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Ardupilot2/libraries/SITL/examples/Webots/worlds/webots_two_tricopter.wbt

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SITL: Revamp Examples to support multiple drones
2020-05-14 03:26:46 -03:00
#VRML_SIM R2020a utf8
WorldInfo {
gravity 0 -9.80665 0
physics "sitl_physics_env"
basicTimeStep 1
FPS 25
optimalThreadCount 4
randomSeed 52
}
DogHouse {
name "dog house(1)"
}
DogHouse {
name "dog house(2)"
}
DogHouse {
name "dog house(5)"
}
Viewpoint {
orientation 0.7086803181760043 0.6899712774114916 0.14734939082708026 5.697800962651686
position -9.937979108654101 14.58080553998484 26.61082096142779
}
Background {
skyColor [
0.15 0.5 1
]
}
Solid {
translation 36.93 0.77 -37.93
children [
HouseWithGarage {
}
]
}
Solid {
translation 192.76999999999998 0 64.98
rotation 0 1 0 -1.5707963071795863
children [
HouseWithGarage {
}
]
name "solid(1)"
}
DEF DEF_VEHICLE Robot {
translation -6.12062 0.6576871933499999 0.4069059999999998
rotation 0.005134141913449905 0.9999763391777008 0.0045783918111282325 0.26180410065967374
children [
Receiver {
name "receiver_main"
type "serial"
channel 1
bufferSize 32
}
Compass {
name "compass1"
}
Camera {
translation 0 0.25 0
name "camera1"
}
Transform {
translation -0.34 0 0
rotation 0 1 0 1.5707959999999999
children [
HingeJoint {
jointParameters HingeJointParameters {
position -9.387964099116676e-12
axis 0 0 1
}
device [
RotationalMotor {
name "servo_tail"
maxVelocity 50000
maxTorque 1000
}
]
endPoint Solid {
translation -4.884981346861648e-15 -4.102163053687445e-12 1.8030021919912542e-13
rotation 1.422280360462637e-09 1 -1.7696377693563738e-09 1.5707963071795863
children [
Propeller {
shaftAxis 0 1 0
thrustConstants 11.44 0
torqueConstants 1e-05 0
device RotationalMotor {
name "motor3"
controlPID 10.001 0 0
maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
slowHelix Solid {
rotation 0 1 0 2.238367478129037
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 0 1 0.09999999999999999
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
name "solid(1)"
boundingObject Box {
size 0.01 0.01 0.01
}
physics Physics {
mass 0.001
}
}
}
]
}
Transform {
translation 0.17 0 0.3
children [
Propeller {
shaftAxis 0 -1 0
thrustConstants -11.443 0
torqueConstants 1e-05 0
device RotationalMotor {
name "motor1"
controlPID 10.001 0 0
maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
slowHelix Solid {
rotation 0 1 0 0.012993
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
}
Transform {
translation 0.16 0 -0.3
children [
Propeller {
shaftAxis 0 1 0
thrustConstants 11.443 0
torqueConstants 1e-05 0
device RotationalMotor {
name "motor2"
controlPID 10.001 0 0
maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
slowHelix Solid {
rotation 0 1 0 0.012993
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
}
Emitter {
rotation 0 1 0 -1.5707963071795863
name "emitter_plugin"
}
InertialUnit {
name "inertial_unit"
}
Gyro {
name "gyro1"
}
Accelerometer {
name "accelerometer1"
}
GPS {
name "gps1"
}
Solid {
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry Box {
size 0.1 0.1 0.1
}
}
]
boundingObject Box {
size 0.1 0.1 0.1
}
physics Physics {
mass 1
}
}
]
name "tricopter1"
physics Physics {
mass 0.001
}
controller "ardupilot_SITL_TRICOPTER"
controllerArgs "-p 5599 -df 0.01 "
customData "1"
supervisor TRUE
linearVelocity 2.688242491099282e-27 -0.009806650000000002 4.892319843481843e-25
angularVelocity -1.555631679291012e-22 -3.6929757828058823e-22 -5.825152319722367e-22
}
DEF DEF_VEHICLE2 Robot {
translation -4.8145 0.65222219335 5.00811
rotation 0.005134141913449905 0.9999763391777008 0.0045783918111282325 0.26180410065967374
children [
Receiver {
name "receiver_main"
type "serial"
channel 2
bufferSize 32
}
Compass {
name "compass1"
}
Camera {
translation 0 0.25 0
name "camera1"
}
Transform {
translation -0.34 0 0
rotation 0 1 0 1.5707959999999999
children [
HingeJoint {
jointParameters HingeJointParameters {
position -9.38790858754193e-12
axis 0 0 1
}
device [
RotationalMotor {
name "servo_tail"
maxVelocity 50000
maxTorque 1000
}
]
endPoint Solid {
translation -4.440892137013443e-15 -4.102385098292374e-12 1.8118839761882555e-13
rotation 1.426974259244834e-09 1 -1.7743316682306419e-09 1.5707963071795863
children [
Propeller {
shaftAxis 0 1 0
thrustConstants 11.44 0
torqueConstants 1e-05 0
device RotationalMotor {
name "motor3"
controlPID 10.001 0 0
maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
slowHelix Solid {
rotation 0 1 0 2.238367478129037
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 0 1 0.09999999999999999
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
name "solid(1)"
boundingObject Box {
size 0.01 0.01 0.01
}
physics Physics {
mass 0.001
}
}
}
]
}
Transform {
translation 0.17 0 0.3
children [
Propeller {
shaftAxis 0 -1 0
thrustConstants -11.443 0
torqueConstants 1e-05 0
device RotationalMotor {
name "motor1"
controlPID 10.001 0 0
maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
slowHelix Solid {
rotation 0 1 0 0.012993
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
}
Transform {
translation 0.16 0 -0.3
children [
Propeller {
shaftAxis 0 1 0
thrustConstants 11.443 0
torqueConstants 1e-05 0
device RotationalMotor {
name "motor2"
controlPID 10.001 0 0
maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
slowHelix Solid {
rotation 0 1 0 0.012993
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
}
Emitter {
rotation 0 1 0 -1.5707963071795863
name "emitter_plugin"
}
InertialUnit {
name "inertial_unit"
}
Gyro {
name "gyro1"
}
Accelerometer {
name "accelerometer1"
}
GPS {
name "gps1"
}
Solid {
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry Box {
size 0.1 0.1 0.1
}
}
]
boundingObject Box {
size 0.1 0.1 0.1
}
physics Physics {
mass 1
}
}
]
name "tricopter2"
physics Physics {
mass 0.001
}
controller "ardupilot_SITL_TRICOPTER"
controllerArgs "-p 5598 -df 0.01 "
customData "2"
supervisor TRUE
linearVelocity 1.891022353254736e-26 -0.009806650000000002 5.497731765059014e-25
angularVelocity -1.554888292972712e-22 -5.540057171831428e-22 -5.832083344416216e-22
}
Robot {
translation -6.43222 1.6878201933499999 0.218095
children [
Emitter {
type "serial"
channel 2
}
]
name "supervisor_sync"
boundingObject Box {
size 0.1 0.1 0.1
}
physics Physics {
}
controller "ardupilot_SITL_Supervisor"
supervisor TRUE
linearVelocity 0 -0.00980665 0
}
DirectionalLight {
direction 0 -1 0
}
UnevenTerrain {
translation 0 -0.85 0
size 500 1 500
}
HouseWithGarage {
translation 174.25 1.88 -157.5
rotation 0 1 0 -1.5707963071795863
}
AdvertisingBoard {
translation 0 2.35 -5.71
}
AdvertisingBoard {
translation 84.03999999999999 2.35 -5.81
rotation 0 1 0 -1.5707963071795863
name "advertising board(1)"
}
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