mirror of https://github.com/ArduPilot/ardupilot
162 lines
4.2 KiB
Protocol Buffer
162 lines
4.2 KiB
Protocol Buffer
# VRML_SIM R2022b utf8
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# Iris drone model. Note that the model is not 1-to-1 with the
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# real drone as motor/propeller constants were empirically determined.
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PROTO Iris [
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field SFVec3f translation 0 0 0
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field SFRotation rotation 0 0 1 0
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field SFString name "Iris" # Is `Robot.name`.
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field SFString controller "void" # Is `Robot.controller`.
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field MFString controllerArgs [] # Is `Robot.controllerArgs`.
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field SFString customData "" # Is `Robot.customData`.
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field SFBool supervisor FALSE # Is `Robot.supervisor`.
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field SFBool synchronization TRUE # Is `Robot.synchronization`.
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field MFNode extensionSlot [] # Extends the robot with new nodes in the extension slot.
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]
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{
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Robot {
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translation IS translation
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rotation IS rotation
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controller IS controller
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controllerArgs IS controllerArgs
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customData IS customData
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supervisor IS supervisor
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synchronization IS synchronization
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name IS name
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children [
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Group {
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children IS extensionSlot
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}
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DEF IRIS_MESH Shape {
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appearance PBRAppearance {
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baseColor 0.05 0.05 0.05
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roughness 1.000000
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metalness 0.2
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}
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geometry Mesh {
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url "meshes/iris.dae"
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}
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castShadows FALSE
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}
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Propeller {
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shaftAxis 0 0 1
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centerOfThrust 0.130000 -0.220000 0.023000
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thrustConstants 0.0012 0
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torqueConstants 5.0e-04 0
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device RotationalMotor {
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name "m1_motor"
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maxVelocity 100
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maxTorque 30
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multiplier 1
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}
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slowHelix Solid {
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translation 0.130000 -0.220000 0.023000
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children [
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Shape {
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appearance DEF PROP_BLUE PBRAppearance {
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baseColor 0 0 0.75
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metalness 0.3
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}
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geometry DEF CCW_PROP Mesh {
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url [
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"meshes/iris_prop_ccw.dae"
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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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Propeller {
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shaftAxis 0 0 1
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centerOfThrust -0.130000 0.200000 0.023000
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thrustConstants 0.0012 0
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torqueConstants 5.0e-04 0
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device RotationalMotor {
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name "m2_motor"
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maxVelocity 100
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maxTorque 30
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multiplier 1
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}
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slowHelix Solid {
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translation -0.130000 0.200000 0.023000
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children [
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Shape {
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appearance DEF PROP_BLACK PBRAppearance {
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baseColor 0 0 0
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metalness 0.3
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}
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geometry USE CCW_PROP
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}
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]
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}
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}
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Propeller {
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shaftAxis 0 0 1
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centerOfThrust 00.130000 0.220000 0.023000
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thrustConstants -0.0012 0
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torqueConstants 5.0e-04 0
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device RotationalMotor {
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name "m3_motor"
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maxVelocity 100
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maxTorque 30
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multiplier -1
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}
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slowHelix Solid {
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translation 0.130000 0.220000 0.023000
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children [
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Shape {
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appearance USE PROP_BLUE
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geometry DEF CW_PROP Mesh {
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url [
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"meshes/iris_prop_cw.dae"
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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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Propeller {
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shaftAxis 0 0 1
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centerOfThrust -0.130000 -0.200000 0.023000
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thrustConstants -0.0012 0
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torqueConstants 5.0e-04 0
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device RotationalMotor {
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name "m4_motor"
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maxVelocity 100
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maxTorque 30
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multiplier -1
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}
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slowHelix Solid {
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translation -0.130000 -0.200000 0.023000
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children [
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Shape {
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appearance USE PROP_BLACK
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geometry USE CW_PROP
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}
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]
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}
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}
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Accelerometer {
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}
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GPS {
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}
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Gyro {
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}
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InertialUnit {
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}
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]
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boundingObject Box {
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size 0.470000 0.470000 0.110000
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}
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physics Physics {
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density -1
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mass 1.500000
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centerOfMass [ 0.000000 0.000000 0.000000 ]
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inertiaMatrix [
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2.912500e-02 2.912500e-02 5.522500e-02
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0.000000e+00 0.000000e+00 0.000000e+00
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]
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}
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}
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}
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