mirror of https://github.com/ArduPilot/ardupilot
407 lines
9.8 KiB
Plaintext
407 lines
9.8 KiB
Plaintext
#VRML_SIM R2020a utf8
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WorldInfo {
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gravity 0 -9.80665 0
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physics "sitl_physics_env"
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basicTimeStep 1
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FPS 15
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optimalThreadCount 4
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randomSeed 52
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}
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Robot {
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translation -1.949999999999999 0.23391237384410402 0
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rotation 0 0 1 2.533555103014215e-15
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children [
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Emitter {
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type "serial"
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channel 1
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}
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]
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name "supervisor_sync"
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boundingObject Box {
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size 0.1 0.1 0.1
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}
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physics Physics {
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}
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controller "ardupilot_SITL_Supervisor"
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supervisor TRUE
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}
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Viewpoint {
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orientation 0.9997978097496996 0.017446300161270606 0.009998311376764756 5.242214502651711
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position -0.10961792118984595 8.021071573852062 4.261928842800047
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follow "quad_plus_sitl"
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followType "Mounted Shot"
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}
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DogHouse {
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translation 34.82 0.76 -24.56
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name "dog house(1)"
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}
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DogHouse {
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translation 161.819 0.75 -152.174
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name "dog house(2)"
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}
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DogHouse {
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translation 185.42 0.77 48.97
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name "dog house(5)"
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}
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Background {
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skyColor [
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0.15 0.5 1
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]
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}
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Solid {
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translation 36.93 0.77 -37.93
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children [
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HouseWithGarage {
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}
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]
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}
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Solid {
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translation 192.76999999999998 0 64.98
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rotation 0 1 0 -1.5707963071795863
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children [
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HouseWithGarage {
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}
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]
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name "solid(1)"
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}
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DEF DEF_VEHICLE Robot {
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translation -0.027601 0.674307 0.005031
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rotation -0.012461000916064287 0.999885073506054 -0.008635000634797779 -0.22761130717958622
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children [
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Receiver {
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name "receiver_main"
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type "serial"
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channel 1
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bufferSize 32
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}
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Emitter {
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name "emitter_plugin"
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description "commuicates with physics plugin"
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}
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Shape {
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appearance Appearance {
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material Material {
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}
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}
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geometry Box {
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size 0.1 0.1 0.1
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}
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}
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Camera {
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translation 0 0.12 0
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rotation 0.12942795977353752 0.9831056944488316 0.12942795977353752 -1.5878343071795866
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name "camera1"
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width 128
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height 128
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}
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Compass {
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name "compass1"
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}
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GPS {
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name "gps1"
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}
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Accelerometer {
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name "accelerometer1"
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}
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Gyro {
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name "gyro1"
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}
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InertialUnit {
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name "inertial_unit"
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}
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Transform {
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translation -0.09999999999999999 0 0
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rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
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children [
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Solid {
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translation 0 0.35 0
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rotation 1 0 0 1.5707959999999999
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children [
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Propeller {
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shaftAxis 0 -1 0
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thrustConstants -12.2583125 0
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torqueConstants 18 0
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device RotationalMotor {
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name "motor3"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 1.1667874781290464
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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}
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]
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physics Physics {
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mass 0.25
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}
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}
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Shape {
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appearance Appearance {
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material Material {
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}
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}
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geometry DEF DEF_ARM Cylinder {
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height 0.1
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radius 0.01
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}
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}
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]
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}
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Transform {
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translation 0 0 0.09999999999999999
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rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
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children [
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Solid {
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translation 0 0.35 0
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rotation 1 0 0 1.5707959999999999
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children [
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Propeller {
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shaftAxis 0 1 0
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thrustConstants 12.2583125 0
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torqueConstants 18 0
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device RotationalMotor {
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name "motor2"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 -1 0 5.370767303526115
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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}
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]
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name "solid(2)"
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physics Physics {
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mass 0.25
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}
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}
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Shape {
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appearance Appearance {
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material Material {
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}
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}
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geometry USE DEF_ARM
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}
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]
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}
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Transform {
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translation 0.09999999999999999 0 0
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rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
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children [
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Solid {
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translation 0 0.35 0
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rotation 1 0 0 1.5707959999999999
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children [
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Propeller {
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shaftAxis 0 -1 0
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thrustConstants -12.2583125 0
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torqueConstants 18 0
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device RotationalMotor {
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name "motor1"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 5.486397909883531
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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}
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]
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name "solid(1)"
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physics Physics {
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mass 0.25
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}
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}
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0.09999999999999999 0
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}
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}
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geometry USE DEF_ARM
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}
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]
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}
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Transform {
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translation 0 0 -0.09999999999999999
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rotation 1 0 0 -1.5707963071795863
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children [
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Solid {
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translation 0 0.35 0
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rotation 1 0 0 1.5707959999999999
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children [
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Propeller {
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shaftAxis 0 1 0
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thrustConstants 12.2583125 0
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torqueConstants 18 0
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device RotationalMotor {
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name "motor4"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 -1 0 5.350616673324008
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.02
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}
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}
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]
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}
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}
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]
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name "solid(3)"
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physics Physics {
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mass 0.25
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}
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}
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 0.7999999999999999 0.7999999999999999 0.7999999999999999
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}
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}
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geometry USE DEF_ARM
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}
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]
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}
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]
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name "quad_plus_sitl"
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boundingObject Box {
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size 0.1 0.1 0.1
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}
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physics Physics {
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density -1
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mass 1.5
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centerOfMass [
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0 0 0
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]
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}
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rotationStep 0.261799
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controller "ardupilot_SITL_QUAD"
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controllerArgs "-p 5599 -df 0.01"
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customData "1"
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}
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DirectionalLight {
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direction 0 -1 0
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}
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UnevenTerrain {
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size 500 1 500
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}
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HouseWithGarage {
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translation 174.25 1.88 -157.5
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rotation 0 1 0 -1.5707963071795863
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}
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AdvertisingBoard {
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translation 0 2.35 -5.71
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}
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AdvertisingBoard {
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translation 84.03999999999999 2.35 -5.81
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rotation 0 1 0 -1.5707963071795863
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name "advertising board(1)"
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}
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