adding drag to model

Signed-off-by: Dharini Dutia <[email protected]>
osrf · Jan 27, 2023 · cc24457 · cc24457
1 parent f357768
commit cc24457
Show file tree

Hide file tree

Showing 2 changed files with 36 additions and 0 deletions.
diff --git a/buoy_description/models/mbari_wec/model.sdf b/buoy_description/models/mbari_wec/model.sdf
@@ -6,6 +6,7 @@
       <uri>package://buoy_description/models/mbari_wec_base</uri>
     </include>
 
+    <!-- Electro-Hydraulic PTO Plugin -->
     <plugin filename="ElectroHydraulicPTO" name="buoy_gazebo::ElectroHydraulicPTO">
       <PrismaticJointName>HydraulicRam</PrismaticJointName>
       <PistonArea>1.375</PistonArea>
@@ -67,6 +68,7 @@
       <P2>1212740</P2>
     </plugin>
 
+    <!-- Adding Friction to PTO -->
     <plugin filename="PTOFriction" name="buoy_gazebo::PTOFriction">
       <PrismaticJointName>HydraulicRam</PrismaticJointName>
     </plugin>

diff --git a/buoy_description/models/mbari_wec_base/model.sdf.em b/buoy_description/models/mbari_wec_base/model.sdf.em
@@ -529,5 +529,39 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
       </axis>
     </joint>
 
+    <!-- Viscous Drag for Buoy -->
+    <plugin filename="gz-sim-hydrodynamics-system"
+      name="gz::sim::systems::Hydrodynamics">
+      <link_name>Buoy</link_name>
+      <xUU>-430</xUU>  <!-- Surge Quadratic Drag kg/m -->
+      <yVV>-430</yVV>  <!-- Sway Quadratic Drag kg/m -->
+      <zWW>-3280 </zWW>  <!-- Vertical Quadratic Drag kg/m -->
+      <disable_added_mass>true</disable_added_mass>
+    </plugin>
+
+    <!-- Viscous Drag for PTO -->
+    <plugin filename="gz-sim-hydrodynamics-system"
+      name="gz::sim::systems::Hydrodynamics">
+      <link_name>PTO</link_name>
+      <xUU>-815</xUU>  <!-- Surge Quadratic Drag kg/m -->
+      <yVV>-815</yVV>  <!-- Sway Quadratic Drag kg/m -->
+      <zWW>-3200 </zWW>  <!-- Vertical Quadratic Drag kg/m -->
+      <kPP>-140200</kPP>  <!-- Roll Quadratic Drag kg m^2 -->
+      <mQQ>-140200</mQQ>  <!-- Roll Quadratic Drag kg m^2 -->
+      <disable_added_mass>true</disable_added_mass>
+    </plugin>
+
+    <!-- Viscous Drag for Heave Cone -->
+    <plugin filename="gz-sim-hydrodynamics-system"
+      name="gz::sim::systems::Hydrodynamics">
+      <link_name>HeaveCone</link_name>
+      <xUU>-1580</xUU>  <!-- Surge Quadratic Drag kg/m -->
+      <yVV>-1580</yVV>  <!-- Sway Quadratic Drag kg/m -->
+      <zWW>-3200 </zWW>  <!-- Vertical Quadratic Drag kg/m: -3200 open, -3900 close -->
+      <kPP>-4620</kPP>  <!-- Roll Quadratic Drag kg m^2 -->
+      <mQQ>-4620</mQQ>  <!-- Roll Quadratic Drag kg m^2 -->
+      <disable_added_mass>true</disable_added_mass>
+    </plugin>
+
   </model>
 </sdf>