A generic AUV.

See the TorpedoAUV.

Control Schemes

AUV Fins (``0``)

Takes in a 5 length vector. The first element is the right fin angle from -45 to 45 degrees, then top, left, and bottom. The last element is the “thruster” with a value of -100 to 100.

Custom Dynamics (``1``)

A 6-length floating point vector of linear and angular accelerations in the global frame. This is to be used for implementing custom dynamics. Besides collisions, all other forces and torques - including gravity, buoyancy, and damping - have been disabled in the simulator to allow for a clean slate for custom dynamics.


  • COM Center of mass

  • DVLSocket Location of the DVL

  • IMUSocket Location of the IMU.

  • DepthSocket Location of the depth sensor.

  • SonarSocket Location of the sonar sensor.

  • Viewport where the robot is viewed from.

../_images/torpedo-angled.png ../_images/torpedo-top.png ../_images/torpedo-right.png