610 11727 3912 3610 11728 3937 3610 11729 3960 3611 11730 3898 3611 11731 3899 3611 11732 3801 3612 11733 3927 3612 11734 3875 3612 11735 3433 3613 11736 3895 3613 11737 3439 3613 11738 3262 3614 11739 6043 3614 11740 2696 3614 11741 5958 3615 11742 3917 3615 11743 5501 3615 11744 3854 3616 11745 1837 3616 11746 3918 3616 11747 6092 3617 11748 5501 3617 11749 3917 3617 11750 2179 3618 11751 2716 3618 11752 3801 3618 11753 6126 3619 11754 2154 3619 11755 2160 3619 11756 3907 3620 11757 3816 3620 11758 3821 3620 11759 3962 3621 11760 3885 3621 11761 3787 3621 11762 3913 3622 11763 5669 3622 11764 3937 3622 11765 1981 3623 11766 3387 3623 11767 2689 3623 11768 5961 3624 11769 5960 3624 11770 6113 3624 11771 2707 3625 11772 3591 3625 11773 3527 3625 11774 2161 3626 11775 3783 3626 11776 3803 3626 11777 3904 3627 11778 3791 3627 11779 3881 3627 11780 4226 3628 11781 2100 3628 11782 5563 3628 11783 3850 3629 11784 2152 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4854 3671 11910 2071 3671 11911 1982 3671 11912 5519 3672 11913 2014 3672 11914 5504 3672 11915 3925 3673 11916 1988 3673 11917 3970 3673 11918 1993 3674 11919 3430 3674 11920 3492 3674 11921 3841 3675 11922 2156 3675 11923 3944 3675 11924 2015 3676 11925 4285 3676 11926 4275 3676 11927 3541 3677 11928 4072 3677 11929 6049 3677 11930 3788 3678 11931 2070 3678 11932 3885 3678 11933 6128 3679 11934 3903 3679 11935 3968 3679 11936 3823 3680 11937 3916 3680 11938 4063 3680 11939 3960 3681 11940 6129 3681 11941 3817 3681 11942 3781 3682 11943 2160 3682 11944 3906 3682 11945 2100 3683 11946 4226 3683 11947 3445 3683 11948 4063 3684 11949 2072 3684 11950 3893 3684 11951 3903 3685 11952 826 3685 11953 2073 3685 11954 4225 3686 11955 3861 3686 11956 4146 3686 11957 3445 3687 11958 3427 3687 11959 3525 3687 11960 3882 3688 11961 3797 3688 11962 3941 3688 11963 5742 3689 11964 5970 3689 11965 5949 3689 11966 3823 3690 11967 3857 3690 11968 3848 3690 11969 5950 3691 11970 5737 3691 11971 5739 3691 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/dave_object_models/models/uxo_a/model.config b/models/dave_object_models/models/uxo_a/model.config new file mode 100644 index 00000000..7fe98cf0 --- /dev/null +++ b/models/dave_object_models/models/uxo_a/model.config @@ -0,0 +1,16 @@ + + + + uxo_a + 1.0 + model.sdf + + + Brian Bingham + briansbingham@gmail.com + + + + UXO A + + diff --git a/models/dave_object_models/models/uxo_a/model.sdf b/models/dave_object_models/models/uxo_a/model.sdf new file mode 100644 index 00000000..6f924e71 --- /dev/null +++ b/models/dave_object_models/models/uxo_a/model.sdf @@ -0,0 +1,34 @@ + + + + false + + + 25 + + 0.12 + 0.0 + 0.0 + 2.6 + 0.0 + 2.6 + + + + + + file://uxo_a/meshes/uxo_a.dae + + + + + 0 0 0 0 0 0 + + + file://uxo_a/meshes/uxo_a_collision.dae + + + + + + diff --git a/models/dave_object_models/models/uxo_b/inertial_calcs.py b/models/dave_object_models/models/uxo_b/inertial_calcs.py new file mode 100644 index 00000000..25b484b3 --- /dev/null +++ b/models/dave_object_models/models/uxo_b/inertial_calcs.py @@ -0,0 +1,21 @@ +''' +iPython script to calculate inertial properties +''' +from math import pi + +# Mass [kg] +m = 100.0 +# Length and dia [m] +l = 1.2 +d = 0.3 +# Volume +v = pi*(d/2)**2*l + +# "mass" in water [kg] +m_water = m - v*1000.0 +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)) diff --git a/models/dave_object_models/models/uxo_b/meshes/uxo_b.dae b/models/dave_object_models/models/uxo_b/meshes/uxo_b.dae new file mode 100644 index 00000000..db1464cb --- /dev/null +++ b/models/dave_object_models/models/uxo_b/meshes/uxo_b.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 3.0.0 commit date:2021-12-02, commit time:18:35, hash:f1cca3055776 + + 2022-02-11T15:11:30 + 2022-02-11T15:11:30 + + Z_UP + + + + + + + Munition_B_png 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/dave_object_models/models/uxo_b/model.config b/models/dave_object_models/models/uxo_b/model.config new file mode 100644 index 00000000..b3b1fffb --- /dev/null +++ b/models/dave_object_models/models/uxo_b/model.config @@ -0,0 +1,16 @@ + + + + uxo_b + 1.0 + model.sdf + + + Brian Bingham + briansbingham@gmail.com + + + + UXO B + + diff --git a/models/dave_object_models/models/uxo_b/model.sdf b/models/dave_object_models/models/uxo_b/model.sdf new file mode 100644 index 00000000..d39f0435 --- /dev/null +++ b/models/dave_object_models/models/uxo_b/model.sdf @@ -0,0 +1,34 @@ + + + + false + + + 15 + + 0.17 + 0.0 + 0.0 + 1.9 + 0.0 + 1.9 + + + + + + file://uxo_b/meshes/uxo_b.dae + + + + + 0 0 0 0 0 0 + + + file://uxo_b/meshes/uxo_b_collision.dae + + + + + + diff --git a/models/dave_object_models/models/uxo_c/inertial_calcs.py b/models/dave_object_models/models/uxo_c/inertial_calcs.py new file mode 100644 index 00000000..e210966e --- /dev/null +++ b/models/dave_object_models/models/uxo_c/inertial_calcs.py @@ -0,0 +1,21 @@ +''' +iPython script to calculate inertial properties +''' +from math import pi + +# Mass [kg] +m = 360.0 +# Length and dia [m] +l = 2.6 +d = 0.4 +# Volume +v = pi*(d/2)**2*l + +# "mass" in water [kg] +m_water = m - v*1000.0 +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)) diff --git a/models/dave_object_models/models/uxo_c/meshes/uxo_c.dae b/models/dave_object_models/models/uxo_c/meshes/uxo_c.dae new file mode 100644 index 00000000..eaad75e8 --- /dev/null +++ b/models/dave_object_models/models/uxo_c/meshes/uxo_c.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 3.0.0 commit date:2021-12-02, commit time:18:35, hash:f1cca3055776 + + 2022-02-11T16:01:05 + 2022-02-11T16:01:05 + + Z_UP + + + + + + + Munition_C_psd 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/models/dave_object_models/models/uxo_c/model.config b/models/dave_object_models/models/uxo_c/model.config new file mode 100644 index 00000000..b1c24b8c --- /dev/null +++ b/models/dave_object_models/models/uxo_c/model.config @@ -0,0 +1,16 @@ + + + + uxo_c + 1.0 + model.sdf + + + Brian Bingham + briansbingham@gmail.com + + + + UXO C + + diff --git a/models/dave_object_models/models/uxo_c/model.sdf b/models/dave_object_models/models/uxo_c/model.sdf new file mode 100644 index 00000000..805ce62a --- /dev/null +++ b/models/dave_object_models/models/uxo_c/model.sdf @@ -0,0 +1,35 @@ + + + + false + + + 0.5 0 0 0 0 0 + 33.0 + + 0.67 + 0.0 + 0.0 + 19 + 0.0 + 19 + + + + + + file://uxo_c/meshes/uxo_c.dae + + + + + 0 0 0 0 0 0 + + + file://uxo_c/meshes/uxo_c_collision.dae + + + + + + diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world new file mode 100644 index 00000000..98fc34fa --- /dev/null +++ b/models/dave_worlds/worlds/dave_ocean_models.world @@ -0,0 +1,172 @@ + + + + + + + + 0.002 + 1 + 500 + + + 0.01 0.01 0.01 1.0 + + + 12 + + + 1 + + + + + 56.71897669633431 + 3.515625 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + + + + -50 0 -150 0 0 0 + 0.6 0.6 0.6 1 + 0 0 0 1 + -0.3 -0.3 -1 + false + + + + -100 500 -20 0 0 0 + 0.8 0.8 0.8 1 + 1 1 1 1 + -1 -1 0 + false + + + + -150 -130 50 0 0 0 + 0.6 0.6 0.6 1 + 0.2 0.2 0.2 1 + 0.5 0.5 -1 + false + + + + + model://ned_frame + 0 0 0 0 0 0 + + + + + model://ocean + 0 0 0 0 0 0 + + + + + model://sand_heightmap + 0 0 -95 0 0 0 + + + + hydrodynamics + + current_velocity + + 0 + 0 + 5 + 0.0 + 0.0 + + + + 0 + -3.141592653589793238 + 3.141592653589793238 + 0.0 + 0.0 + + + + 0 + -3.141592653589793238 + 3.141592653589793238 + 0.0 + 0.0 + + + + + + + + + 18.0 -4.4 -90 0 0.68 2.95 + orbit + perspective + + + + + + torpedo_mk46 + 13 -1 -94 0 0 0 + model://torpedo_mk46 + + + + sonobuoy + 13 -2 -94 0 0 0 + model://sonobuoy + + + + flight_data_recorder + 13 -3 -94 0 0 0 + model://flight_data_recorder + + + + uxo_a + 13 -4 -94 0 0 0 + model://uxo_a + + + + uxo_b + 13 -5 -94 0 0 0 + model://uxo_b + + + + uxo_c + 13 -6 -94 0 0 0 + model://uxo_c + + + +