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WEBOTS_SITL: adjust_params model

This commit is contained in:
HefnySco 2021-11-14 17:49:25 +02:00 committed by Peter Barker
parent bca7f519c2
commit 5aa3714e71
13 changed files with 102 additions and 231 deletions
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36
libraries/SITL/SIM_Webots.cpp
View File

@ -396,37 +396,7 @@ void Webots::output_tricopter(const struct sitl_input &input)
sim_sock->send(buf, len);
}
/*
output control command assuming a 4 channel quad
*/
void Webots::output_quad(const struct sitl_input &input)
{
const float max_thrust = 1.0;
float motors[4];
for (uint8_t i=0; i<4; i++) {
//return a filtered servo input as a value from 0 to 1
//servo is assumed to be 1000 to 2000
motors[i] = constrain_float(((input.servos[i]-1000)/1000.0f) * max_thrust, 0, max_thrust);
}
const float &m_right = motors[0];
const float &m_left = motors[1];
const float &m_front = motors[2];
const float &m_back = motors[3];
// quad format in Webots is:
// m1: front
// m2: right
// m3: back
// m4: left
// construct a JSON packet for motors
char buf[200];
const int len = snprintf(buf, sizeof(buf)-1, "{\"eng\": [%.3f, %.3f, %.3f, %.3f], \"wnd\": [%f, %3.1f, %1.1f, %2.1f]}\n",
m_front, m_right, m_back, m_left,
input.wind.speed, wind_ef.x, wind_ef.y, wind_ef.z);
buf[len] = 0;
sim_sock->send(buf, len);
}
/*
output all 16 channels as PWM values. This allows for general
@ -454,7 +424,7 @@ void Webots::output (const struct sitl_input &input)
output_rover(input);
break;
case OUTPUT_QUAD:
output_quad(input);
output_pwm(input);
break;
case OUTPUT_TRICOPTER:
output_tricopter(input);
@ -481,9 +451,6 @@ void Webots::update(const struct sitl_input &input)
return ;
}
//printf("%lf %lf\n", state.timestamp, state.timestamp * 1.0e6f);
// printf("state.timestamp %lf\n", state.timestamp);
//time frame from simulator
frame_time_us = ((state.timestamp - last_state.timestamp) * 1.0e6f); //HERE
@ -495,7 +462,6 @@ void Webots::update(const struct sitl_input &input)
return ;
}
//printf ("state.timestamp %lf last_state.timestamp %lf frame_time_us %ld\n", state.timestamp, last_state.timestamp, frame_time_us);
time_now_us += frame_time_us;

182
libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.c
View File

@ -67,99 +67,7 @@ static int timestep;
FILE *fptr;
#endif
#ifdef DEBUG_USE_KB
/*
// Code used tp simulae motors using keys to make sure that sensors directions and motor torques and thrusts are all correct.
// You can start this controller and use telnet instead of SITL to start the simulator.
Then you can use Keyboard to emulate motor input.
*/
static float factor = 1.0f;
static float offset = 0.0f;
void process_keyboard ()
{
switch (wb_keyboard_get_key())
{
case 'Q': // Q key -> up & left
v[0] = 0.0;
v[1] = 0.0;
v[2] = 0.0;
v[3] = 0.0;
break;
case 'Y':
v[0] = v[0] + 0.01;
v[2] = v[2] - 0.01;
break;
case 'H':
v[0] = v[0] - 0.01;
v[2] = v[2] + 0.01;
break;
case 'G':
v[1] = v[1] + 0.01;
v[3] = v[3] - 0.01;
break;
case 'J':
v[1] = v[1] - 0.01;
v[3] = v[3] + 0.01;
break;
case 'E':
for (int i=0; i<MOTOR_NUM;++i)
{
v[i] += 0.00002;
}
break;
case 'W':
for (int i=0; i<MOTOR_NUM;++i)
{
v[i] += 0.0002;
}
break;
case 'S':
for (int i=0; i<MOTOR_NUM;++i)
{
v[i] -= 0.0002;
}
break;
case 'A':
v[1] = v[1] + 0.001;
v[3] = v[3] + 0.001;
v[0] = v[0] - 0.001;
v[2] = v[2] - 0.001;
break;
case 'D':
v[1] = v[1] - 0.001;
v[3] = v[3] - 0.001;
v[0] = v[0] + 0.001;
v[2] = v[2] + 0.001;
break;
}
for (int i=0; i< MOTOR_NUM; ++i)
{
wb_motor_set_position(motors[i], INFINITY);
wb_motor_set_velocity(motors[i], factor* v[i] + offset);
}
printf ("Motors Internal %f %f %f %f\n", v[0],v[1],v[2],v[3]);
}
#endif
/*
/**
// apply motor thrust.
*/
void update_controls()
@ -178,15 +86,9 @@ void update_controls()
we also want throttle to be linear with thrust so we use sqrt to calculate omega from input.
Check this doc: https://docs.google.com/spreadsheets/d/1eR4Fb6cgaTb-BHUKJbhAXPzyX0ZLtUcEE3EY-wQYvM8/edit?usp=sharing
*/
#ifndef DEBUG_USE_KB
//static float factor = 2.1f;
//static float offset = 0.0f;
//static float factor = 1.0f;
static float offset = 0.0f;
static float v[4];
static float motor_value[4];
// pls check https://docs.google.com/spreadsheets/d/1eR4Fb6cgaTb-BHUKJbhAXPzyX0ZLtUcEE3EY-wQYvM8/edit?usp=sharing
static float factorDyn[11] = {
3.6f, // 0.0
@ -204,33 +106,24 @@ void update_controls()
//#define LINEAR_THRUST
// SCALE SERVO SIGNALS from 1000-2000
for (int i=0;i<4;++i) {
state.motors.v[i] = (state.motors.v[i] - 1000.0f) * 0.001f;
}
#ifdef LINEAR_THRUST
v[0] = sqrt(state.motors.w) * factor + offset;
v[1] = sqrt(state.motors.x) * factor + offset;
v[2] = sqrt(state.motors.y) * factor + offset;
v[3] = sqrt(state.motors.z) * factor + offset;
#else
v[0] = (state.motors.w ) * factorDyn[(int)(10 * state.motors.w)] + offset;
v[1] = (state.motors.x ) * factorDyn[(int)(10 * state.motors.x)] + offset;
v[2] = (state.motors.y ) * factorDyn[(int)(10 * state.motors.y)] + offset;
v[3] = (state.motors.z ) * factorDyn[(int)(10 * state.motors.z)] + offset;
#endif //LINEAR_THRUST
for ( int i=0; i<4; ++i)
{
wb_motor_set_position(motors[i], INFINITY);
wb_motor_set_velocity(motors[i], v[i]);
}
motor_value[0] = (state.motors.v[2]) * factorDyn[10 * (int)(state.motors.v[2])] + offset;
motor_value[1] = (state.motors.v[0]) * factorDyn[10 * (int)(state.motors.v[0])] + offset;
motor_value[2] = (state.motors.v[3]) * factorDyn[10 * (int)(state.motors.v[3])] + offset;
motor_value[3] = (state.motors.v[1]) * factorDyn[10 * (int)(state.motors.v[1])] + offset;
for (int i=0; i<4; ++i)
{
wb_motor_set_position(motors[i], INFINITY);
wb_motor_set_velocity(motors[i], motor_value[i]);
}
#ifdef DEBUG_MOTORS
printf ("RAW F:%f R:%f B:%f L:%f\n", state.motors.w, state.motors.x, state.motors.y, state.motors.z);
printf ("Factors F:%f \n", factorDyn[(int)(10 * state.motors.w)]);
printf ("Motors F:%f R:%f B:%f L:%f\n", v[0], v[1], v[2], v[3]);
#endif //DEBUG_MOTORS
#endif //DEBUG_USE_KB
#ifdef WIND_SIMULATION
/*
@ -277,7 +170,7 @@ bool parse_controls(const char *json)
// look for section header
const char *p = strstr(json, key->section);
if (!p) {
// we don't have this sensor
// we don't have this section
continue;
}
p += strlen(key->section)+1;
@ -308,20 +201,36 @@ bool parse_controls(const char *json)
break;
case DATA_VECTOR4F: {
VECTOR4F *v = (VECTOR4F *)key->ptr;
VECTOR4F *v = (VECTOR4F *)key->ptr;
if (sscanf(p, "[%f, %f, %f, %f]", &(v->w), &(v->x), &(v->y), &(v->z)) != 4) {
fprintf(stderr,"Failed to parse Vector3f for %s %s/%s\n",p, key->section, key->key);
return false;
}
else
{
else {
#ifdef DEBUG_INPUT_DATA
printf("GOT %s/%s\n[%f, %f, %f, %f]\n ", key->section, key->key,v->w,v->x,v->y,v->z);
#endif
}
break;
break;
}
case DATA_VECTOR16F: {
VECTOR16F *v = (VECTOR16F *)key->ptr;
if (sscanf(p, "[%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f]", &(v->v[0]), &(v->v[1]), &(v->v[2]), &(v->v[3])
, &(v->v[4]), &(v->v[5]), &(v->v[6]), &(v->v[7])
, &(v->v[8]), &(v->v[9]), &(v->v[10]), &(v->v[11])
, &(v->v[12]), &(v->v[13]), &(v->v[14]), &(v->v[15])
) != 16) {
printf("Failed to parse DATA_VECTOR16F for %s %s/%s\n",p, key->section, key->key);
return false;
}
else {
#ifdef DEBUG_INPUT_DATA
printf("GOT %s/%s\n[%f, %f, %f, %f]\n ", key->section, key->key, (float)v->v[0], (float)v->v[1], (float)v->v[2], (float)v->v[3]);
#endif
}
break;
}
}
}
return true;
@ -329,9 +238,8 @@ bool parse_controls(const char *json)
void run ()
{
char send_buf[1000];
char command_buffer[1000];
char command_buffer[2020];
fd_set rfds;
// calculate initial sensor values.
@ -339,10 +247,6 @@ void run ()
while (true)
{
#ifdef DEBUG_USE_KB
process_keyboard();
#endif
if (fd == 0)
{
// if no socket wait till you get a socket
@ -418,14 +322,12 @@ void run ()
}
}
socket_cleanup();
}
bool initialize (int argc, char *argv[])
{
fd_set rfds;
#ifdef DEBUG_SENSORS
fptr = fopen ("/tmp/log.txt","w");
@ -468,12 +370,6 @@ bool initialize (int argc, char *argv[])
printf("timestep_scale: %f \n", timestep_scale);
// keybaard
#ifdef DEBUG_USE_KB
wb_keyboard_enable(timestep);
#endif
// inertialUnit
inertialUnit = wb_robot_get_device("inertial_unit");
wb_inertial_unit_enable(inertialUnit, timestep);

18
libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.h
View File

@ -1,7 +1,7 @@
//#define DEBUG_MOTORS
// #define DEBUG_MOTORS
// #define DEBUG_WIND
// #define DEBUG_SENSORS
//#define DEBUG_USE_KB
// #define DEBUG_USE_KB
// #define DEBUG_INPUT_DATA
// #define LINEAR_THRUST
// #define DEBUG_SOCKETS
@ -21,6 +21,7 @@ enum data_type {
DATA_FLOAT,
DATA_DOUBLE,
DATA_VECTOR4F,
DATA_VECTOR16F,
};
struct vector4f
@ -30,9 +31,16 @@ struct vector4f
typedef struct vector4f VECTOR4F;
struct vector16f
{
float v[16];
};
typedef struct vector16f VECTOR16F;
struct {
double timestamp;
VECTOR4F motors;
VECTOR16F motors;
VECTOR4F wind;
/*
struct {
@ -54,9 +62,9 @@ struct keytable {
enum data_type type;
} keytable[2] = {
//{ "", "timestamp", &state.timestamp, DATA_DOUBLE },
{ "", "eng", &state.motors, DATA_VECTOR4F },
{ "", "pwm", &state.motors, DATA_VECTOR16F },
{ "", "wnd", &state.wind, DATA_VECTOR4F }
};
/*

4
libraries/SITL/examples/Webots/quadPlus.parm
View File

@ -3,12 +3,12 @@ FRAME_CLASS 1.000000
FRAME_TYPE 0.000000
ATC_ANG_PIT_P 0.5
ATC_ANG_RLL_P 0.5
ATC_ANG_YAW_P 3.50000
ATC_ANG_YAW_P 0.50000
ATC_RAT_PIT_P 3.5
ATC_RAT_RLL_P 3.5
ATC_RAT_PIT_D 0.03
ATC_RAT_RLL_D 0.03
ATC_RAT_YAW_P 2.5
ATC_RAT_YAW_P 1.5
ATC_RAT_PIT_I 0.030000
ATC_RAT_RLL_I 0.0300000
ATC_RAT_PIT_D 0.003

4
libraries/SITL/examples/Webots/quadPlus2.parm
View File

@ -3,12 +3,12 @@ FRAME_CLASS 1.000000
FRAME_TYPE 0.000000
ATC_ANG_PIT_P 0.5
ATC_ANG_RLL_P 0.5
ATC_ANG_YAW_P 3.50000
ATC_ANG_YAW_P 0.50000
ATC_RAT_PIT_P 3.5
ATC_RAT_RLL_P 3.5
ATC_RAT_PIT_D 0.03
ATC_RAT_RLL_D 0.03
ATC_RAT_YAW_P 2.5
ATC_RAT_YAW_P 1.5
ATC_RAT_PIT_I 0.030000
ATC_RAT_RLL_I 0.0300000
ATC_RAT_PIT_D 0.003

4
libraries/SITL/examples/Webots/quadX.parm
View File

@ -3,12 +3,12 @@ FRAME_CLASS 1.000000
FRAME_TYPE 1.000000
ATC_ANG_PIT_P 0.5
ATC_ANG_RLL_P 0.5
ATC_ANG_YAW_P 3.50000
ATC_ANG_YAW_P 0.50000
ATC_RAT_PIT_P 3.5
ATC_RAT_RLL_P 3.5
ATC_RAT_PIT_D 0.03
ATC_RAT_RLL_D 0.03
ATC_RAT_YAW_P 2.5
ATC_RAT_YAW_P 1.5
ATC_RAT_PIT_I 0.030000
ATC_RAT_RLL_I 0.0300000
ATC_RAT_PIT_D 0.003

4
libraries/SITL/examples/Webots/quadX2.parm
View File

@ -3,12 +3,12 @@ FRAME_CLASS 1.000000
FRAME_TYPE 1.000000
ATC_ANG_PIT_P 0.5
ATC_ANG_RLL_P 0.5
ATC_ANG_YAW_P 3.50000
ATC_ANG_YAW_P 0.50000
ATC_RAT_PIT_P 3.5
ATC_RAT_RLL_P 3.5
ATC_RAT_PIT_D 0.03
ATC_RAT_RLL_D 0.03
ATC_RAT_YAW_P 2.5
ATC_RAT_YAW_P 1.5
ATC_RAT_PIT_I 0.030000
ATC_RAT_RLL_I 0.0300000
ATC_RAT_PIT_D 0.003

12
libraries/SITL/examples/Webots/worlds/pyramidMap.wbt
View File

@ -14,8 +14,8 @@ WorldInfo {
randomSeed 52
}
Viewpoint {
orientation 0.9105337223064622 0.3972882470335872 0.11441323923269492 5.670531893452289
position -81.01261461993163 254.55784447899657 285.7682724220764
orientation 0.8382771255106711 0.49551794864617704 0.2274937876405669 5.281073186765893
position -3.115785721141444 8.10790622845529 5.55883340805579
near 3
follow "quad_x_sitl"
followType "Mounted Shot"
@ -65,7 +65,7 @@ DEF DEF_VEHICLE Robot {
name "inertial_unit"
}
Transform {
translation -0.1 0 0
translation -0.2 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
@ -133,7 +133,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0.01 0.1
translation 0 0 0.2
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
@ -200,7 +200,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0.09999999999999999 0 0
translation 0.2 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
@ -267,7 +267,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 -0.09999999999999999
translation 0 0 -0.2
rotation 1 0 0 -1.5707963071795863
children [
Solid {

16
libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt
View File

@ -64,7 +64,7 @@ DEF DEF_VEHICLE Robot {
name "inertial_unit"
}
Transform {
translation -0.1 0 0
translation -0.2 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
@ -132,7 +132,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0.01 0.1
translation 0 0 0.2
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
@ -199,7 +199,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0.09999999999999999 0 0
translation 0.2 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
@ -266,7 +266,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 -0.09999999999999999
translation 0 0 -0.2
rotation 1 0 0 -1.5707963071795863
children [
Solid {
@ -399,7 +399,7 @@ DEF DEF_VEHICLE Robot {
name "inertial_unit"
}
Transform {
translation -0.1 0 0
translation -0.2 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
@ -467,7 +467,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0.01 0.1
translation 0 0 0.2
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
@ -534,7 +534,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0.09999999999999999 0 0
translation 0.2 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
@ -601,7 +601,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 -0.09999999999999999
translation 0 0 -0.2
rotation 1 0 0 -1.5707963071795863
children [
Solid {

15
libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt
View File

@ -10,8 +10,8 @@ WorldInfo {
randomSeed 52
}
Viewpoint {
orientation -0.5970464555560485 -0.7963994022827472 -0.0963510350315054 0.3998584260381905
position -5.109140421817085 5.5744493754094595 15.933129307498696
orientation -0.8111585917362343 -0.5680085466888879 -0.13924090613345938 0.5869628064711815
position -3.6530619136063534 7.264658421908483 10.832677706150493
follow "quad_plus_sitl"
followType "Mounted Shot"
}
@ -49,7 +49,8 @@ Solid {
name "solid(1)"
}
DEF DEF_VEHICLE Robot {
translation -0.027601 0.6742971933499999 0.005031
translation -0.027601000000000007 0.6742873870366666 0.005030999999999996
rotation 0.9925492643529304 -0.0818450865332256 -0.09026261486809202 1.0340410161155028e-17
children [
Emitter {
name "emitter_plugin"
@ -88,7 +89,7 @@ DEF DEF_VEHICLE Robot {
name "inertial_unit"
}
Transform {
translation -0.09999999999999999 0 0
translation -0.2 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
@ -153,7 +154,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 0.09999999999999999
translation 0 0 0.2
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
@ -216,7 +217,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0.09999999999999999 0 0
translation 0.2 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
@ -280,7 +281,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 -0.09999999999999999
translation 0 0 -0.2
rotation 1 0 0 -1.5707963071795863
children [
Solid {

12
libraries/SITL/examples/Webots/worlds/webots_quadX.wbt
View File

@ -9,8 +9,8 @@ WorldInfo {
randomSeed 52
}
Viewpoint {
orientation -0.876127950041513 -0.46933997493480994 -0.11008997721976312 0.5231847446439049
position -3.507998466973923 7.686764746094164 13.66147356160692
orientation -0.943398879972064 -0.32399608276223696 -0.0708878806438778 0.45578096925392375
position -2.49488296075554 5.810716177630025 10.814322133903834
follow "quad_x_sitl"
followType "Mounted Shot"
}
@ -92,7 +92,7 @@ DEF DEF_VEHICLE Robot {
name "inertial_unit"
}
Transform {
translation -0.1 0 0
translation -0.2 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
@ -160,7 +160,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0.01 0.1
translation 0 0 0.2
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
@ -227,7 +227,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0.09999999999999999 0 0
translation 0.2 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
@ -294,7 +294,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 -0.09999999999999999
translation 0 0 -0.2
rotation 1 0 0 -1.5707963071795863
children [
Solid {

8
libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt
View File

@ -9,8 +9,8 @@ WorldInfo {
randomSeed 52
}
Viewpoint {
orientation 0.9817595579497901 0.18074833080110114 0.05897636210252833 5.641450773408579
position -0.25435571209748176 3.4363486643124848 2.2561209069971624
orientation 0.6321101793339116 0.7585904605856989 0.15804187511804393 5.646432505192663
position -5.214083564314484 4.660863205046186 6.918610542541648
follow "tricopter"
}
DogHouse {
@ -80,8 +80,8 @@ DEF DEF_VEHICLE Robot {
}
]
endPoint Solid {
translation -4.884985467668676e-15 -4.1022629410928594e-12 1.8091922030330322e-13
rotation 3.80215598061924e-10 1 -7.275729865152367e-10 1.5707963071795863
translation -4.884985544693083e-15 -4.102262941092767e-12 1.8091922030330322e-13
rotation 3.896036368440465e-10 1 -7.369610254815084e-10 1.5707963071795863
children [
Propeller {
shaftAxis 0 1 0

18
libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt
View File

@ -92,7 +92,7 @@ DEF DEF_VEHICLE Robot {
name "inertial_unit"
}
Transform {
translation -0.1 0 0
translation -0.2 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
@ -160,7 +160,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0.01 0.1
translation 0 0 0.2
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
@ -227,7 +227,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0.09999999999999999 0 0
translation 0.2 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
@ -294,7 +294,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 -0.09999999999999999
translation 0 0 -0.2
rotation 1 0 0 -1.5707963071795863
children [
Solid {
@ -383,7 +383,7 @@ DEF DEF_VEHICLE Robot {
customData "1"
}
DEF DEF_VEHICLE Robot {
translation -2.21265 0.694307 2.19001
translation -2.21265 0.904307 2.19001
rotation 0 1 0 0.785388
children [
Emitter {
@ -427,7 +427,7 @@ DEF DEF_VEHICLE Robot {
name "inertial_unit"
}
Transform {
translation -0.1 0 0
translation -0.2 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
@ -495,7 +495,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0.01 0.1
translation 0 0 0.2
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
@ -562,7 +562,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0.09999999999999999 0 0
translation 0.2 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
@ -629,7 +629,7 @@ DEF DEF_VEHICLE Robot {
]
}
Transform {
translation 0 0 -0.09999999999999999
translation 0 0 -0.2
rotation 1 0 0 -1.5707963071795863
children [
Solid {