From 5aa3714e7197d8e72b15fa4ccfc1415c411fe39e Mon Sep 17 00:00:00 2001 From: HefnySco Date: Sun, 14 Nov 2021 17:49:25 +0200 Subject: [PATCH] WEBOTS_SITL: adjust_params model --- libraries/SITL/SIM_Webots.cpp | 36 +--- .../ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.c | 182 ++++-------------- .../ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.h | 18 +- libraries/SITL/examples/Webots/quadPlus.parm | 4 +- libraries/SITL/examples/Webots/quadPlus2.parm | 4 +- libraries/SITL/examples/Webots/quadX.parm | 4 +- libraries/SITL/examples/Webots/quadX2.parm | 4 +- .../examples/Webots/worlds/pyramidMap.wbt | 12 +- .../Webots/worlds/pyramidMap_two_quads.wbt | 16 +- .../Webots/worlds/webots_quadPlus.wbt | 15 +- .../examples/Webots/worlds/webots_quadX.wbt | 12 +- .../Webots/worlds/webots_tricopter.wbt | 8 +- .../Webots/worlds/webots_two_quadX.wbt | 18 +- 13 files changed, 102 insertions(+), 231 deletions(-) diff --git a/libraries/SITL/SIM_Webots.cpp b/libraries/SITL/SIM_Webots.cpp index a5b44bb7ae..ac6c4655e9 100644 --- a/libraries/SITL/SIM_Webots.cpp +++ b/libraries/SITL/SIM_Webots.cpp @@ -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; diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.c b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.c index 63c8fa5504..e33a3fab89 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.c +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.c @@ -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; isection); 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); diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.h b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.h index 5365556539..d1e6002cee 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.h +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.h @@ -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 } + }; /* diff --git a/libraries/SITL/examples/Webots/quadPlus.parm b/libraries/SITL/examples/Webots/quadPlus.parm index d39faa6e64..c1aed755ac 100644 --- a/libraries/SITL/examples/Webots/quadPlus.parm +++ b/libraries/SITL/examples/Webots/quadPlus.parm @@ -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 diff --git a/libraries/SITL/examples/Webots/quadPlus2.parm b/libraries/SITL/examples/Webots/quadPlus2.parm index 1238349668..c99a1faa90 100644 --- a/libraries/SITL/examples/Webots/quadPlus2.parm +++ b/libraries/SITL/examples/Webots/quadPlus2.parm @@ -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 diff --git a/libraries/SITL/examples/Webots/quadX.parm b/libraries/SITL/examples/Webots/quadX.parm index c9bc9d9e97..5b9932d49b 100644 --- a/libraries/SITL/examples/Webots/quadX.parm +++ b/libraries/SITL/examples/Webots/quadX.parm @@ -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 diff --git a/libraries/SITL/examples/Webots/quadX2.parm b/libraries/SITL/examples/Webots/quadX2.parm index aae6a9662e..b9805cf3db 100644 --- a/libraries/SITL/examples/Webots/quadX2.parm +++ b/libraries/SITL/examples/Webots/quadX2.parm @@ -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 diff --git a/libraries/SITL/examples/Webots/worlds/pyramidMap.wbt b/libraries/SITL/examples/Webots/worlds/pyramidMap.wbt index dfb4c99e76..40cb17a874 100644 --- a/libraries/SITL/examples/Webots/worlds/pyramidMap.wbt +++ b/libraries/SITL/examples/Webots/worlds/pyramidMap.wbt @@ -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 { diff --git a/libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt b/libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt index f6d086a180..88ebca354e 100644 --- a/libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt +++ b/libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt @@ -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 { diff --git a/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt b/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt index dc0fbf4c9a..598b9f8097 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt @@ -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 { diff --git a/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt b/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt index a866fdf170..3032e54e6a 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt @@ -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 { diff --git a/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt b/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt index 21a736cd99..b5859ad859 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt @@ -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 diff --git a/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt b/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt index 7a2446bd03..7d59599088 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt @@ -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 {