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aiauv_config.yml
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define: &PI 3.14159265358979323846
define: &PI_HALF 1.57079632679489661923
define: &PI_HALF_NEG -1.57079632679489661923
# define: &link_lengths [0.62, 0.1, 0.59, 0.1, 0.80, 0.1, 0.59, 0.1, 0.37]
sim_time: 100
gravity: [0.0, 0.0, 9.81]
# nonlinear drag coeffs in surge, roll, nonlinear crossflow drag coeff,
dragcoeffs:
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
- [0.2, 0.1, 0.5, 0.1, 0.1, 0.1]
joint_types:
- SixDOF
- Revolute
- Revolute
- Revolute
- Revolute
- Revolute
- Revolute
- Revolute
- Revolute
# mass: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
mass: []
# radius: [0.085, 0.085, 0.085, 0.085, 0.085, 0.085, 0.085, 0.085, 0.085]
radius: [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]
length: [&LL1 0.62, &LL2 0.1, &LL3 0.59, &LL4 0.1, &LL5 0.80, &LL6 0.1, &LL7 0.59, &LL8 0.1, &LL9 0.37]
fluid_density: 1000.0
parents: [0, 1, 2, 3, 4, 5, 6, 7, 8]
pos_com:
- [0.31, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.295, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.40, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.295, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.185, 0.0, 0.0]
pos_cob:
- [0.31, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.295, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.40, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.295, 0.0, 0.0]
- [0.05, 0.0, 0.0]
- [0.185, 0.0, 0.0]
# translations from frame i-1 to frame i (in frame i-1)
# Note that the offsets corresponding to SixDOF joints can be set to zero
pos_offsets:
- [0.0, 0.0, 0.0]
- [*LL1, 0.0, 0.0]
- [*LL2, 0.0, 0.0]
- [*LL3, 0.0, 0.0]
- [*LL4, 0.0, 0.0]
- [*LL5, 0.0, 0.0]
- [*LL6, 0.0, 0.0]
- [*LL7, 0.0, 0.0]
- [*LL8, 0.0, 0.0]
# [roll (phi), pitch(theta), yaw(psi)] representing R=Rz(psi)*Ry(theta)*Rx(phi)
# R rotates a vector x in frame i into frame i-1
# equivalently, rotates frame i-1 into frame i
roll_pitch_yaw_offsets:
- [0.0, 0.0, 0.0]
- [0.0, 0.0, 0.0]
- [*PI_HALF_NEG, 0.0, 0.0]
- [*PI_HALF, 0.0, 0.0]
- [*PI_HALF_NEG, 0.0, 0.0]
- [*PI_HALF, 0.0, 0.0]
- [*PI_HALF_NEG, 0.0, 0.0]
- [*PI_HALF, 0.0, 0.0]
- [*PI_HALF_NEG, 0.0, 0.0]
thruster_pos_offsets:
- [0.24, 0.0, 0.0]
- [0.35, 0.0, 0.0]
- [0.24, 0.0, 0.0]
- [0.53, 0.0, 0.15]
- [0.53, 0.0, -0.15]
- [0.24, 0.0, 0.1]
- [0.35, 0.0, 0.1]
# The direction of the thruster force in link frame
thruster_dirs:
- [0.0, -1.0, 0.0]
- [0.0, 0.0, 1.0]
- [0.0, -1.0, 0.0]
- [1.0, 0.0, 0.0]
- [1.0, 0.0, 0.0]
- [0.0, 0.0, 1.0]
- [0.0, -1.0, 0.0]
thruster_parents: [3, 3, 5, 5, 5, 7, 7]
# thruster_parents: [2, 2, 3, 3, 3, 4, 4]
added_mass_coeffs: []
added_alpha: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]