mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.7 KiB
Plaintext
63 lines
1.7 KiB
Plaintext
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#VRML_SIM R2023a utf8
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/released/projects/robots/adept/pioneer3/protos/Pioneer3at.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/StraightRoadSegment.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto"
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WorldInfo {
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title "Pioneer3at Ardupilot"
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basicTimeStep 2
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FPS 20
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}
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Viewpoint {
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orientation 0.12905547789670888 -0.9264705889754452 -0.353549050894418 5.532540449151996
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position -2.921033113316591 -0.8540816786630955 2.693602881281485
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follow "Pioneer 3-AT"
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followSmoothness 0.01
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}
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TexturedBackground {
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}
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TexturedBackgroundLight {
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}
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Floor {
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size 300 100
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appearance Grass {
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}
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}
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StraightRoadSegment {
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translation -15 0.3 0.02
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rotation 0 0 1 0.105
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width 16.5
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rightBorder FALSE
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leftBorder FALSE
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length 140
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}
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Pioneer3at {
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controller "ardupilot_vehicle_controller"
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controllerArgs [
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"--motors"
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"front left wheel, back left wheel, front right wheel, back right wheel"
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"--camera-fps"
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"10"
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"--motor-cap"
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"100"
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"--bidirectional-motors"
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"true"
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"--uses-propellers"
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"false"
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]
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extensionSlot [
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Accelerometer {
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}
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InertialUnit {
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}
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Gyro {
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}
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GPS {
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}
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]
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}
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