From ac30fbd7b0dbb1e4d875fd9abf3dab2d5e4d4dea Mon Sep 17 00:00:00 2001 From: Mohammad Hefny Date: Sun, 15 Aug 2021 15:17:24 +0200 Subject: [PATCH] SITL: Webots2021b Compatible --- libraries/SITL/examples/Webots/.gitignore | 1 + .../ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.c | 175 +- .../ardupilot_SITL_QUAD/ardupilot_SITL_QUAD.h | 6 +- .../controllers/ardupilot_SITL_QUAD/sensors.c | 106 +- .../controllers/ardupilot_SITL_QUAD/sensors.h | 17 +- .../ardupilot_SITL_ROVER.c | 2 +- .../ardupilot_SITL_ROVER/sensors.c | 99 +- .../ardupilot_SITL_ROVER/sensors.h | 14 +- .../ardupilot_SITL_Supervisor/Makefile | 74 - .../ardupilot_SITL_Supervisor.c | 191 - .../ardupilot_SITL_TRICOPTER.c | 43 +- .../ardupilot_SITL_TRICOPTER.h | 13 +- .../ardupilot_SITL_TRICOPTER/sensors.c | 106 +- .../ardupilot_SITL_TRICOPTER/sensors.h | 17 +- ...ramids_dronePlus.sh => pyramids_droneX.sh} | 2 +- ...Drones.sh => pyramids_droneX_twoDrones.sh} | 0 libraries/SITL/examples/Webots/quadPlus.parm | 37 +- libraries/SITL/examples/Webots/quadPlus2.parm | 37 +- libraries/SITL/examples/Webots/quadX.parm | 36 +- libraries/SITL/examples/Webots/quadX2.parm | 33 +- .../examples/Webots/worlds/pyramidMap.wbt | 17766 +++++++++++++++ .../Webots/worlds/pyramidMapReduced2.wbt | 6720 ------ .../worlds/pyramidMapReduced2_two_quads.wbt | 7043 ------ .../Webots/worlds/pyramidMap_two_quads.wbt | 18100 ++++++++++++++++ .../Webots/worlds/webots_quadPlus.wbt | 119 +- .../examples/Webots/worlds/webots_quadX.wbt | 127 +- .../Webots/worlds/webots_tricopter.wbt | 72 +- .../Webots/worlds/webots_two_quadX.wbt | 233 +- .../Webots/worlds/webots_two_tricopter.wbt | 138 +- 29 files changed, 36494 insertions(+), 14833 deletions(-) delete mode 100644 libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/Makefile delete mode 100644 libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/ardupilot_SITL_Supervisor.c rename libraries/SITL/examples/Webots/{pyramids_dronePlus.sh => pyramids_droneX.sh} (63%) rename libraries/SITL/examples/Webots/{pyramids_dronePlus_twoDrones.sh => pyramids_droneX_twoDrones.sh} (100%) create mode 100644 libraries/SITL/examples/Webots/worlds/pyramidMap.wbt delete mode 100644 libraries/SITL/examples/Webots/worlds/pyramidMapReduced2.wbt delete mode 100644 libraries/SITL/examples/Webots/worlds/pyramidMapReduced2_two_quads.wbt create mode 100644 libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt diff --git a/libraries/SITL/examples/Webots/.gitignore b/libraries/SITL/examples/Webots/.gitignore index 8b7c0f19ba..011c03d875 100644 --- a/libraries/SITL/examples/Webots/.gitignore +++ b/libraries/SITL/examples/Webots/.gitignore @@ -7,4 +7,5 @@ /controllers/ardupilot_SITL_QUAD/ardupilot_SITL_QUAD /controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER /controllers/ardupilot_SITL_Supervisor/ardupilot_SITL_Supervisor +/plugins/physics/sitl_physics_env/build 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 5685851386..63c8fa5504 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 @@ -29,14 +29,14 @@ * You may need to add include files like or * , etc. */ +#include +#include #include #include #include #include #include -#include #include -#include #include "ardupilot_SITL_QUAD.h" #include "sockets.h" #include "sensors.h" @@ -54,16 +54,18 @@ static WbDeviceTag gps; static WbDeviceTag camera; static WbDeviceTag inertialUnit; static WbDeviceTag emitter; -static WbDeviceTag receiver; + static double _linear_velocity[3] = {0.0,0.0,0.0}; -static double northDirection = 1; static double v[MOTOR_NUM]; int port; float dragFactor = VEHICLE_DRAG_FACTOR; static int timestep; +#ifdef DEBUG_SENSORS +FILE *fptr; +#endif #ifdef DEBUG_USE_KB /* @@ -71,6 +73,8 @@ static int timestep; // 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()) @@ -102,32 +106,39 @@ void process_keyboard () v[3] = v[3] + 0.01; break; + case 'E': + for (int i=0; i=600) v[i]=10; - + wb_motor_set_position(motors[i], INFINITY); - wb_motor_set_velocity(motors[i], v[i]); + wb_motor_set_velocity(motors[i], factor* v[i] + offset); } @@ -150,30 +159,13 @@ void process_keyboard () #endif -// Read all messages and empty the Q and keep last value as the valid one. -static void read_incoming_messages() -{ - // read while queue not empty - while (wb_receiver_get_queue_length(receiver) > 0) { - // I'm only expecting ascii messages - double * data = (double *) wb_receiver_get_data(receiver); - _linear_velocity[0] = data[0]; - _linear_velocity[1] = data[1]; - _linear_velocity[2] = data[2]; - northDirection = data[3]; - //printf("RAW Data [%f, %f, %f]\n", linear_velocity[0], linear_velocity[2], linear_velocity[1]); - - wb_receiver_next_packet(receiver); - } - } - /* // apply motor thrust. */ void update_controls() { /* - 1 N = 101.9716213 grams force + 1 N = 101.97162129779 grams force Thrust = t1 * |omega| * omega - t2 * |omega| * V Where t1 and t2 are the constants specified in the thrustConstants field, omega is the motor angular velocity @@ -184,22 +176,46 @@ void update_controls() LINEAR_THRUST 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 */ - static float factor = 1.0f; - static float offset = 0.0f; - static float v[4]; +#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]; + // pls check https://docs.google.com/spreadsheets/d/1eR4Fb6cgaTb-BHUKJbhAXPzyX0ZLtUcEE3EY-wQYvM8/edit?usp=sharing + static float factorDyn[11] = { + 3.6f, // 0.0 + 3.6f, // 0.1 + 4.6f, // 0.2 + 4.1f, // 0.3 + 4.1f, // 0.4 + 3.9f, // 0.5 + 3.9f, // 0.6 + 3.8f, // 0.7 + 3.7f, // 0.8 + 3.6f, // 0.9 + 3.4f // 1.0 + }; + //#define LINEAR_THRUST + + + #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; + 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 ) * factor + offset; - v[1] = (state.motors.x ) * factor + offset; - v[2] = (state.motors.y ) * factor + offset; - v[3] = (state.motors.z ) * factor + offset; -#endif + 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) { @@ -209,9 +225,12 @@ void update_controls() #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 + + #endif //DEBUG_MOTORS +#endif //DEBUG_USE_KB #ifdef WIND_SIMULATION /* @@ -223,18 +242,11 @@ void update_controls() A is the cross section of our quad in m³ in the direction of movement v is the velocity in m/s */ - if (northDirection == 1) - { - wind_webots_axis.x = state.wind.x - linear_velocity[0]; - wind_webots_axis.z = -state.wind.y - linear_velocity[2]; // "-state.wind.y" as angle 90 wind is from EAST. - wind_webots_axis.y = state.wind.z - linear_velocity[1]; - } - else - { // as in pyramids and any open map street world. - wind_webots_axis.x = state.wind.y - linear_velocity[0]; // always add "linear_velocity" as there is no axis transformation here. - wind_webots_axis.z = -state.wind.x - linear_velocity[2]; - wind_webots_axis.y = state.wind.z - linear_velocity[1]; - } + + wind_webots_axis.x = state.wind.x - linear_velocity[0]; + wind_webots_axis.z = -state.wind.y - linear_velocity[2]; // "-state.wind.y" as angle 90 wind is from EAST. + wind_webots_axis.y = state.wind.z - linear_velocity[1]; + wind_webots_axis.x = dragFactor * wind_webots_axis.x * abs(wind_webots_axis.x); wind_webots_axis.z = dragFactor * wind_webots_axis.z * abs(wind_webots_axis.z); @@ -340,14 +352,18 @@ void run () } - read_incoming_messages(); - // trigget ArduPilot to send motor data - getAllSensors ((char *)send_buf, northDirection, gyro,accelerometer,compass,gps, inertialUnit); + getAllSensors ((char *)send_buf, gyro,accelerometer,compass,gps, inertialUnit); #ifdef DEBUG_SENSORS + //printf("at %lf %s\n",wb_robot_get_time(), send_buf); printf("at %lf %s\n",wb_robot_get_time(), send_buf); + if (strlen (pBug)> 5) + { + // fprintf(fptr, "%s\n",pBug); + } #endif + if (write(fd,send_buf,strlen(send_buf)) <= 0) { @@ -388,7 +404,6 @@ void run () } if (n > 0) { - command_buffer[n] = 0; if (parse_controls (command_buffer)) { @@ -412,7 +427,9 @@ bool initialize (int argc, char *argv[]) { fd_set rfds; - + #ifdef DEBUG_SENSORS + fptr = fopen ("/tmp/log.txt","w"); + #endif port = 5599; // default port for (int i = 0; i < argc; ++i) { @@ -447,31 +464,9 @@ bool initialize (int argc, char *argv[]) wb_robot_init(); timestep = (int)wb_robot_get_basic_time_step(); + timestep_scale = timestep * 1000.0; + printf("timestep_scale: %f \n", timestep_scale); - // init receiver from Supervisor - receiver = wb_robot_get_device("receiver_main"); - if (receiver ==0) - { - fprintf(stderr,"Receiver not found\n"); - fprintf(stderr,"EXIT with error\n"); - return false; - } - - // read robot number and set receiver channel accordingly - const char * customData = wb_robot_get_custom_data(); - if (customData != NULL) - { - int channel = atoi(customData); - wb_receiver_set_channel(receiver,channel); - wb_receiver_enable(receiver,timestep); - printf("Receiver Channel at %d \n", channel); - } - else - { - fprintf(stderr, "MISSING Channel NO. in Custom Data"); - return false; - } - // keybaard #ifdef DEBUG_USE_KB 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 778e83ac40..5365556539 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 @@ -1,10 +1,10 @@ -// #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 +// #define DEBUG_SOCKETS diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.c b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.c index 7edbe9c841..59486bab0d 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.c +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.c @@ -33,77 +33,66 @@ copter.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y); /* returns: "yaw":_6.594794831471518e-05,"pitch":_-0.0005172680830582976,"roll":_0.022908752784132957}} */ -void getInertia (const WbDeviceTag inertialUnit, const double northDirection, char *buf) +void getInertia (const WbDeviceTag inertialUnit, char *buf) { const double *inertial_directions = wb_inertial_unit_get_roll_pitch_yaw (inertialUnit); - if (northDirection == 1) - { - sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[0], inertial_directions[1], inertial_directions[2]); - } - else - { - sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[1], -inertial_directions[0], inertial_directions[2]); - } - return ; + sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[0], inertial_directions[1], inertial_directions[2]); + + return ; + } /* returns: "magnetic_field":_[23088.669921875,_3876.001220703125,_-53204.57421875] */ -void getCompass (const WbDeviceTag compass, const double northDirection, char *buf) +void getCompass (const WbDeviceTag compass, char *buf) { const double *north3D = wb_compass_get_values(compass); - if (northDirection == 1) - { - sprintf(buf,"[%f, %f, %f]",north3D[0], north3D[2], north3D[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",north3D[2], -north3D[0], north3D[1]); - } + + sprintf(buf,"[%f, %f, %f]",north3D[0], north3D[2], north3D[1]); return ; + } - +double old_north3D[3]; +double lllinear_velocity[3]; +double llspeed; /* returns: "vehicle.gps":{"timestamp":_1563301031.055164,"x":_5.5127296946011484e-05,"y":_-0.0010968948481604457,"z":_0.037179552018642426}, */ -void getGPS (const WbDeviceTag gps, const double northDirection, char *buf) +void getGPS (const WbDeviceTag gps, char *buf) { const double *north3D = wb_gps_get_values(gps); - if (northDirection == 1) + llspeed = wb_gps_get_speed(gps); + const double delta = (north3D[0] - old_north3D[0]); + if (delta != 0.0) { - sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[0], north3D[2], north3D[1]); + lllinear_velocity[0] = (north3D[0] - old_north3D[0]) * timestep_scale; + lllinear_velocity[1] = (north3D[1] - old_north3D[1]) * timestep_scale; + lllinear_velocity[2] = (north3D[2] - old_north3D[2]) * timestep_scale; } - else - { - sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[2], -north3D[0], north3D[1]); - } - + old_north3D[0] = north3D[0]; + old_north3D[1] = north3D[1]; + old_north3D[2] = north3D[2]; + sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[0], north3D[2], north3D[1]); + return ; } /* returns: "linear_acceleration": [0.005074390675872564, 0.22471477091312408, 9.80740737915039] */ -void getAcc (const WbDeviceTag accelerometer, const double northDirection, char *buf) +void getAcc (const WbDeviceTag accelerometer, char *buf) { //SHOULD BE CORRECT const double *a = wb_accelerometer_get_values(accelerometer); - if (northDirection == 1) - { - sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); - } + sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); //sprintf(buf,"[0.0, 0.0, 0.0]"); @@ -114,40 +103,29 @@ void getAcc (const WbDeviceTag accelerometer, const double northDirection, char /* returns: "angular_velocity": [-1.0255117643964695e-07, -8.877226775894087e-08, 2.087078510015772e-09] */ -void getGyro (const WbDeviceTag gyro, const double northDirection, char *buf) +void getGyro (const WbDeviceTag gyro, char *buf) { const double *g = wb_gyro_get_values(gyro); - if (northDirection == 1) - { - sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); - } + + sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); return ; } -void getLinearVelocity (WbNodeRef nodeRef, const double northDirection, char * buf) +void getLinearVelocity (WbNodeRef nodeRef, char * buf) { if (linear_velocity != NULL) { - if (northDirection == 1) - { // local map northDirection [1,0,0] - sprintf (buf,"[%f, %f, %f]", linear_velocity[0], linear_velocity[2], linear_velocity[1]); - } - else - { // openstreet map northDirection [0,0,1] - sprintf (buf,"[%f, %f, %f]", linear_velocity[2], -linear_velocity[0], linear_velocity[1]); - } + sprintf (buf,"[%f, %f, %f]", lllinear_velocity[0], lllinear_velocity[2], lllinear_velocity[1]); + //sprintf (pBug,"[%f, %f, %f]", lllinear_velocity[0], lllinear_velocity[2], lllinear_velocity[1]); } - + + return ; } -void getAllSensors (char *buf, const double northDirection, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit) +void getAllSensors (char *buf, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit) { /* @@ -180,14 +158,14 @@ void getAllSensors (char *buf, const double northDirection, WbDeviceTag gyro, Wb double time = wb_robot_get_time(); // current simulation time in [s] sprintf(szTime,"%lf", time); - getGyro(gyro, northDirection, gyro_buf); - getAcc(accelerometer, northDirection, acc_buf); - getCompass(compass, northDirection, compass_buf); - getGPS(gps, northDirection, gps_buf); - getInertia (inertial_unit, northDirection, inertial_buf); - getLinearVelocity(self_node, northDirection, linear_velocity_buf); + getGyro(gyro, gyro_buf); + getAcc(accelerometer, acc_buf); + getCompass(compass, compass_buf); + getGPS(gps, gps_buf); + getInertia (inertial_unit, inertial_buf); + getLinearVelocity(self_node, linear_velocity_buf); sprintf (buf,"{\"ts\": %s,\"vehicle.imu\": {\"av\": %s,\"la\": %s,\"mf\": %s,\"vehicle.gps\":{%s},\"vehicle.velocity\":{\"wlv\": %s},\"vehicle.pose\":{%s,%s}}\r\n" - , szTime, gyro_buf, acc_buf, compass_buf, gps_buf, linear_velocity_buf, gps_buf, inertial_buf ); + , szTime, gyro_buf, acc_buf, compass_buf, gps_buf, linear_velocity_buf, gps_buf, inertial_buf ); } \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.h b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.h index 170ced8924..5dbd7db1ba 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.h +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_QUAD/sensors.h @@ -13,11 +13,12 @@ WbNodeRef self_node; double *linear_velocity; - -void getInertia (const WbDeviceTag inertialUnit, const double northDirection, char *buf); -void getLinearVelocity (WbNodeRef nodeRef, const double northDirection, char * buf); -void getCompass (const WbDeviceTag compass, const double northDirection, char *buf); -void getAcc (const WbDeviceTag accelerometer, const double northDirection, char *buf); -void getGyro (const WbDeviceTag gyro, const double northDirection, char *buf); -void getGPS (const WbDeviceTag gps, const double northDirection, char *buf); -void getAllSensors (char *buf, const double northDirection, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit); \ No newline at end of file +double timestep_scale; +char pBug[1024]; +void getInertia (const WbDeviceTag inertialUnit, char *buf); +void getLinearVelocity (WbNodeRef nodeRef, char * buf); +void getCompass (const WbDeviceTag compass, char *buf); +void getAcc (const WbDeviceTag accelerometer, char *buf); +void getGyro (const WbDeviceTag gyro, char *buf); +void getGPS (const WbDeviceTag gps, char *buf); +void getAllSensors (char *buf, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit); \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/ardupilot_SITL_ROVER.c b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/ardupilot_SITL_ROVER.c index ceae0d08c2..e68a88b69f 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/ardupilot_SITL_ROVER.c +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/ardupilot_SITL_ROVER.c @@ -215,7 +215,7 @@ void run () break; } - getAllSensors ((char *)send_buf, northDirection, gyro,accelerometer,compass,gps, inertialUnit); + getAllSensors ((char *)send_buf, gyro,accelerometer,compass,gps, inertialUnit); #ifdef DEBUG_SENSORS printf("%s\n",send_buf); diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.c b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.c index 86c27888d9..c35a0cd1e0 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.c +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.c @@ -33,37 +33,27 @@ copter.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y); /* returns: "yaw":_6.594794831471518e-05,"pitch":_-0.0005172680830582976,"roll":_0.022908752784132957}} */ -void getInertia (const WbDeviceTag inertialUnit, const double *northDirection, char *buf) +void getInertia (const WbDeviceTag inertialUnit, char *buf) { const double *inertial_directions = wb_inertial_unit_get_roll_pitch_yaw (inertialUnit); - if (northDirection[0] == 1) - { - sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[0], inertial_directions[1], inertial_directions[2]); - } - else - { - sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[1], -inertial_directions[0], inertial_directions[2]); - } - return ; + sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[0], inertial_directions[1], inertial_directions[2]); + + return ; + } /* returns: "magnetic_field":_[23088.669921875,_3876.001220703125,_-53204.57421875] */ -void getCompass (const WbDeviceTag compass, const double *northDirection, char *buf) +void getCompass (const WbDeviceTag compass, char *buf) { const double *north3D = wb_compass_get_values(compass); - if (northDirection[0] == 1) - { - sprintf(buf,"[%f, %f, %f]",north3D[0], north3D[2], north3D[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",north3D[2], -north3D[0], north3D[1]); - } + + sprintf(buf,"[%f, %f, %f]",north3D[0], north3D[2], north3D[1]); return ; + } @@ -71,39 +61,25 @@ void getCompass (const WbDeviceTag compass, const double *northDirection, char * /* returns: "vehicle.gps":{"timestamp":_1563301031.055164,"x":_5.5127296946011484e-05,"y":_-0.0010968948481604457,"z":_0.037179552018642426}, */ -void getGPS (const WbDeviceTag gps, const double *northDirection, char *buf) +void getGPS (const WbDeviceTag gps, char *buf) { const double *north3D = wb_gps_get_values(gps); - if (northDirection[0] == 1) - { - sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[0], north3D[2], north3D[1]); - } - else - { - sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[2], -north3D[0], north3D[1]); - } - + sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[0], north3D[2], north3D[1]); + return ; } /* returns: "linear_acceleration": [0.005074390675872564, 0.22471477091312408, 9.80740737915039] */ -void getAcc (const WbDeviceTag accelerometer, const double *northDirection, char *buf) +void getAcc (const WbDeviceTag accelerometer, char *buf) { //SHOULD BE CORRECT const double *a = wb_accelerometer_get_values(accelerometer); - if (northDirection[0] == 1) - { - sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); - } + sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); //sprintf(buf,"[0.0, 0.0, 0.0]"); @@ -114,41 +90,28 @@ void getAcc (const WbDeviceTag accelerometer, const double *northDirection, char /* returns: "angular_velocity": [-1.0255117643964695e-07, -8.877226775894087e-08, 2.087078510015772e-09] */ -void getGyro (const WbDeviceTag gyro, const double *northDirection, char *buf) +void getGyro (const WbDeviceTag gyro, char *buf) { const double *g = wb_gyro_get_values(gyro); - if (northDirection[0] == 1) - { - sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); - } + + sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); return ; } -void getLinearVelocity (WbNodeRef nodeRef, const double *northDirection, char * buf) +void getLinearVelocity (WbNodeRef nodeRef, char * buf) { - const double * vel = wb_supervisor_node_get_velocity (nodeRef); - if (vel != NULL) + if (linear_velocity != NULL) { - if (northDirection[0] == 1) - { - sprintf (buf,"[%f, %f, %f]", vel[0], vel[2], vel[1]); - } - else - { - sprintf (buf,"[%f, %f, %f]", vel[2], -vel[0], vel[1]); - } + sprintf (buf,"[%f, %f, %f]", linear_velocity[0], linear_velocity[2], linear_velocity[1]); } - + + return ; } -void getAllSensors (char *buf, const double *northDirection, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, WbDeviceTag inertial_unit) +void getAllSensors (char *buf, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit) { /* @@ -179,16 +142,16 @@ void getAllSensors (char *buf, const double *northDirection, WbDeviceTag gyro, W char szTime[21]; double time = wb_robot_get_time(); // current simulation time in [s] - sprintf(szTime,"%f", time); + sprintf(szTime,"%lf", time); - getGyro(gyro, northDirection, gyro_buf); - getAcc(accelerometer, northDirection, acc_buf); - getCompass(compass, northDirection, compass_buf); - getGPS(gps, northDirection, gps_buf); - getInertia (inertial_unit, northDirection, inertial_buf); - getLinearVelocity(wb_supervisor_node_get_self(), northDirection, linear_velocity_buf); + getGyro(gyro, gyro_buf); + getAcc(accelerometer, acc_buf); + getCompass(compass, compass_buf); + getGPS(gps, gps_buf); + getInertia (inertial_unit, inertial_buf); + getLinearVelocity(self_node, linear_velocity_buf); sprintf (buf,"{\"ts\": %s,\"vehicle.imu\": {\"av\": %s,\"la\": %s,\"mf\": %s,\"vehicle.gps\":{%s},\"vehicle.velocity\":{\"wlv\": %s},\"vehicle.pose\":{%s,%s}}\r\n" - , szTime, gyro_buf, acc_buf, compass_buf, gps_buf, linear_velocity_buf, gps_buf, inertial_buf ); + , szTime, gyro_buf, acc_buf, compass_buf, gps_buf, linear_velocity_buf, gps_buf, inertial_buf ); } \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.h b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.h index 8656f3e445..14adce01ee 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.h +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_ROVER/sensors.h @@ -13,10 +13,10 @@ -void getInertia (const WbDeviceTag inertialUnit, const double *northDirection, char *buf); -void getLinearVelocity (WbNodeRef nodeRef, const double *northDirection, char * buf); -void getCompass (const WbDeviceTag compass, const double *northDirection, char *buf); -void getAcc (const WbDeviceTag accelerometer, const double *northDirection, char *buf); -void getGyro (const WbDeviceTag gyro, const double *northDirection, char *buf); -void getGPS (const WbDeviceTag gps, const double *northDirection, char *buf); -void getAllSensors (char *buf, const double *northDirection, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, WbDeviceTag inertial_unit); \ No newline at end of file +void getInertia (const WbDeviceTag inertialUnit, char *buf); +void getLinearVelocity (WbNodeRef nodeRef, char * buf); +void getCompass (const WbDeviceTag compass, char *buf); +void getAcc (const WbDeviceTag accelerometer, char *buf); +void getGyro (const WbDeviceTag gyro, char *buf); +void getGPS (const WbDeviceTag gps, char *buf); +void getAllSensors (char *buf, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, WbDeviceTag inertial_unit); \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/Makefile b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/Makefile deleted file mode 100644 index 2663444193..0000000000 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/Makefile +++ /dev/null @@ -1,74 +0,0 @@ -# Copyright 1996-2020 Cyberbotics Ltd. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -### Generic Makefile.include for Webots controllers, physics plugins, robot -### window libraries, remote control libraries and other libraries -### to be used with GNU make -### -### Platforms: Windows, macOS, Linux -### Languages: C, C++ -### -### Authors: Olivier Michel, Yvan Bourquin, Fabien Rohrer -### Edmund Ronald, Sergei Poskriakov -### -###----------------------------------------------------------------------------- -### -### This file is meant to be included from the Makefile files located in the -### Webots projects subdirectories. It is possible to set a number of variables -### to customize the build process, i.e., add source files, compilation flags, -### include paths, libraries, etc. These variables should be set in your local -### Makefile just before including this Makefile.include. This Makefile.include -### should never be modified. -### -### Here is a description of the variables you may set in your local Makefile: -### -### ---- C Sources ---- -### if your program uses several C source files: -### C_SOURCES = my_plugin.c my_clever_algo.c my_graphics.c -### -### ---- C++ Sources ---- -### if your program uses several C++ source files: -### CXX_SOURCES = my_plugin.cc my_clever_algo.cpp my_graphics.c++ -### -### ---- Compilation options ---- -### if special compilation flags are necessary: -### CFLAGS = -Wno-unused-result -### -### ---- Linked libraries ---- -### if your program needs additional libraries: -### INCLUDE = -I"/my_library_path/include" -### LIBRARIES = -L"/path/to/my/library" -lmy_library -lmy_other_library -### -### ---- Linking options ---- -### if special linking flags are needed: -### LFLAGS = -s -### -### ---- Webots included libraries ---- -### if you want to use the Webots C API in your C++ controller program: -### USE_C_API = true -### -### ---- Debug mode ---- -### if you want to display the gcc command line for compilation and link, as -### well as the rm command details used for cleaning: -### VERBOSE = 1 -### -###----------------------------------------------------------------------------- - -### Do not modify: this includes Webots global Makefile.include -C_SOURCES = ardupilot_SITL_Supervisor.c -INCLUDE = -I"./" -space := -space += -WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) -include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/ardupilot_SITL_Supervisor.c b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/ardupilot_SITL_Supervisor.c deleted file mode 100644 index 67a5ff6886..0000000000 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_Supervisor/ardupilot_SITL_Supervisor.c +++ /dev/null @@ -1,191 +0,0 @@ -/* - * File: ardupilot_SITL_Supervisor.c - * Date: - * Description: - * Author: - * Modifications: - */ - -/* - * You may need to add include files like or - * , etc. - */ - -#include -#include -#include -#include -#include -#include -#include -#include - -#define MAX_NUM_ROBOTS 4 - -//define DEBUG_DATA - -typedef struct { - WbNodeRef robot_node; // to track the robot node - int receiver_channel; // receiver channel - double velocity[3]; // to track robot's position - -} Robot; - - -static WbDeviceTag emitter; -static WbNodeRef world_info, self_node; -static Robot *robots[MAX_NUM_ROBOTS]; -static int actualRobots = 0; -double *linear_velocity; - - -static double northDirection[3] = {1.0,0.0,0.0}; - -/* - * You may want to add macros here. - */ -static int timestep; - - -void initialize (int argc, char *argv[]) -{ - - WbNodeRef root, node; - WbFieldRef children, field; - int n, i , note_type; - - /* necessary to initialize webots stuff */ - wb_robot_init(); - - timestep = (int)wb_robot_get_basic_time_step(); - - self_node = wb_supervisor_node_get_self(); - - root = wb_supervisor_node_get_root(); - children = wb_supervisor_node_get_field(root, "children"); - n = wb_supervisor_field_get_count(children); - printf("This world contains %d nodes:\n", n); - for (i = 0, actualRobots=0; i < n; i++) { - node = wb_supervisor_field_get_mf_node(children, i); - field = wb_supervisor_node_get_field(node, "name"); - note_type = wb_supervisor_node_get_type(node); - if ( note_type == WB_NODE_WORLD_INFO) - { - world_info = node; - //break; - } - else if ((note_type == WB_NODE_ROBOT) && (node != self_node)) - { - /* code */ - if (actualRobots < MAX_NUM_ROBOTS) - { - WbFieldRef channel = wb_supervisor_node_get_field(node, "customData"); - Robot *robot = malloc(sizeof(Robot)); - robots[actualRobots] = robot; - robots[actualRobots]->robot_node = node; - robots[actualRobots]->receiver_channel = atoi((const char *)(wb_supervisor_field_get_sf_string(channel))); - - printf("Robot %s with ch %d is added \n",wb_supervisor_field_get_sf_string(field),robots[actualRobots]->receiver_channel); - - actualRobots++; - } - else - { - printf("Robot %s is ignored \n",wb_supervisor_field_get_sf_string(field)); - } - } - - - } - node = wb_supervisor_field_get_mf_node(children, 0); - field = wb_supervisor_node_get_field(node, "northDirection"); - memcpy(&northDirection,wb_supervisor_field_get_sf_vec3f(field),sizeof(double)*3); - - if (northDirection[0] == 1) - { - printf ("Axis Default Directions\n"); - } - - printf("WorldInfo.northDirection = %g %g %g\n\n", northDirection[0], northDirection[1], northDirection[2]); - - - - - printf("SUPVERVISOR timestep %d\n", timestep); - - - emitter = wb_robot_get_device("emitter"); - - -} - -/* - * This is the main program. - * The arguments of the main function can be specified by the - * "controllerArgs" field of the Robot node - */ -int main(int argc, char **argv) { - - initialize( argc, argv); - - /* - * You should declare here WbDeviceTag variables for storing - * robot devices like this: - * WbDeviceTag my_sensor = wb_robot_get_device("my_sensor"); - * WbDeviceTag my_actuator = wb_robot_get_device("my_actuator"); - */ - - - /* main loop - * Perform simulation steps of TIME_STEP milliseconds - * and leave the loop when the simulation is over - */ - while (true) { - - wb_robot_step(timestep); - //printf("timestep %f\n", wb_robot_get_time()); - - /* - * Read the sensors : - * Enter here functions to read sensor data, like: - * double val = wb_distance_sensor_get_value(my_sensor); - */ - - /* Process sensor data here */ - /* - * Enter here functions to send actuator commands, like: - * wb_motor_set_position(my_actuator, 10.0); - */ - static double outputData[4]; - for (int i=0; i < actualRobots; ++i) - { - - linear_velocity = (double *) wb_supervisor_node_get_velocity (robots[i]->robot_node); - //sprintf (buf,"[%lf, %lf, %lf]", linear_velocity[0], linear_velocity[1], linear_velocity[2]); - //WbFieldRef channel = wb_supervisor_node_get_field(robots[i]->robot_node, "customData"); - //wb_supervisor_field_set_sf_string (channel, &buf[0]); - //printf("%s",buf); - memcpy(outputData,linear_velocity, sizeof(double) * 3); - - /* - * This is used to handle sensors axis when northDirection is different than [1,0,0] - * Note: that only two values are handled here. - * Local map northDirection [1,0,0] - * OpenStreetView map northDirection [0,0,1] - */ - outputData[3] = northDirection[0]; // send Map indicator; - wb_emitter_set_channel(emitter, robots[i]->receiver_channel); - wb_emitter_send(emitter, (const void *) outputData, sizeof(double) * 4); - #ifdef DEBUG_DATA - printf ("#%d at %lf Robot#%d [%lf, %lf, %lf, %lf]\n", test, wb_robot_get_time(), i, outputData[0], outputData[1], outputData[2], outputData[3]); - #endif - } - }; - - /* Enter your cleanup code here */ - printf("OUT OF LOOP\n"); - /* This is necessary to cleanup webots resources */ - wb_robot_cleanup(); - - return 0; -} diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.c b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.c index 7fd0d3d849..6ca7ad9448 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.c +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.c @@ -1,4 +1,3 @@ - /* * File: ardupilot_SITL_TRICOPTER.c * Date: 18 Aug 2019 @@ -59,7 +58,6 @@ static WbDeviceTag receiver; static WbDeviceTag emitter; #endif static double _linear_velocity[3] = {0.0,0.0,0.0}; -static double northDirection = 1; static double v[MOTOR_NUM]; static double servo_value = 0; #ifdef DEBUG_USE_KB @@ -67,6 +65,7 @@ static double servo_value_extra = 0; #endif int port; +float dragFactor = VEHICLE_DRAG_FACTOR; int timestep; @@ -163,7 +162,6 @@ static void read_incoming_messages() _linear_velocity[0] = data[0]; _linear_velocity[1] = data[1]; _linear_velocity[2] = data[2]; - northDirection = data[3]; //printf("RAW Data [%f, %f, %f]\n", linear_velocity[0], linear_velocity[2], linear_velocity[1]); wb_receiver_next_packet(receiver); @@ -269,7 +267,7 @@ bool parse_controls(const char *json) // find key inside section p = strstr(p, key->key); if (!p) { - printf("Failed to find key %s/%s DATA:%s\n", key->section, key->key, json); + fprintf(stderr,"Failed to find key %s/%s DATA:%s\n", key->section, key->key, json); return false; } @@ -294,7 +292,7 @@ bool parse_controls(const char *json) case DATA_VECTOR4F: { VECTOR4F *v = (VECTOR4F *)key->ptr; if (sscanf(p, "[%f, %f, %f, %f]", &(v->w), &(v->x), &(v->y), &(v->z)) != 4) { - printf("Failed to parse Vector3f for %s %s/%s\n",p, key->section, key->key); + fprintf(stderr,"Failed to parse Vector3f for %s %s/%s\n",p, key->section, key->key); return false; } else @@ -311,7 +309,6 @@ bool parse_controls(const char *json) return true; } -#define TIME_DIV 1000.0 void run () { @@ -337,12 +334,10 @@ void run () } - read_incoming_messages(); - // trigget ArduPilot to send motor data - getAllSensors ((char *)send_buf, northDirection, gyro,accelerometer,compass,gps, inertialUnit); + getAllSensors ((char *)send_buf, gyro,accelerometer,compass,gps, inertialUnit); #ifdef DEBUG_SENSORS printf("at %lf %s\n",wb_robot_get_time(), send_buf); @@ -416,7 +411,7 @@ bool initialize (int argc, char *argv[]) for (int i = 0; i < argc; ++i) { if (strcmp (argv[i],"-p")==0) - { + { // specify port for SITL. if (argc > i+1 ) { port = atoi (argv[i+1]); @@ -424,17 +419,30 @@ bool initialize (int argc, char *argv[]) } } else if (strcmp (argv[i],"-df")==0) - { - //TODO: to be implemented later. use same logic as in Quad file. - + { // specify drag functor used to simulate air resistance. + if (argc > i+1 ) + { + dragFactor = atof (argv[i+1]); + printf("drag Factor %f\n",dragFactor); + } + else + { + fprintf(stderr,"Missing drag factor value.\n"); + return false; + } + } } + sfd = create_socket_server(port); + /* necessary to initialize webots stuff */ wb_robot_init(); timestep = (int)wb_robot_get_basic_time_step(); + timestep_scale = timestep * 1000.0; + printf("timestep_scale: %f \n", timestep_scale); // init receiver from Supervisor receiver = wb_robot_get_device("receiver_main"); @@ -460,12 +468,13 @@ bool initialize (int argc, char *argv[]) return false; } - - + + // keybaard #ifdef DEBUG_USE_KB wb_keyboard_enable(timestep); #endif + // inertialUnit inertialUnit = wb_robot_get_device("inertial_unit"); wb_inertial_unit_enable(inertialUnit, timestep); @@ -513,6 +522,7 @@ bool initialize (int argc, char *argv[]) // init linear_velocity untill we receive valid data from Supervisor. linear_velocity = &_linear_velocity[0] ; + return true; } /* @@ -523,6 +533,8 @@ bool initialize (int argc, char *argv[]) int main(int argc, char **argv) { + + if (initialize( argc, argv)) { @@ -533,7 +545,6 @@ int main(int argc, char **argv) run(); } - /* Enter your cleanup code here */ /* This is necessary to cleanup webots resources */ diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.h b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.h index 25a851fd6b..d755c63030 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.h +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/ardupilot_SITL_TRICOPTER.h @@ -1,14 +1,11 @@ -//#define DEBUG_MOTORS +// #define DEBUG_MOTORS // #define DEBUG_SENSORS -//#define DEBUG_USE_KB -//#define DEBUG_INPUT_DATA +// #define DEBUG_USE_KB +// #define DEBUG_INPUT_DATA // #define LINEAR_THRUST +// #define WIND_SIMULATION - - - -//#define WIND_SIMULATION - +#define VEHICLE_DRAG_FACTOR 0.001 // # of simulation steps between two image frames. #define CAMERA_FRAME_RATE_FACTOR 50 diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.c b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.c index 7edbe9c841..57b0618f4d 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.c +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.c @@ -33,77 +33,66 @@ copter.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y); /* returns: "yaw":_6.594794831471518e-05,"pitch":_-0.0005172680830582976,"roll":_0.022908752784132957}} */ -void getInertia (const WbDeviceTag inertialUnit, const double northDirection, char *buf) +void getInertia (const WbDeviceTag inertialUnit, char *buf) { const double *inertial_directions = wb_inertial_unit_get_roll_pitch_yaw (inertialUnit); - if (northDirection == 1) - { - sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[0], inertial_directions[1], inertial_directions[2]); - } - else - { - sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[1], -inertial_directions[0], inertial_directions[2]); - } - return ; + sprintf(buf,"\"roll\": %f,\"pitch\": %f,\"yaw\": %f",inertial_directions[0], inertial_directions[1], inertial_directions[2]); + + return ; + } /* returns: "magnetic_field":_[23088.669921875,_3876.001220703125,_-53204.57421875] */ -void getCompass (const WbDeviceTag compass, const double northDirection, char *buf) +void getCompass (const WbDeviceTag compass, char *buf) { const double *north3D = wb_compass_get_values(compass); - if (northDirection == 1) - { - sprintf(buf,"[%f, %f, %f]",north3D[0], north3D[2], north3D[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",north3D[2], -north3D[0], north3D[1]); - } + + sprintf(buf,"[%f, %f, %f]",north3D[0], north3D[2], north3D[1]); return ; + } - +double old_north3D[3]; +double lllinear_velocity[3]; +double llspeed; /* returns: "vehicle.gps":{"timestamp":_1563301031.055164,"x":_5.5127296946011484e-05,"y":_-0.0010968948481604457,"z":_0.037179552018642426}, */ -void getGPS (const WbDeviceTag gps, const double northDirection, char *buf) +void getGPS (const WbDeviceTag gps, char *buf) { const double *north3D = wb_gps_get_values(gps); - if (northDirection == 1) + llspeed = wb_gps_get_speed(gps); + const double delta = (north3D[0] - old_north3D[0]); + if (delta != 0.0) { - sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[0], north3D[2], north3D[1]); + lllinear_velocity[0] = (north3D[0] - old_north3D[0]) * timestep_scale; + lllinear_velocity[1] = (north3D[1] - old_north3D[1]) * timestep_scale; + lllinear_velocity[2] = (north3D[2] - old_north3D[2]) * timestep_scale; } - else - { - sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[2], -north3D[0], north3D[1]); - } - + old_north3D[0] = north3D[0]; + old_north3D[1] = north3D[1]; + old_north3D[2] = north3D[2]; + sprintf(buf,"\"x\": %f,\"y\": %f,\"z\": %f", north3D[0], north3D[2], north3D[1]); + return ; } /* returns: "linear_acceleration": [0.005074390675872564, 0.22471477091312408, 9.80740737915039] */ -void getAcc (const WbDeviceTag accelerometer, const double northDirection, char *buf) +void getAcc (const WbDeviceTag accelerometer, char *buf) { //SHOULD BE CORRECT const double *a = wb_accelerometer_get_values(accelerometer); - if (northDirection == 1) - { - sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); - } + sprintf(buf,"[%f, %f, %f]",a[0], a[2], a[1]); //sprintf(buf,"[0.0, 0.0, 0.0]"); @@ -114,40 +103,29 @@ void getAcc (const WbDeviceTag accelerometer, const double northDirection, char /* returns: "angular_velocity": [-1.0255117643964695e-07, -8.877226775894087e-08, 2.087078510015772e-09] */ -void getGyro (const WbDeviceTag gyro, const double northDirection, char *buf) +void getGyro (const WbDeviceTag gyro, char *buf) { const double *g = wb_gyro_get_values(gyro); - if (northDirection == 1) - { - sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); - } - else - { - sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); - } + + sprintf(buf,"[%f, %f, %f]",g[0], g[2], g[1]); return ; } -void getLinearVelocity (WbNodeRef nodeRef, const double northDirection, char * buf) +void getLinearVelocity (WbNodeRef nodeRef, char * buf) { if (linear_velocity != NULL) { - if (northDirection == 1) - { // local map northDirection [1,0,0] - sprintf (buf,"[%f, %f, %f]", linear_velocity[0], linear_velocity[2], linear_velocity[1]); - } - else - { // openstreet map northDirection [0,0,1] - sprintf (buf,"[%f, %f, %f]", linear_velocity[2], -linear_velocity[0], linear_velocity[1]); - } + sprintf (buf,"[%f, %f, %f]", lllinear_velocity[0], lllinear_velocity[2], lllinear_velocity[1]); + } - + + return ; } -void getAllSensors (char *buf, const double northDirection, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit) +void getAllSensors (char *buf, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit) { /* @@ -180,14 +158,14 @@ void getAllSensors (char *buf, const double northDirection, WbDeviceTag gyro, Wb double time = wb_robot_get_time(); // current simulation time in [s] sprintf(szTime,"%lf", time); - getGyro(gyro, northDirection, gyro_buf); - getAcc(accelerometer, northDirection, acc_buf); - getCompass(compass, northDirection, compass_buf); - getGPS(gps, northDirection, gps_buf); - getInertia (inertial_unit, northDirection, inertial_buf); - getLinearVelocity(self_node, northDirection, linear_velocity_buf); + getGyro(gyro, gyro_buf); + getAcc(accelerometer, acc_buf); + getCompass(compass, compass_buf); + getGPS(gps, gps_buf); + getInertia (inertial_unit, inertial_buf); + getLinearVelocity(self_node, linear_velocity_buf); sprintf (buf,"{\"ts\": %s,\"vehicle.imu\": {\"av\": %s,\"la\": %s,\"mf\": %s,\"vehicle.gps\":{%s},\"vehicle.velocity\":{\"wlv\": %s},\"vehicle.pose\":{%s,%s}}\r\n" - , szTime, gyro_buf, acc_buf, compass_buf, gps_buf, linear_velocity_buf, gps_buf, inertial_buf ); + , szTime, gyro_buf, acc_buf, compass_buf, gps_buf, linear_velocity_buf, gps_buf, inertial_buf ); } \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.h b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.h index 170ced8924..5dbd7db1ba 100644 --- a/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.h +++ b/libraries/SITL/examples/Webots/controllers/ardupilot_SITL_TRICOPTER/sensors.h @@ -13,11 +13,12 @@ WbNodeRef self_node; double *linear_velocity; - -void getInertia (const WbDeviceTag inertialUnit, const double northDirection, char *buf); -void getLinearVelocity (WbNodeRef nodeRef, const double northDirection, char * buf); -void getCompass (const WbDeviceTag compass, const double northDirection, char *buf); -void getAcc (const WbDeviceTag accelerometer, const double northDirection, char *buf); -void getGyro (const WbDeviceTag gyro, const double northDirection, char *buf); -void getGPS (const WbDeviceTag gps, const double northDirection, char *buf); -void getAllSensors (char *buf, const double northDirection, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit); \ No newline at end of file +double timestep_scale; +char pBug[1024]; +void getInertia (const WbDeviceTag inertialUnit, char *buf); +void getLinearVelocity (WbNodeRef nodeRef, char * buf); +void getCompass (const WbDeviceTag compass, char *buf); +void getAcc (const WbDeviceTag accelerometer, char *buf); +void getGyro (const WbDeviceTag gyro, char *buf); +void getGPS (const WbDeviceTag gps, char *buf); +void getAllSensors (char *buf, WbDeviceTag gyro, WbDeviceTag accelerometer, WbDeviceTag compass, const WbDeviceTag gps, const WbDeviceTag inertial_unit); \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/pyramids_dronePlus.sh b/libraries/SITL/examples/Webots/pyramids_droneX.sh similarity index 63% rename from libraries/SITL/examples/Webots/pyramids_dronePlus.sh rename to libraries/SITL/examples/Webots/pyramids_droneX.sh index ae976183ab..d40d123d0c 100755 --- a/libraries/SITL/examples/Webots/pyramids_dronePlus.sh +++ b/libraries/SITL/examples/Webots/pyramids_droneX.sh @@ -2,4 +2,4 @@ # assume we start the script from the root directory ROOTDIR=$PWD -$PWD/Tools/autotest/sim_vehicle.py -v ArduCopter -w --model webots-quad --add-param-file=libraries/SITL/examples/Webots/quadPlus.parm -L Pyramid +$PWD/Tools/autotest/sim_vehicle.py -v ArduCopter -w --model webots-quad --add-param-file=libraries/SITL/examples/Webots/quadX.parm -L Pyramid diff --git a/libraries/SITL/examples/Webots/pyramids_dronePlus_twoDrones.sh b/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh similarity index 100% rename from libraries/SITL/examples/Webots/pyramids_dronePlus_twoDrones.sh rename to libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh diff --git a/libraries/SITL/examples/Webots/quadPlus.parm b/libraries/SITL/examples/Webots/quadPlus.parm index 3ccfd20a38..d39faa6e64 100644 --- a/libraries/SITL/examples/Webots/quadPlus.parm +++ b/libraries/SITL/examples/Webots/quadPlus.parm @@ -1,32 +1,17 @@ SYSID_THISMAV 1 FRAME_CLASS 1.000000 FRAME_TYPE 0.000000 -ATC_ANG_PIT_P 1.0 -ATC_ANG_RLL_P 1.0 -ATC_ANG_YAW_P 1.000000 -ATC_RAT_PIT_FF 0.000000 -ATC_RAT_PIT_FILT 50.000000 -ATC_RAT_PIT_IMAX 0.500000 -ATC_RAT_RLL_FF 0.000000 -ATC_RAT_RLL_FILT 50.000000 -ATC_RAT_RLL_IMAX 0.500000 -ATC_RAT_PIT_P 8.0 -ATC_RAT_RLL_P 8.0 +ATC_ANG_PIT_P 0.5 +ATC_ANG_RLL_P 0.5 +ATC_ANG_YAW_P 3.50000 +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_PIT_I 0.030000 ATC_RAT_RLL_I 0.0300000 -ATC_RAT_PIT_D 0.001 -ATC_RAT_RLL_D 0.001 +ATC_RAT_PIT_D 0.003 +ATC_RAT_RLL_D 0.003 ATC_RAT_YAW_D 0.0000100 -ATC_RAT_YAW_FF 0.000000 -ATC_RAT_YAW_FILT 5.000000 -ATC_RAT_YAW_I 0.03 -ATC_RAT_YAW_IMAX 0.50000 -ATC_RAT_YAW_P 0.60 -EK2_LOG_MASK 7 -LOG_BITMASK 978943 -LOG_MAV_BUFSIZE 32 -LOG_REPLAY 1 -WPNAV_SPEED 800 -SIM_WIND_DIR 90.0 -SIM_WIND_SPD 6.0 -SIM_WIND_TURB 0.0 \ No newline at end of file +ARMING_CHECK 33554398 \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/quadPlus2.parm b/libraries/SITL/examples/Webots/quadPlus2.parm index 881a33ad4b..1238349668 100644 --- a/libraries/SITL/examples/Webots/quadPlus2.parm +++ b/libraries/SITL/examples/Webots/quadPlus2.parm @@ -1,32 +1,17 @@ SYSID_THISMAV 2 FRAME_CLASS 1.000000 FRAME_TYPE 0.000000 -ATC_ANG_PIT_P 1.0 -ATC_ANG_RLL_P 1.0 -ATC_ANG_YAW_P 1.000000 -ATC_RAT_PIT_FF 0.000000 -ATC_RAT_PIT_FILT 50.000000 -ATC_RAT_PIT_IMAX 0.500000 -ATC_RAT_RLL_FF 0.000000 -ATC_RAT_RLL_FILT 50.000000 -ATC_RAT_RLL_IMAX 0.500000 -ATC_RAT_PIT_P 8.0 -ATC_RAT_RLL_P 8.0 +ATC_ANG_PIT_P 0.5 +ATC_ANG_RLL_P 0.5 +ATC_ANG_YAW_P 3.50000 +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_PIT_I 0.030000 ATC_RAT_RLL_I 0.0300000 -ATC_RAT_PIT_D 0.001 -ATC_RAT_RLL_D 0.001 +ATC_RAT_PIT_D 0.003 +ATC_RAT_RLL_D 0.003 ATC_RAT_YAW_D 0.0000100 -ATC_RAT_YAW_FF 0.000000 -ATC_RAT_YAW_FILT 5.000000 -ATC_RAT_YAW_I 0.03 -ATC_RAT_YAW_IMAX 0.50000 -ATC_RAT_YAW_P 0.60 -EK2_LOG_MASK 7 -LOG_BITMASK 978943 -LOG_MAV_BUFSIZE 32 -LOG_REPLAY 1 -WPNAV_SPEED 800 -SIM_WIND_DIR 90.0 -SIM_WIND_SPD 6.0 -SIM_WIND_TURB 0.0 \ No newline at end of file +ARMING_CHECK 33554398 \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/quadX.parm b/libraries/SITL/examples/Webots/quadX.parm index 1e3fdaea12..c9bc9d9e97 100644 --- a/libraries/SITL/examples/Webots/quadX.parm +++ b/libraries/SITL/examples/Webots/quadX.parm @@ -1,31 +1,17 @@ SYSID_THISMAV 1 FRAME_CLASS 1.000000 FRAME_TYPE 1.000000 -ATC_ANG_PIT_P 1.0 -ATC_ANG_RLL_P 1.0 -ATC_ANG_YAW_P 1.000000 -ATC_RAT_PIT_FF 0.000000 -ATC_RAT_PIT_FILT 50.000000 -ATC_RAT_PIT_IMAX 0.500000 -ATC_RAT_RLL_FF 0.000000 -ATC_RAT_RLL_FILT 50.000000 -ATC_RAT_RLL_IMAX 0.500000 -ATC_RAT_PIT_P 8.0 -ATC_RAT_RLL_P 8.0 +ATC_ANG_PIT_P 0.5 +ATC_ANG_RLL_P 0.5 +ATC_ANG_YAW_P 3.50000 +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_PIT_I 0.030000 ATC_RAT_RLL_I 0.0300000 -ATC_RAT_PIT_D 0.001 -ATC_RAT_RLL_D 0.001 +ATC_RAT_PIT_D 0.003 +ATC_RAT_RLL_D 0.003 ATC_RAT_YAW_D 0.0000100 -ATC_RAT_YAW_FF 0.000000 -ATC_RAT_YAW_FILT 5.000000 -ATC_RAT_YAW_I 0.03 -ATC_RAT_YAW_IMAX 0.50000 -ATC_RAT_YAW_P 0.60 -EK2_LOG_MASK 7 -LOG_BITMASK 978943 -LOG_MAV_BUFSIZE 32 -LOG_REPLAY 1 -SIM_WIND_DIR 90.0 -SIM_WIND_SPD 5.0 -SIM_WIND_TURB 0.0 \ No newline at end of file +ARMING_CHECK 33554398 \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/quadX2.parm b/libraries/SITL/examples/Webots/quadX2.parm index 3da3f20086..aae6a9662e 100644 --- a/libraries/SITL/examples/Webots/quadX2.parm +++ b/libraries/SITL/examples/Webots/quadX2.parm @@ -1,31 +1,20 @@ SYSID_THISMAV 2 FRAME_CLASS 1.000000 FRAME_TYPE 1.000000 -ATC_ANG_PIT_P 1.0 -ATC_ANG_RLL_P 1.0 -ATC_ANG_YAW_P 1.000000 -ATC_RAT_PIT_FF 0.000000 -ATC_RAT_PIT_FILT 50.000000 -ATC_RAT_PIT_IMAX 0.500000 -ATC_RAT_RLL_FF 0.000000 -ATC_RAT_RLL_FILT 50.000000 -ATC_RAT_RLL_IMAX 0.500000 -ATC_RAT_PIT_P 8.0 -ATC_RAT_RLL_P 8.0 +ATC_ANG_PIT_P 0.5 +ATC_ANG_RLL_P 0.5 +ATC_ANG_YAW_P 3.50000 +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_PIT_I 0.030000 ATC_RAT_RLL_I 0.0300000 -ATC_RAT_PIT_D 0.001 -ATC_RAT_RLL_D 0.001 +ATC_RAT_PIT_D 0.003 +ATC_RAT_RLL_D 0.003 ATC_RAT_YAW_D 0.0000100 -ATC_RAT_YAW_FF 0.000000 -ATC_RAT_YAW_FILT 5.000000 -ATC_RAT_YAW_I 0.03 -ATC_RAT_YAW_IMAX 0.50000 -ATC_RAT_YAW_P 0.60 -EK2_LOG_MASK 7 -LOG_BITMASK 978943 -LOG_MAV_BUFSIZE 32 -LOG_REPLAY 1 +ARMING_CHECK 33554398 SIM_WIND_DIR 90.0 SIM_WIND_SPD 5.0 SIM_WIND_TURB 0.0 \ No newline at end of file diff --git a/libraries/SITL/examples/Webots/worlds/pyramidMap.wbt b/libraries/SITL/examples/Webots/worlds/pyramidMap.wbt new file mode 100644 index 0000000000..dfb4c99e76 --- /dev/null +++ b/libraries/SITL/examples/Webots/worlds/pyramidMap.wbt @@ -0,0 +1,17766 @@ +#VRML_SIM R2021b utf8 +WorldInfo { + info [ + "World generated using the Open Street Map to Webots importer" + "Author: David Mansolino " + ] + gravity 9.80665 + physics "sitl_physics_env" + basicTimeStep 1 + FPS 5 + optimalThreadCount 4 + physicsDisableTime 0 + coordinateSystem "NUE" + randomSeed 52 +} +Viewpoint { + orientation 0.9105337223064622 0.3972882470335872 0.11441323923269492 5.670531893452289 + position -81.01261461993163 254.55784447899657 285.7682724220764 + near 3 + follow "quad_x_sitl" + followType "Mounted Shot" +} +DEF DEF_VEHICLE Robot { + translation -0.027601 0.694307 0.005031 + rotation 0 1 0 0.785388 + children [ + Emitter { + name "emitter_plugin" + description "commuicates with physics plugin" + } + Shape { + appearance Appearance { + material Material { + } + } + geometry Box { + size 0.1 0.1 0.1 + } + } + Camera { + translation 0 0.12 0 + rotation 0 -1 0 2.356195 + name "camera1" + width 128 + height 128 + } + Compass { + rotation 0 1 0 -0.7853983071795865 + name "compass1" + } + GPS { + rotation 0 1 0 -0.785398 + name "gps1" + } + Accelerometer { + rotation 0 1 0 -0.785398 + name "accelerometer1" + } + Gyro { + rotation 0 1 0 -0.785398 + name "gyro1" + } + InertialUnit { + rotation 0 -1 0 0.7853979999999999 + name "inertial_unit" + } + Transform { + translation -0.1 0 0 + rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 -1 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor3" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 1 0 1.1667874781290464 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF DEF_ARM Cylinder { + height 0.1 + radius 0.01 + } + } + ] + } + Transform { + translation 0 0.01 0.1 + rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 1 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor2" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 -1 0 5.370767303526115 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + name "solid(2)" + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0.09 0 + } + } + geometry USE DEF_ARM + } + ] + } + Transform { + translation 0.09999999999999999 0 0 + rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 -1 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor1" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 1 0 5.486397909883531 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + name "solid(1)" + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0.09999999999999999 0 + } + } + geometry USE DEF_ARM + } + ] + } + Transform { + translation 0 0 -0.09999999999999999 + rotation 1 0 0 -1.5707963071795863 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 1 0 + thrustConstants 1.00001 0 + 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building" -} -SimpleBuilding { - translation 14.61 0 184.06 - name "Khufu Ship Museum" - corners [ - 0 0 - -44.53 -2.68 - -45.25 -4.17 - -57.05 -0.52 - -72.21 0.98 - -87.26 0.92 - -98.86 -0.16 - -106.11 -1.17 - -106.72 -9.76 - -95.48 -13.55 - -81.55 -17.51 - -78.22 -17.63 - -73.48 -17.73 - -68.56 -18 - -63.49 -17.04 - -44.82 -12.3 - -45.28 -20.59 - -0.3 -17.78 - ] - wallType "gray glass building" - roofShape "flat roof" -} -SimpleBuilding { - translation -201.93 0 290.58 - name "G1a" - corners [ - 0 0 - 0.97 -44.19 - -42.44 -45.14 - -43.41 -0.96 - ] - wallType "brick building" - wallColor [ - 0.96 0.61 0.24 - ] - roofHeight 30.25 -} -SimpleBuilding { - translation 388.27 0 310.73 - name "Tomb of Hemiunu" - corners [ - 0 0 - 2.31 50.36 - -21.57 51.43 - -23.03 24.91 - -23.88 1.08 - ] - wallType "old building" - roofShape "flat roof" -} -SimpleBuilding { - translation -193.56 0 421.12 - name "building(1)" - corners [ - 0 0 - -1.94 18.53 - -30.31 15.58 - -28.37 -2.94 - ] - wallType "factory building" -} -SimpleBuilding { - translation -175 0 338.62 - name "building(2)" - corners [ - 0 0 - 5.39 0.48 - 6.36 30.81 - 4.68 55.56 - -1.97 55.46 - -2.66 31.15 - ] - wallType "concrete building" - roofShape "flat roof" -} -SimpleBuilding { - translation -167 0 214.92 - name "building(3)" - corners [ - 0 0 - 1.84 18.94 - 1.3 34.73 - -1.55 53.21 - -7.82 53.21 - -9.77 39.92 - -10.37 34.44 - -10.81 19.41 - -8.33 0.15 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation -201.6 0 233.69 - name "G1b" - corners [ - 0 0 - -45.17 -1.28 - -43.82 -48.4 - 1.35 -47.11 - ] - wallType "red and white building" - wallColor [ - 0.96 0.61 0.24 - ] - roofType "bitumen" - roofHeight 30 -} -SimpleBuilding { - translation -199.38 0 136.27 - name "G1c" - corners [ - 0 0 - -1.27 45.36 - -46.63 44.09 - -45.36 -1.26 - ] - wallType "tall house" - wallColor [ - 0.96 0.61 0.24 - ] - roofType "bitumen" - roofHeight 29.6 -} -SimpleBuilding { - translation -619.39 0 -53.98 - name "building(7)" - corners [ - 0 0 - -0.55 -25.47 - 12.96 -25.77 - 13.51 -0.29 - ] - wallType "glass highrise" -} -SimpleBuilding { - translation -683.42 0 544.35 - name "building(9)" - corners [ - 0 0 - -19.75 4.45 - -24.36 -15.76 - -4.6 -20.21 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation -593.17 0 641.34 - name "building(12)" - corners [ - 0 0 - -17.85 6.63 - -23.04 -7.2 - -5.19 -13.83 - ] - wallType "construction building" -} -SimpleBuilding { - translation -592.48 0 13.26 - name "building(14)" - corners [ - 0 0 - 0.26 -15.92 - 9.99 -15.76 - 9.74 0.16 - ] - wallType "residential building" -} -SimpleBuilding { - translation -676.77 0 591.04 - name "building(16)" - corners [ - 0 0 - -17.53 4.12 - -21.82 -13.94 - -4.28 -18.06 - ] - wallType "old building" -} -SimpleBuilding { - translation -640.73 0 -36.15 - name "building(18)" - corners [ - 0 0 - -16.35 0.08 - -16.45 -18.37 - -0.1 -18.45 - ] - wallType "stone wall" -} -SimpleBuilding { - translation -621.49 0 660.78 - name "building(19)" - corners [ - 0 0 - -4.59 -12.37 - 2.56 -14.98 - 7.14 -2.62 - ] - wallType "old house" -} -SimpleBuilding { - translation -605.59 0 629.54 - name "building(20)" - corners [ - 0 0 - -5.52 2.24 - -7.26 -2 - -1.76 -4.25 - ] - wallType "old brick building" -} -SimpleBuilding { - translation -652.99 0 691.53 - name "building(21)" - corners [ - 0 0 - -19.72 4.44 - -24.58 -16.91 - -4.86 -21.35 - ] - wallType "classic building" -} -SimpleBuilding { - translation -670.05 0 617.1 - name "building(23)" - corners [ - 0 0 - -19.51 4.45 - -23.92 -14.63 - -4.41 -19.09 - ] - wallType "old building" -} -SimpleBuilding { - translation -624.32 0 -50.6 - name "building(24)" - corners [ - 0 0 - -12.52 -0.04 - -12.5 -11.26 - 0.03 -11.23 - ] - wallType "glass building" -} -SimpleBuilding { - translation -679.11 0 569.65 - name "building(25)" - corners [ - 0 0 - -19.5 4.58 - -24.49 -16.44 - -4.99 -21.02 - ] - wallType "orange building" -} -SimpleBuilding { - translation -623.79 0 -18.57 - name "building(26)" - corners [ - 0 0 - -20.53 0.53 - -20.82 -10.65 - -0.29 -11.19 - ] - wallType "tall house" -} -SimpleBuilding { - translation -677.41 0 695.89 - name "building(28)" - corners [ - 0 0 - -16.25 4.49 - -19.19 -6.08 - -2.96 -10.57 - ] - wallType "factory building" -} -SimpleBuilding { - translation -639.73 0 -65.39 - name "building(29)" - corners [ - 0 0 - -12.34 -0.02 - -12.33 -10.06 - 0.03 -10.03 - ] - wallType "concrete building" -} -SimpleBuilding { - translation -582.48 0 -2.5 - name "building(30)" - corners [ - 0 0 - -10.96 -0.44 - -10.38 -14.79 - 0.58 -14.36 - ] - wallType "old office building" -} -SimpleBuilding { - translation -676.06 0 710.08 - name "building(31)" - corners [ - 0 0 - 0.58 2.8 - -10.53 5.08 - -12.86 -6.17 - 0.77 -8.97 - 2.53 -0.52 - ] - wallType "residential building" - roofShape "flat roof" -} -SimpleBuilding { - translation -648.14 0 629.42 - name "building(32)" - corners [ - 0 0 - -11.7 2.95 - -16.79 -17.08 - -9.21 -18.99 - -6.02 -6.47 - -1.91 -7.51 - ] - wallType "glass building" - roofShape "flat roof" -} -SimpleBuilding { - translation -664.33 0 641.52 - name "building(33)" - corners [ - 0 0 - -6.26 1.42 - -8.54 -8.56 - -13.8 -7.37 - -15.95 -16.78 - -4.43 -19.38 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation -653.95 0 709.17 - name "building(34)" - corners [ - 0 0 - -11.79 3.05 - -15.55 -11.35 - 1.69 -15.8 - 3.17 -10.17 - -0.23 -9.29 - 0.93 -4.9 - -1.15 -4.36 - ] - wallType "glass highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation 484.51 0 -399.69 - name "المعبد الجنائزي منقرع" - corners [ - 0 0 - -53.71 -1.08 - -53.34 -19.67 - -84.26 -20.3 - -84.06 -30.52 - -52.36 -29.89 - -51.95 -50.41 - 0.6 -49.35 - 0.39 -32.23 - 14.81 -32.77 - 15.25 -9.17 - 0.11 -9.03 - ] - roofShape "flat roof" -} -SimpleBuilding { - translation -338.73 0 246.2 - name "7410" - corners [ - 0 0 - -1.23 41.42 - -22.03 40.8 - -20.8 -0.63 - ] - wallType "tall house" -} -SimpleBuilding { - translation -313.27 0 246.22 - name "7310" - corners [ - 0 0 - -0.75 41.57 - -19.8 41.23 - -19.05 -0.31 - ] - wallType "construction building" -} -SimpleBuilding { - translation -404.23 0 75.58 - name "7670" - corners [ - 0 0 - 0.47 -35.19 - 16.29 -34.99 - 15.84 0.21 - ] - wallType "factory building" -} -SimpleBuilding { - translation -264.08 0 244.87 - name "7120" - corners [ - 0 0 - 0.08 -36.74 - -18.18 -36.78 - -18.26 -0.04 - ] - wallType "orange building" -} -SimpleBuilding { - translation -289 0 246.61 - name "7210" - corners [ - 0 0 - -18.45 -0.04 - -18.61 42.4 - -0.16 42.47 - ] - wallType "transparent highrise" -} -SimpleBuilding { - translation -352.02 0 126.31 - name "7450" - corners [ - 0 0 - 16.93 0.26 - 17.65 -46.13 - 0.72 -46.4 - ] - wallType "highrise" -} -SimpleBuilding { - translation -428.13 0 135.92 - name "building(36)" - corners [ - 0 0 - -0.42 -36.75 - 19.04 -36.96 - 19.45 -0.22 - ] -} -SimpleBuilding { - translation -303.71 0 165.61 - name "7230" - corners [ - 0 0 - -0.32 32.25 - 14.86 32.39 - 15.18 0.16 - ] -} -SimpleBuilding { - translation -311.68 0 170.98 - name "7330" - corners [ - 0 0 - -0.45 26.72 - -15 26.48 - -14.54 -0.25 - ] - wallType "concrete building" -} -SimpleBuilding { - translation -375.7 0 102.24 - name "7550" - corners [ - 0 0 - 0.03 -26.6 - 15.91 -26.57 - 15.88 0.03 - ] - wallType "blue glass building" -} -SimpleBuilding { - translation -427.25 0 178.66 - name "building(37)" - corners [ - 0 0 - -0.17 -37.71 - 18.31 -37.79 - 18.48 -0.09 - ] - wallType "concrete building" -} -SimpleBuilding { - translation -398.21 0 82.72 - name "7660" - corners [ - 0 0 - -0.03 35 - 15 35.01 - 15.03 0.02 - ] - wallType "old building" -} -SimpleBuilding { - translation -398.6 0 125.61 - name "7650" - corners [ - 0 0 - -0.67 49.32 - 16.24 49.54 - 16.91 0.23 - ] - wallType "stone wall" -} -SimpleBuilding { - translation -335.26 0 163.47 - name "7430" - corners [ - 0 0 - -0.41 33.29 - -16.53 33.09 - -16.13 -0.2 - ] - wallType "orange building" -} -SimpleBuilding { - translation -264.69 0 288.99 - name "7110" - corners [ - 0 0 - 0.48 -35.77 - -17.98 -36.02 - -18.47 -0.24 - ] - wallType "orange building" -} -SimpleBuilding { - translation -400.82 0 333.02 - name "7820" - corners [ - 0 0 - 0.36 -42.48 - 19.59 -42.31 - 19.22 0.17 - ] - wallType "construction building" -} -SimpleBuilding { - translation -263.91 0 166.18 - name "7130" - corners [ - 0 0 - -0.67 32.42 - -16.24 32.1 - -15.55 -0.32 - ] - wallType "old house" -} -SimpleBuilding { - translation -372.64 0 292.97 - name "7810" - corners [ - 0 0 - -0.85 35.15 - 15.58 35.54 - 16.43 0.4 - ] - wallType "glass highrise" -} -SimpleBuilding { - translation -192.46 0 164.24 - name "building(38)" - corners [ - 0 0 - -0.61 -39.12 - 17.19 -39.46 - 16.53 0.58 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation -127.34 0 164.83 - name "building(39)" - corners [ - 0 0 - -19.97 -0.01 - -18.89 -29.03 - -19 -38.62 - -10.01 -38.62 - -0.31 -38.5 - ] - wallType "red and white building" - roofShape "flat roof" -} -SimpleBuilding { - translation -93.67 0 163.53 - name "building(41)" - corners [ - 0 0 - -0.61 -36.5 - 15.91 -35.92 - 17 1.06 - ] - wallType "red and white building" -} -SimpleBuilding { - translation -153.46 0 164.56 - name "building(42)" - corners [ - 0 0 - -17.79 0.02 - -17.51 -36.29 - -0.97 -36.34 - ] - wallType "factory building" -} -SimpleBuilding { - translation -120.51 0 164.81 - name "building(44)" - corners [ - 0 0 - 0.16 -36.65 - 17.01 -36.53 - 16.84 -0.05 - ] - wallType "old building" -} -SimpleBuilding { - translation -30.74 0 152.42 - name "building(45)" - corners [ - 0 0 - -0.16 -24.78 - -15.23 -24.68 - -15.07 0.1 - ] - wallType "construction building" -} -SimpleBuilding { - translation -65.66 0 163.54 - name "building(46)" - corners [ - 0 0 - 18.33 0.04 - 18.39 -35.5 - 15.42 -35.44 - 8.29 -35.62 - 0.06 -35.57 - ] - wallType "old building" - roofShape "flat roof" -} -SimpleBuilding { - translation -171.37 0 191.59 - name "building(47)" - corners [ - 0 0 - -22.45 -0.37 - -22.09 -22.71 - -0.26 -22.36 - ] - wallType "transparent highrise" -} -SimpleBuilding { - translation -433.69 0 324.19 - name "building(48)" - corners [ - 0 0 - 0.47 -23.13 - 9.83 -22.93 - 9.36 0.2 - ] - wallType "concrete building" -} -SimpleBuilding { - translation -62.42 0 -183.48 - name "building(50)" - corners [ - 0 0 - 12.55 1.52 - 8.19 25.59 - -4.37 24.51 - ] - wallType "old building" -} -SimpleBuilding { - translation -431.57 0 293.72 - name "building(51)" - corners [ - 0 0 - -0.36 -13.51 - 6.53 -13.21 - 6.61 -0.04 - ] - wallType "highrise" -} -SimpleBuilding { - translation -365.77 0 286.48 - name "G7510" - corners [ - 0 0 - -45.42 -1.49 - -42.12 -101.75 - 3.3 -100.27 - ] - wallType "stone wall" -} -SimpleBuilding { - translation -358.58 0 133.44 - name "7530" - corners [ - 0 0 - -0.62 23.23 - -20.42 22.71 - -19.79 -0.71 - ] - wallType "orange building" -} -SimpleBuilding { - translation -358.65 0 176.1 - name "7520" - corners [ - 0 0 - -19.01 -0.62 - -18.75 -17.07 - 0.27 -16.76 - ] - wallType "concrete building" -} -SimpleBuilding { - translation -32.74 0 -167 - name "building(52)" - corners [ - 0 0 - -3.79 29.35 - -18.77 28.23 - -18.16 18.14 - -23.66 17.62 - -22.68 11.27 - -17.6 11.13 - -16.3 -1.14 - ] - wallType "highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation 1.04 0 -143 - name "building(53)" - corners [ - 0 0 - -12.12 -18.62 - 0.07 -26.48 - 2.15 -23.3 - 14.13 -31.02 - 22.09 -18.79 - 8.54 -10.06 - 10.63 -6.86 - ] - roofShape "flat roof" -} -SimpleBuilding { - translation 82.14 0 130.4 - name "building(54)" - corners [ - 0 0 - -1.04 39.5 - -20.23 38.98 - -19.19 -0.51 - ] - wallType "red and white building" -} -SimpleBuilding { - translation -15.8 0 163.32 - name "building(55)" - corners [ - 0 0 - 0.79 -37.44 - 3.15 -37.44 - 8.35 -37.4 - 11.84 -37.41 - 19 -37.39 - 18.88 -21.17 - 18.21 0.37 - ] - wallType "arcade-style building" - roofShape "flat roof" -} -SimpleBuilding { - translation 12.51 0 126 - name "building(56)" - corners [ - 0 0 - 17.91 0.3 - 17.4 38.08 - -0.57 37.83 - -0.27 16.07 - ] - wallType "transparent highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation -310.88 0 412.3 - name "building(58)" - corners [ - 0 0 - 7.25 -33.25 - -9.14 -35.52 - -16.39 -2.61 - ] - wallType "classic building" -} -SimpleBuilding { - translation -250.8 0 327.88 - name "building(59)" - corners [ - 0 0 - -1.73 -7.2 - 10.9 -11 - 27.37 -12.74 - 43.85 -16.75 - 45.24 -10.86 - 27.28 -7.39 - 13.95 -1.94 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 559.6 0 -326.93 - name "building(60)" - corners [ - 0 0 - -13.88 -0.45 - -13.06 -26.16 - 0.83 -25.71 - ] - wallType "old office building" -} -SimpleBuilding { - translation 265.09 0 379.2 - name "building(61)" - corners [ - 0 0 - 0.06 -24.36 - 10.11 -24.19 - 9.61 -13.86 - 15.31 -13.76 - 15.48 -24.44 - 25.88 -24.27 - 26.48 0.1 - 16.43 -0.06 - 16.51 -5.07 - 7.8 -5.22 - 8.03 0.46 - ] - wallType "old brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 96.43 0 447.56 - name "building(85)" - corners [ - 0 0 - -0.21 33.36 - 9.35 33.18 - 8.99 45.36 - 20.55 45.38 - 20.79 30.87 - 32.86 30.9 - 32.82 33.4 - 40.19 33.52 - 40.26 31.04 - 40.65 16.35 - 51.92 14.03 - 52.57 -5.82 - 26.59 -5.91 - 26.56 -4.07 - 21.53 -3.98 - 21.63 0.19 - ] - wallType "highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation -137.34 0 126.21 - name "building(96)" - corners [ - 0 0 - -0.73 -27.31 - -14.16 -26.69 - -12.07 10.05 - -8.88 9.59 - -9 0 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 301.38 0 231.77 - name "building(97)" - corners [ - 0 0 - -8.69 -0.14 - -8.97 -23.49 - -0.02 -23.22 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 302.93 0 258.02 - name "building(98)" - corners [ - 0 0 - 0.11 -22.83 - -10.04 -23.12 - -9.88 -0.03 - ] - wallType "glass highrise" -} -SimpleBuilding { - translation 276.18 0 443.29 - name "building(99)" - corners [ - 0 0 - 0.43 -26.09 - -13.02 -26.18 - -12.93 0.32 - ] - wallType "highrise" -} -SimpleBuilding { - translation 255.57 0 510.89 - name "building(101)" - corners [ - 0 0 - -20.42 -0.6 - -20.03 -24.72 - 0.66 -24.38 - ] - wallType "construction building" -} -SimpleBuilding { - translation 223.47 0 216.33 - name "building(103)" - corners [ - 0 0 - -11.06 -0.45 - -11.03 -19.19 - 0.17 -18.88 - ] -} -SimpleBuilding { - translation 258.6 0 470.42 - name "building(105)" - corners [ - 0 0 - 0.24 -22.69 - -10.3 -23 - -10.14 -0.3 - ] - wallType "tall house" -} -SimpleBuilding { - translation 241.47 0 470.14 - name "building(107)" - corners [ - 0 0 - -0.44 -21.39 - -11.25 -21.3 - -10.92 -0.71 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 296.38 0 457.92 - name "building(110)" - corners [ - 0 0 - -0.48 -43.56 - -14.72 -43.26 - -13.06 0.57 - ] - wallType "red brick wall" -} 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textureTransform TextureTransform { - scale 221 221 - } - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 -0.01 0 - -82.46 -0.01 -38.23 - -131.27 -0.01 -56.18 - -143.13 -0.01 -25.57 - -102.3 -0.01 -5.5 - -74.01 -0.01 15.15 - -46.2 -0.01 40.27 - -29.62 -0.01 51.56 - -12.62 -0.01 61 - 4.49 -0.01 39.14 - 9.23 -0.01 43.12 - 53.76 -0.01 83.2 - 77.41 -0.01 64.28 - 50.68 -0.01 37 - 24.89 -0.01 20.17 - 0 -0.01 0 - ] - } - coordIndex [ - 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 - 10, 11, 12, 13, 14, 15, -1 - ] - } - castShadows FALSE - } - ] -} -DEF parking Transform { - translation 231.419057 0 738.65357 - children [ - Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/light_asphalt.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 86 86 - } - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 -0.01 0 - -7.61 -0.01 -41.71 - 1.04 -0.01 -53.43 - 45.81 -0.01 -53.93 - 76.05 -0.01 -55.38 - 78.46 -0.01 -21.81 - 35.39 -0.01 -0.88 - 0 -0.01 0 - ] - } - ccw FALSE - coordIndex [ - 0, 1, 2, 3, 4, 5, 6, 7, -1 - ] - } - castShadows FALSE - } - ] -} -DEF parking Transform { - translation 184.85589 0 635.276057 - children [ - Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/light_asphalt.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 119 119 - } - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 -0.01 0 - 17.86 -0.01 -0.41 - 65.07 -0.01 1.44 - 47.85 -0.01 17.06 - 51.81 -0.01 21.21 - 38.55 -0.01 31.23 - -53.48 -0.01 23.03 - -37.74 -0.01 10.32 - -16.77 -0.01 11.8 - 0 -0.01 0 - ] - } - ccw FALSE - coordIndex [ - 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 - -1 - ] - } - castShadows FALSE - } - ] -} diff --git a/libraries/SITL/examples/Webots/worlds/pyramidMapReduced2_two_quads.wbt b/libraries/SITL/examples/Webots/worlds/pyramidMapReduced2_two_quads.wbt deleted file mode 100644 index 915f543855..0000000000 --- a/libraries/SITL/examples/Webots/worlds/pyramidMapReduced2_two_quads.wbt +++ /dev/null @@ -1,7043 +0,0 @@ -#VRML_SIM R2020a utf8 -WorldInfo { - info [ - "World generated using the Open Street Map to Webots importer" - "Author: David Mansolino " - ] - physics "sitl_physics_env" - basicTimeStep 2 - FPS 5 - optimalThreadCount 4 - physicsDisableTime 0 - northDirection 0 0 1 - randomSeed 52 -} -Robot { - translation -1.949999999999999 0.04997547499999999 1.3757352866866031e-18 - rotation -3.94393426594212e-05 -0.002428650104207135 0.9999970500472537 2.5335126167205975e-15 - 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 -} -Viewpoint { - orientation 0.014725779314097494 -0.9919834300212472 -0.12550707544546588 3.0995220684886386 - position 2.89801721483057 4.724764389642478 -15.01424412872485 - near 3 - follow "quad_plus_sitl" 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-30.74 0 152.42 - name "building(45)" - corners [ - 0 0 - -0.16 -24.78 - -15.23 -24.68 - -15.07 0.1 - ] - wallType "construction building" -} -SimpleBuilding { - translation -65.66 0 163.54 - name "building(46)" - corners [ - 0 0 - 18.33 0.04 - 18.39 -35.5 - 15.42 -35.44 - 8.29 -35.62 - 0.06 -35.57 - ] - wallType "old building" - roofShape "flat roof" -} -SimpleBuilding { - translation -171.37 0 191.59 - name "building(47)" - corners [ - 0 0 - -22.45 -0.37 - -22.09 -22.71 - -0.26 -22.36 - ] - wallType "transparent highrise" -} -SimpleBuilding { - translation -433.69 0 324.19 - name "building(48)" - corners [ - 0 0 - 0.47 -23.13 - 9.83 -22.93 - 9.36 0.2 - ] - wallType "concrete building" -} -SimpleBuilding { - translation -62.42 0 -183.48 - name "building(50)" - corners [ - 0 0 - 12.55 1.52 - 8.19 25.59 - -4.37 24.51 - ] - wallType "old building" -} -SimpleBuilding { - translation -431.57 0 293.72 - name "building(51)" - corners [ - 0 0 - -0.36 -13.51 - 6.53 -13.21 - 6.61 -0.04 - ] - wallType "highrise" -} -SimpleBuilding { - translation -365.77 0 286.48 - name "G7510" - corners [ - 0 0 - -45.42 -1.49 - -42.12 -101.75 - 3.3 -100.27 - ] - wallType "stone wall" -} -SimpleBuilding { - translation -358.58 0 133.44 - name "7530" - corners [ - 0 0 - -0.62 23.23 - -20.42 22.71 - -19.79 -0.71 - ] - wallType "orange building" -} -SimpleBuilding { - translation -358.65 0 176.1 - name "7520" - corners [ - 0 0 - -19.01 -0.62 - -18.75 -17.07 - 0.27 -16.76 - ] - wallType "concrete building" -} -SimpleBuilding { - translation -32.74 0 -167 - name "building(52)" - corners [ - 0 0 - -3.79 29.35 - -18.77 28.23 - -18.16 18.14 - -23.66 17.62 - -22.68 11.27 - -17.6 11.13 - -16.3 -1.14 - ] - wallType "highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation 1.04 0 -143 - name "building(53)" - corners [ - 0 0 - -12.12 -18.62 - 0.07 -26.48 - 2.15 -23.3 - 14.13 -31.02 - 22.09 -18.79 - 8.54 -10.06 - 10.63 -6.86 - ] - roofShape "flat roof" -} -SimpleBuilding { - translation 82.14 0 130.4 - name "building(54)" - corners [ - 0 0 - -1.04 39.5 - -20.23 38.98 - -19.19 -0.51 - ] - wallType "red and white building" -} -SimpleBuilding { - translation -15.8 0 163.32 - name "building(55)" - corners [ - 0 0 - 0.79 -37.44 - 3.15 -37.44 - 8.35 -37.4 - 11.84 -37.41 - 19 -37.39 - 18.88 -21.17 - 18.21 0.37 - ] - wallType "arcade-style building" - roofShape "flat roof" -} -SimpleBuilding { - translation 12.51 0 126 - name "building(56)" - corners [ - 0 0 - 17.91 0.3 - 17.4 38.08 - -0.57 37.83 - -0.27 16.07 - ] - wallType "transparent highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation -310.88 0 412.3 - name "building(58)" - corners [ - 0 0 - 7.25 -33.25 - -9.14 -35.52 - -16.39 -2.61 - ] - wallType "classic building" -} -SimpleBuilding { - translation -250.8 0 327.88 - name "building(59)" - corners [ - 0 0 - -1.73 -7.2 - 10.9 -11 - 27.37 -12.74 - 43.85 -16.75 - 45.24 -10.86 - 27.28 -7.39 - 13.95 -1.94 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 559.6 0 -326.93 - name "building(60)" - corners [ - 0 0 - -13.88 -0.45 - -13.06 -26.16 - 0.83 -25.71 - ] - wallType "old office building" -} -SimpleBuilding { - translation 265.09 0 379.2 - name "building(61)" - corners [ - 0 0 - 0.06 -24.36 - 10.11 -24.19 - 9.61 -13.86 - 15.31 -13.76 - 15.48 -24.44 - 25.88 -24.27 - 26.48 0.1 - 16.43 -0.06 - 16.51 -5.07 - 7.8 -5.22 - 8.03 0.46 - ] - wallType "old brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 96.43 0 447.56 - name "building(85)" - corners [ - 0 0 - -0.21 33.36 - 9.35 33.18 - 8.99 45.36 - 20.55 45.38 - 20.79 30.87 - 32.86 30.9 - 32.82 33.4 - 40.19 33.52 - 40.26 31.04 - 40.65 16.35 - 51.92 14.03 - 52.57 -5.82 - 26.59 -5.91 - 26.56 -4.07 - 21.53 -3.98 - 21.63 0.19 - ] - wallType "highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation -137.34 0 126.21 - name "building(96)" - corners [ - 0 0 - -0.73 -27.31 - -14.16 -26.69 - -12.07 10.05 - -8.88 9.59 - -9 0 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 301.38 0 231.77 - name "building(97)" - corners [ - 0 0 - -8.69 -0.14 - -8.97 -23.49 - -0.02 -23.22 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 302.93 0 258.02 - name "building(98)" - corners [ - 0 0 - 0.11 -22.83 - -10.04 -23.12 - -9.88 -0.03 - ] - wallType "glass highrise" -} -SimpleBuilding { - translation 276.18 0 443.29 - name "building(99)" - corners [ - 0 0 - 0.43 -26.09 - -13.02 -26.18 - -12.93 0.32 - ] - wallType "highrise" -} -SimpleBuilding { - translation 255.57 0 510.89 - name "building(101)" - corners [ - 0 0 - -20.42 -0.6 - -20.03 -24.72 - 0.66 -24.38 - ] - wallType "construction building" -} -SimpleBuilding { - translation 223.47 0 216.33 - name "building(103)" - corners [ - 0 0 - -11.06 -0.45 - -11.03 -19.19 - 0.17 -18.88 - ] -} -SimpleBuilding { - translation 258.6 0 470.42 - name "building(105)" - corners [ - 0 0 - 0.24 -22.69 - -10.3 -23 - -10.14 -0.3 - ] - wallType "tall house" -} -SimpleBuilding { - translation 241.47 0 470.14 - name "building(107)" - corners [ - 0 0 - -0.44 -21.39 - -11.25 -21.3 - -10.92 -0.71 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 296.38 0 457.92 - name "building(110)" - corners [ - 0 0 - -0.48 -43.56 - -14.72 -43.26 - -13.06 0.57 - ] - wallType "red brick wall" -} -SimpleBuilding { - translation 277.7 0 447.38 - name "building(112)" - corners [ - 0 0 - 1 35.69 - -14.16 35.31 - -13.85 0.3 - ] - wallType "arcade-style building" -} -SimpleBuilding { - translation 299.17 0 488.66 - name "building(113)" - corners [ - 0 0 - -0.52 -25.06 - -17 -24.8 - -15.69 0.27 - ] - wallType "construction building" -} -SimpleBuilding { - translation 282.99 0 518.81 - name "building(114)" - corners [ - 0 0 - -0.52 -24.8 - -20.42 -25.12 - -19.26 0.61 - ] - wallType "stone brick" -} -SimpleBuilding { - translation 220.67 0 422.4 - name "building(116)" - corners [ - 0 0 - 0.88 -22.01 - -10.45 -22.2 - -10.02 0.1 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 218.77 0 393.52 - name "building(117)" - corners [ - 0 0 - -8.97 0.11 - -8.05 -23.75 - 1.69 -23.32 - ] - wallType "concrete building" -} -SimpleBuilding { - translation 240.61 0 442.32 - name "building(120)" - corners [ - 0 0 - -0.54 -24.01 - -12.52 -24.47 - -11.73 -0.46 - ] -} -SimpleBuilding { - translation 258.17 0 440.77 - name "building(123)" - corners [ - 0 0 - -0.55 -23.36 - -11.22 -23.27 - -10.41 -0.04 - ] - wallType "residential building" -} -SimpleBuilding { - translation 249.83 0 210.34 - name "building(124)" - corners [ - 0 0 - -0.32 -14.83 - -15.1 -14.15 - -14.66 -0.37 - ] - wallType "old building" -} -SimpleBuilding { - translation 240.38 0 237.98 - name "building(126)" - corners [ - 0 0 - -0.77 -25.84 - -9.06 -26.11 - -9.6 -9.59 - -15.92 -9.69 - -15.56 0.01 - ] - wallType "old office building" - roofShape "flat roof" -} -SimpleBuilding { - translation 188.3 0 466.35 - name "building(127)" - corners [ - 0 0 - -1.21 -22.85 - 9.08 -23.47 - 10.29 -0.89 - ] - wallType "orange building" -} -SimpleBuilding { - translation 168.62 0 514.82 - name "building(128)" - corners [ - 0 0 - 0.56 -18.62 - 13.47 -17.89 - 12.92 -0.58 - ] - wallType "glass building" -} -SimpleBuilding { - translation 181.27 0 469.53 - name "Mastaba of Penmeru (G 2197)" - corners [ - 0 0 - 0.15 22.82 - 5.69 22.91 - 5.82 14.78 - 10.11 10.65 - 17.22 10.77 - 17.93 -0.23 - ] - wallType "residential building" - roofShape "flat roof" -} -SimpleBuilding { - translation 186.87 0 246.01 - name "G5110 Tomb of Duaenre" - corners [ - 0 0 - -21.61 -0.35 - -19.79 -47.81 - 2.35 -47.45 - ] - wallType "brick building" -} -SimpleBuilding { - translation 156.52 0 377.18 - name "building(131)" - corners [ - 0 0 - 1.22 -10.47 - -9.59 -10.12 - -9.49 -0.15 - ] - wallType "highrise" -} -SimpleBuilding { - translation 159.01 0 303.54 - name "building(132)" - corners [ - 0 0 - -0.26 26.88 - -15.69 26.72 - -15.41 -0.15 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 125.27 0 272.28 - name "building(133)" - corners [ - 0 0 - -0.69 -22.04 - 12.75 -22.09 - 10.8 0.44 - ] - wallType "old brick wall" -} -SimpleBuilding { - translation 189.58 0 289.59 - name "building(134)" - corners [ - 0 0 - -10.55 -0.17 - -9.64 -23.51 - 0.9 -23.33 - ] - wallType "orange building" -} -SimpleBuilding { - translation 163.05 0 218.86 - name "building(136)" - corners [ - 0 0 - 0.3 -18.62 - -11.3 -18.81 - -10.81 0.09 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 190.24 0 346.52 - name "building(137)" - corners [ - 0 0 - -13.44 -0.22 - -12.57 -21.98 - -0.96 -22.31 - ] - wallType "classic building" -} -SimpleBuilding { - translation 172.77 0 253.64 - name "building(138)" - corners [ - 0 0 - -2.24 40.1 - -15.94 39.87 - -15.76 28.8 - -15.47 11 - -15.26 -1.56 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 142.12 0 354.65 - name "building(139)" - corners [ - 0 0 - 0.43 22.3 - -8.8 22.15 - -9.21 -0.41 - ] - wallType "glass building" -} -SimpleBuilding { - translation 158.5 0 336.83 - name "building(140)" - corners [ - 0 0 - -0.11 22.56 - -11.7 22.1 - -11.6 0.08 - ] - wallType "transparent highrise" -} -SimpleBuilding { - translation 190.37 0 435.18 - name "building(142)" - corners [ - 0 0 - 0.64 -22.82 - -10.18 -21.94 - -10.03 0.62 - ] - wallType "factory building" -} -SimpleBuilding { - translation 162.85 0 231.18 - name "building(143)" - corners [ - 0 0 - -0.46 11.8 - -27.59 10.57 - -27.15 -0.44 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation 158.77 0 400.3 - name "building(144)" - corners [ - 0 0 - -10.81 -0.18 - -9.98 -18.26 - 1.09 -18.08 - ] - wallType "glass highrise" -} -SimpleBuilding { - translation 190.95 0 318.73 - name "building(145)" - corners [ - 0 0 - -11.34 -0.18 - -10.68 -8.05 - -16.48 -8.14 - -16.1 -15.47 - -9.23 -15.88 - -9.35 -25.33 - 0.66 -24.65 - ] - wallType "transparent highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation 188.18 0 407.86 - name "Mastaba of Seshmnofer III (G 5170)" - corners [ - 0 0 - -10.27 -0.43 - -10 -17.21 - -13.17 -17 - -13.44 -0.49 - -23.18 -0.9 - -22.81 -23.72 - 0.4 -24.38 - ] - wallType "tall house" - roofShape "flat roof" -} -SimpleBuilding { - translation 400.38 0 520.65 - name "building(163)" - corners [ - 0 0 - -51.14 -0.57 - -51.94 -96.58 - 0.28 -98.09 - ] - wallType "classic building" -} -SimpleBuilding { - translation 281.11 0 654.63 - name "building(164)" - corners [ - 0 0 - 52.68 -0.27 - 53.19 26.8 - -0.64 27.43 - ] - wallType "old house" -} -SimpleBuilding { - translation 141.16 0 593.58 - name "building(165)" - corners [ - 0 0 - 1.31 -10.2 - 4.77 -12.42 - 15.38 -10.35 - 13.37 0.61 - 12.88 3.24 - ] - wallType "stone wall" - roofShape "flat roof" -} -SimpleBuilding { - translation 171.78 0 605.05 - name "building(166)" - corners [ - 0 0 - 2.8 -5.72 - 5.51 -11.26 - 19.08 -4.23 - 14.7 3.2 - 12.43 7.01 - ] - wallType "classic building" - roofShape "flat roof" -} -SimpleBuilding { - translation 120.68 0 436.79 - name "building(167)" - corners [ - 0 0 - 33.46 0.94 - 33.94 -4.42 - 41.2 -4.57 - 41.14 -25.03 - 31.48 -22.82 - 30.22 -26.91 - 25.87 -26.6 - 26.17 -20.82 - 17.21 -20.96 - 17.14 -16.24 - 11.86 -16.19 - 10.58 -10.97 - 5.32 -11.19 - 5.28 -8.83 - -0.78 -8.79 - ] - wallType "brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation 152.97 0 478.97 - name "building(168)" - corners [ - 0 0 - -0.47 13.14 - -8.51 13.01 - -7.78 -0.18 - ] - wallType "gray glass building" -} -SimpleBuilding { - translation -328.86 0 80.52 - name "7350" - corners [ - 0 0 - -0.16 46.38 - 15.13 46.44 - 15.29 0.05 - ] - wallType "factory building" -} -SimpleBuilding { - translation -353.41 0 72.19 - name "7460" - corners [ - 0 0 - 0.42 -31.34 - 17.28 -31.11 - 16.86 0.23 - ] - wallType "old brick wall" -} -SimpleBuilding { - translation -365.66 0 61.26 - name "7560" - corners [ - 0 0 - 0.02 -26.33 - -14.6 -26.35 - -14.62 -0.02 - ] - wallType "transparent highrise" -} -SimpleBuilding { - translation 149 0 441.74 - name "building(169)" - corners [ - 0 0 - 5.5 0.17 - 3.85 20.09 - -0.65 19.85 - ] - wallType "old brick building" -} -SimpleBuilding { - translation 136.99 0 406.37 - name "building(170)" - corners [ - 0 0 - 0 -16.13 - 8.57 -16.12 - 9.24 -0.5 - ] - wallType "red brick wall" -} -SimpleBuilding { - translation 163.05 0 442.18 - name "building(171)" - corners [ - 0 0 - 7.25 0.12 - 6.39 20.83 - -1.41 20.68 - ] - wallType "tall house" -} -SimpleBuilding { - translation 123.09 0 418.33 - name "building(172)" - corners [ - 0 0 - -0.48 -10.63 - 9.25 -9.95 - 9.22 0.55 - ] - wallType "glass highrise" -} -SimpleBuilding { - translation 154.5 0 441.91 - name "building(173)" - corners [ - 0 0 - 8.56 0.27 - 7.15 20.95 - 7 23.07 - 4.89 23.01 - -1.69 22.8 - -1.65 19.92 - ] - wallType "highrise" - roofShape "flat roof" -} -SimpleBuilding { - translation 123.14 0 390.53 - name "building(174)" - corners [ - 0 0 - -2.26 -55.38 - 3.41 -55.16 - 3.02 -48.21 - 10.54 -47.96 - 10.72 -43.1 - 6.24 -43.17 - 7.64 0.52 - ] - wallType "arcade-style building" - roofShape "flat roof" -} -SimpleBuilding { - translation 159.39 0 464.91 - name "building(175)" - corners [ - 0 0 - -0.23 14.19 - -6.43 14.05 - -14.2 13.87 - -22.7 13.69 - -22.32 -1.01 - -11.05 -3.33 - -6.54 -3.09 - -6.59 -0.21 - ] - wallType "factory building" - roofShape "flat roof" -} -SimpleBuilding { - translation 200.42 0 538.62 - name "building(176)" - corners [ - 0 0 - -29.25 -0.73 - -29.25 -17 - 0.53 -16.78 - ] - wallType "old office building" -} -SimpleBuilding { - translation -249.89 0 -90.07 - name "building(204)" - corners [ - 0 0 - 0.83 -16.63 - 17.19 -15.82 - 16.36 0.81 - ] - wallType "blue glass building" -} -SimpleBuilding { - translation -215.59 0 242.77 - name "building(214)" - corners [ - 0 0 - -12.05 -2.6 - -23.77 -1.68 - -23.45 0.73 - -10.08 1.69 - -0.49 1.66 - ] - wallType "old building" - roofShape "flat roof" -} -SimpleBuilding { - translation -429.46 0 -160.84 - name "building(215)" - corners [ - 0 0, 22.4 0.86, 22.27 2.99, 29.97 3.11, 29.77 15.22, 28.35 15.29, 28.42 5.17, 26.7 5.23, 26.74 8.74, 25.22 8.71, 25.38 4.94, 22.62 4.89, 22.73 9.99, 25.77 10.24, 25.94 16.86, 28.89 16.91, 28.85 19.65, 30.75 19.68, 30.62 21.95, 29 21.92, 29.14 24.76, 26.48 24.72, 26.36 32.2, 24.18 32.17, 24.33 39.65, 26.41 39.69, 26.46 36.95, 27.81 36.97, 27.82 40.51, 29.23 40.46, 29.29 28.36, 31.17 28.39, 30.88 41.97, 24.23 41.72, 24.24 45.21, 1.39 44.77, 1.31 41.22, -7.77 41.2, -7.64 33.05, -11.34 33.19, -11.1 47.5, 32.13 47.87, 32.65 -0.42, -11.56 -6.56, -11.74 8.69, -8.18 8.68, -8.14 2, 0.13 2.33 - ] - wallType "old brick building" - roofShape "flat roof" -} -SimpleBuilding { - translation -420.86 0 -97.02 - name "Amenhotep II Temple" - corners [ - 0 0, 18.51 -17.9, 25.78 -10.29, 23.6 -8.45, 18.58 -13.48, 13.66 -9.28, 16.45 -6.83, 19.45 -9.58, 21.83 -7.01, 15.01 -0.57, 12.22 -3.15, 15.42 -6.08, 12.83 -8.46, 3.84 0.03, 8.85 5.03, 10.55 3.26, 7.68 0.86, 8.22 0.29, 8.73 0.77, 11 -1.61, 13.2 0.76, 11.85 2.05, 15.59 5.76, 16.7 4.74, 18.66 6.71, 16.88 8.25, 17.49 8.89, 17.11 9.26, 11.3 4.03, 9.6 5.71, 16.65 12.18, 23.88 5.24, 21.81 3.21, 19.21 5.49, 17.43 3.8, 25.59 -3.87, 27.51 -1.76, 23.64 2.1, 25.6 4.03, 31.25 -0.99, 29.9 -2.52, 30.33 -2.9, 31.92 -1.21, 32.45 -1.72, 30.34 -3.84, 29.33 -3, 25.16 -7.19, 27.1 -9.05, 35.34 -1.11, 16.95 15.75 - ] - wallType "blue glass building" - roofShape "flat roof" -} -SimpleBuilding { - translation -441.1 0 -148.88 - name "building(216)" - corners [ - 0 0, 0.52 18.07, 4.55 18.13, 4.36 13.45, 6.78 13.62, 6.74 18.59, 9.67 20.14, 9.73 21.7, 7.66 21.98, 7.67 27.02, 12.88 26.97, 12.74 19.07, 10.34 18.74, 10.71 13.78, 8.39 13.74, 8.38 11.13, 5.67 11.09, 5.58 7.64, 8.34 7.59, 8.35 4.28, 9.96 4.31, 10 -1.37, 12.95 -1.29, 13.11 -7.25, 6.78 -7.33, 6.9 -3.41, 8.65 -2.24, 8.67 -0.45, 6.31 0.65, 6.1 4.67, 3.35 4.72, 3.33 -0.2 - ] - roofShape "flat roof" -} 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-150.75 - -266.94 0 -154.1 - ] - splineSubdivision 0 - } - } - ] - name "wall(39)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 42.1 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - -516.65 0 -331.5 - -517.64 0 -324.72 - -524.64 0 -318.49 - -545.81 0 -321.55 - -545.72 0 -317.06 - ] - splineSubdivision 0 - } - } - ] - name "wall(40)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 102.4 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - -236.34 0 11.66 - -244.17 0 74.48 - -237.35 0 75.32 - -233.37 0 43.38 - ] - splineSubdivision 0 - } - } - ] - name "wall(41)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 59.4 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - 25.33 0 -113.29 - 33.22 0 -120.63 - 25.96 0 -135.82 - 38.3 0 -146.7 - 29.7 0 -159.46 - ] - splineSubdivision 0 - } - } - ] - name "wall(44)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 92.5 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - 81.5 0 -204.34 - 77.46 0 -202.66 - 77.41 0 -199.38 - 68.71 0 -197.6 - 65.63 0 -203.38 - 61.4 0 -202.03 - 58.59 0 -204.2 - 46.59 0 -199.11 - 46.77 0 -197.38 - 36.75 0 -190.64 - 36.59 0 -188.84 - 29.08 0 -184.78 - 27.47 0 -185.32 - 17.55 0 -175.76 - 22.41 0 -168.53 - ] - splineSubdivision 0 - } - } - ] - name "wall(46)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 309.5 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - -595.05 0 -303.73 - -631.83 0 -300.21 - -639.08 0 -354.8 - -651.87 0 -440.99 - -626.93 0 -441.88 - -627.56 0 -446.69 - -621.86 0 -447.05 - -620.97 0 -442.29 - -588.06 0 -444.08 - -588.2 0 -449.23 - -581.99 0 -449.63 - -582.04 0 -445.02 - -557.99 0 -445.91 - -541.87 0 -440.53 - ] - splineSubdivision 0 - } - } - ] - name "wall(47)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 93.8 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - 77.65 0 -321.33 - 60.3 0 -317.56 - 59.37 0 -320.08 - 50.35 0 -318.36 - 53.6 0 -303.43 - 55.16 0 -303.66 - 60.18 0 -290.25 - 64.7 0 -285.41 - 84.93 0 -292.29 - 83.26 0 -296.96 - ] - splineSubdivision 0 - } - } - ] - name "wall(48)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 115.1 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - 68.17 0 -248.46 - 92.57 0 -260.29 - 86.24 0 -285 - 70.25 0 -281.13 - 54.2 0 -272.38 - 68.17 0 -248.46 - ] - splineSubdivision 0 - } - } - ] - name "wall(49)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 67.8 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - -0.54 0 -126.44 - -4.82 0 -126.51 - -5.16 0 -121.3 - 18.96 0 -119.75 - 22.49 0 -141.91 - 10.93 0 -143.58 - ] - splineSubdivision 0 - } - } - ] - name "wall(51)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 105.9 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - -126.88 0 -297.93 - -128.05 0 -301.88 - -125.56 0 -311.62 - -165.54 0 -308.67 - -166.59 0 -312.1 - -199.49 0 -310.64 - -201.06 0 -317.81 - -193.39 0 -319.04 - ] - splineSubdivision 0 - } - } - ] - name "wall(54)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 60.3 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - 86.68 0 538.96 - 87.02 0 529.44 - 90.71 0 529.44 - 90.44 0 482.36 - ] - splineSubdivision 0 - } - } - ] - name "wall(57)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 26.2 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - -579.08 0 -180.22 - -578.46 0 -206.42 - ] - splineSubdivision 0 - } - } - ] - name "wall(61)" - boundingObject USE SHAPE -} -Solid { - translation 0 0.75 0 - children [ - DEF SHAPE Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/red_brick_wall.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 19.3 1.5 - } - } - geometry Extrusion { - crossSection [ - 0.1 0.75 - 0.1 -0.75 - -0.1 -0.75 - -0.1 0.75 - 0.1 0.75 - ] - spine [ - -577.58 0 -220.63 - -577.08 0 -239.88 - ] - splineSubdivision 0 - } - } - ] - name "wall(62)" - boundingObject USE SHAPE -} -DEF parking Transform { - translation -39.635652 0 511.606044 - children [ - Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/light_asphalt.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 221 221 - } - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 -0.01 0 - -82.46 -0.01 -38.23 - -131.27 -0.01 -56.18 - -143.13 -0.01 -25.57 - -102.3 -0.01 -5.5 - -74.01 -0.01 15.15 - -46.2 -0.01 40.27 - -29.62 -0.01 51.56 - -12.62 -0.01 61 - 4.49 -0.01 39.14 - 9.23 -0.01 43.12 - 53.76 -0.01 83.2 - 77.41 -0.01 64.28 - 50.68 -0.01 37 - 24.89 -0.01 20.17 - 0 -0.01 0 - ] - } - coordIndex [ - 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 - 10, 11, 12, 13, 14, 15, -1 - ] - } - castShadows FALSE - } - ] -} -DEF parking Transform { - translation 231.419057 0 738.65357 - children [ - Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/light_asphalt.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 86 86 - } - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 -0.01 0 - -7.61 -0.01 -41.71 - 1.04 -0.01 -53.43 - 45.81 -0.01 -53.93 - 76.05 -0.01 -55.38 - 78.46 -0.01 -21.81 - 35.39 -0.01 -0.88 - 0 -0.01 0 - ] - } - ccw FALSE - coordIndex [ - 0, 1, 2, 3, 4, 5, 6, 7, -1 - ] - } - castShadows FALSE - } - ] -} -DEF parking Transform { - translation 184.85589 0 635.276057 - children [ - Shape { - appearance PBRAppearance { - baseColorMap ImageTexture { - url [ - "textures/light_asphalt.jpg" - ] - } - roughness 1 - metalness 0 - textureTransform TextureTransform { - scale 119 119 - } - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 -0.01 0 - 17.86 -0.01 -0.41 - 65.07 -0.01 1.44 - 47.85 -0.01 17.06 - 51.81 -0.01 21.21 - 38.55 -0.01 31.23 - -53.48 -0.01 23.03 - -37.74 -0.01 10.32 - -16.77 -0.01 11.8 - 0 -0.01 0 - ] - } - ccw FALSE - coordIndex [ - 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 - -1 - ] - } - castShadows FALSE - } - ] -} diff --git a/libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt b/libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt new file mode 100644 index 0000000000..f6d086a180 --- /dev/null +++ b/libraries/SITL/examples/Webots/worlds/pyramidMap_two_quads.wbt @@ -0,0 +1,18100 @@ +#VRML_SIM R2021b utf8 +WorldInfo { + info [ + "World generated using the Open Street Map to Webots importer" + "Author: David Mansolino " + ] + gravity 9.80665 + physics "sitl_physics_env" + basicTimeStep 1 + FPS 5 + optimalThreadCount 4 + physicsDisableTime 0 + coordinateSystem "NUE" + randomSeed 52 +} +Viewpoint { + orientation 0.09300805455074758 0.9920369450404899 0.08492468112049271 4.79522050775225 + position -35.09510313133427 6.284811043603789 7.6994463492985 + near 3 + follow "quad_plus_sitl" +} +DEF DEF_VEHICLE Robot { + translation -0.027601 0.694307 0.005031 + rotation 0 1 0 0.785388 + children [ + Emitter { + name "emitter_plugin" + description "commuicates with physics plugin" + } + Shape { + appearance Appearance { + material Material { + } + } + geometry Box { + size 0.1 0.1 0.1 + } + } + Camera { + translation 0 0.12 0 + rotation 0 -1 0 2.356195 + name "camera1" + width 128 + height 128 + } + Compass { + rotation 0 1 0 -0.7853983071795865 + name "compass1" + } + GPS { + rotation 0 1 0 -0.785398 + name "gps1" + } + Accelerometer { + rotation 0 1 0 -0.785398 + name "accelerometer1" + } + Gyro { + rotation 0 1 0 -0.785398 + name "gyro1" + } + InertialUnit { + rotation 0 -1 0 0.7853979999999999 + name "inertial_unit" + } + Transform { + translation -0.1 0 0 + rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 -1 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor3" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 1 0 1.1667874781290464 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF DEF_ARM Cylinder { + height 0.1 + radius 0.01 + } + } + ] + } + Transform { + translation 0 0.01 0.1 + rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 1 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor2" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 -1 0 5.370767303526115 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + name "solid(2)" + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0.09 0 + } + } + geometry USE DEF_ARM + } + ] + } + Transform { + translation 0.09999999999999999 0 0 + rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 -1 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor1" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 1 0 5.486397909883531 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + name "solid(1)" + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0.09999999999999999 0 + } + } + geometry USE DEF_ARM + } + ] + } + Transform { + translation 0 0 -0.09999999999999999 + rotation 1 0 0 -1.5707963071795863 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 1 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor4" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 -1 0 5.350616673324008 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + name "solid(3)" + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + diffuseColor 0.7999999999999999 0.7999999999999999 0.7999999999999999 + } + } + geometry USE DEF_ARM + } + ] + } + ] + name "quad_x_sitl" + boundingObject Box { + size 0.1 0.1 0.1 + } + physics Physics { + density -1 + mass 1 + centerOfMass [ + 0 0 0 + ] + } + rotationStep 0.261799 + controller "ardupilot_SITL_QUAD" + controllerArgs [ + "-p" + "5599" + "-df" + "0.01" + ] + customData "1" +} +DEF DEF_VEHICLE Robot { + translation -2.84199 0.694307 2.8192 + rotation 0 1 0 0.785388 + children [ + Emitter { + name "emitter_plugin" + description "commuicates with physics plugin" + } + Shape { + appearance Appearance { + material Material { + } + } + geometry Box { + size 0.1 0.1 0.1 + } + } + Camera { + translation 0 0.12 0 + rotation 0 -1 0 2.356195 + name "camera1" + width 128 + height 128 + } + Compass { + rotation 0 1 0 -0.7853983071795865 + name "compass1" + } + GPS { + rotation 0 1 0 -0.785398 + name "gps1" + } + Accelerometer { + rotation 0 1 0 -0.785398 + name "accelerometer1" + } + Gyro { + rotation 0 1 0 -0.785398 + name "gyro1" + } + InertialUnit { + rotation 0 -1 0 0.7853979999999999 + name "inertial_unit" + } + Transform { + translation -0.1 0 0 + rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 -1 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor3" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 1 0 1.1667874781290464 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + } + } + geometry DEF DEF_ARM Cylinder { + height 0.1 + radius 0.01 + } + } + ] + } + Transform { + translation 0 0.01 0.1 + rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864 + children [ + Solid { + translation 0 0.2 0 + rotation 1 0 0 1.5707959999999999 + children [ + Propeller { + shaftAxis 0 1 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 + device RotationalMotor { + name "motor2" + controlPID 10.001 0 0 + maxVelocity 50000 + maxTorque 90 + } + fastHelix Solid { + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0 0.1 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + slowHelix Solid { + rotation 0 -1 0 5.370767303526115 + children [ + Shape { + appearance Appearance { + material Material { + diffuseColor 0.960784 0.47451 0 + } + } + geometry Cylinder { + height 0.002 + radius 0.1 + } + } + ] + } + } + ] + name "solid(2)" + physics Physics { + mass 0.05 + } + } + Shape { + appearance Appearance { + material Material { + diffuseColor 1 0.09 0 + } + } 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coord Coordinate { + point [ + 0 0 0 + -3.61 0 -5.22 + -12.7 0 -5.11 + -21.6 0 -3.63 + -22.25 0 0.82 + -18.49 0 6.51 + -5.37 0 7.83 + 0.3 0 3.38 + 0 0 0 + ] + } + coordIndex [ + 0, 1, 2, 3, 4, 5, 6, 7, 8, -1 + ] + } + castShadows FALSE + } + ] +} +DEF forest Transform { + translation -111.073676 0 761.725573 + children [ + Shape { + appearance PBRAppearance { + baseColor 0 1 0 + transparency 0.7 + roughness 1 + metalness 0 + } + geometry IndexedFaceSet { + coord Coordinate { + point [ + 0 0 0 + -12.95 0 0.76 + -16.54 0 3.42 + -10.46 0 9.98 + -5.69 0 17.5 + -13.72 0 28.38 + -3.4 0 35.21 + -2.57 0 43.45 + 6.66 0 45.93 + 11.26 0 36.75 + 6.56 0 28 + 6.37 0 20.1 + 2.65 0 14.79 + 5.7 0 9.99 + 4.18 0 3.95 + 0 0 0 + ] + } + coordIndex [ + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 + 10, 11, 12, 13, 14, 15, -1 + ] + } + castShadows FALSE + } + ] +} diff --git a/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt b/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt index 62fed54c46..dc0fbf4c9a 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt @@ -1,33 +1,17 @@ -#VRML_SIM R2020a utf8 +#VRML_SIM R2021b utf8 WorldInfo { - gravity 0 -9.80665 0 + title "ArduPilot Webots Simulator" + gravity 9.80665 physics "sitl_physics_env" basicTimeStep 1 FPS 15 optimalThreadCount 4 + coordinateSystem "NUE" randomSeed 52 } -Robot { - translation -1.949999999999999 0.23391237384410402 0 - rotation 0 0 1 2.533555103014215e-15 - children [ - Emitter { - type "serial" - channel 1 - } - ] - name "supervisor_sync" - boundingObject Box { - size 0.1 0.1 0.1 - } - physics Physics { - } - controller "ardupilot_SITL_Supervisor" - supervisor TRUE -} Viewpoint { - orientation 0.9997978097496996 0.017446300161270606 0.009998311376764756 5.242214502651711 - position -0.10961792118984595 8.021071573852062 4.261928842800047 + orientation -0.5970464555560485 -0.7963994022827472 -0.0963510350315054 0.3998584260381905 + position -5.109140421817085 5.5744493754094595 15.933129307498696 follow "quad_plus_sitl" followType "Mounted Shot" } @@ -65,15 +49,8 @@ Solid { name "solid(1)" } DEF DEF_VEHICLE Robot { - translation -0.027601 0.674307 0.005031 - rotation -0.012461000916064287 0.999885073506054 -0.008635000634797779 -0.22761130717958622 + translation -0.027601 0.6742971933499999 0.005031 children [ - Receiver { - name "receiver_main" - type "serial" - channel 1 - bufferSize 32 - } Emitter { name "emitter_plugin" description "commuicates with physics plugin" @@ -99,6 +76,7 @@ DEF DEF_VEHICLE Robot { } GPS { name "gps1" + type "laser" } Accelerometer { name "accelerometer1" @@ -114,17 +92,16 @@ DEF DEF_VEHICLE Robot { rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.01 0 device RotationalMotor { name "motor3" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 5000 } fastHelix Solid { children [ @@ -136,7 +113,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -147,12 +124,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -160,7 +137,7 @@ DEF DEF_VEHICLE Robot { } ] physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -180,17 +157,16 @@ DEF DEF_VEHICLE Robot { rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.01 0 device RotationalMotor { name "motor2" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 5000 } fastHelix Solid { children [ @@ -202,23 +178,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 -1 0 5.370767303526115 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -227,7 +203,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(2)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -244,17 +220,16 @@ DEF DEF_VEHICLE Robot { rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.01 0 device RotationalMotor { name "motor1" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 5000 } fastHelix Solid { children [ @@ -266,23 +241,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 5.486397909883531 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -291,7 +266,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(1)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -309,17 +284,16 @@ DEF DEF_VEHICLE Robot { rotation 1 0 0 -1.5707963071795863 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.01 0 device RotationalMotor { name "motor4" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 5000 } fastHelix Solid { children [ @@ -331,23 +305,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 -1 0 5.350616673324008 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -356,7 +330,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(3)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -376,14 +350,19 @@ DEF DEF_VEHICLE Robot { } physics Physics { density -1 - mass 1.5 + mass 1 centerOfMass [ 0 0 0 ] } rotationStep 0.261799 controller "ardupilot_SITL_QUAD" - controllerArgs "-p 5599 -df 0.01" + controllerArgs [ + "-p" + "5599" + "-df" + "0.01" + ] customData "1" } DirectionalLight { @@ -398,9 +377,15 @@ HouseWithGarage { } AdvertisingBoard { translation 0 2.35 -5.71 + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] } AdvertisingBoard { translation 84.03999999999999 2.35 -5.81 rotation 0 1 0 -1.5707963071795863 name "advertising board(1)" + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] } diff --git a/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt b/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt index 093b51b920..a866fdf170 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_quadX.wbt @@ -1,34 +1,17 @@ -#VRML_SIM R2020a utf8 +#VRML_SIM R2021b utf8 WorldInfo { - gravity 0 -9.80665 0 + gravity 9.80665 physics "sitl_physics_env" - basicTimeStep 2 + basicTimeStep 1 FPS 15 - optimalThreadCount 4 + optimalThreadCount 6 + coordinateSystem "NUE" randomSeed 52 } -Robot { - translation -1.949999999999999 0.23391237384410402 0 - rotation 0 0 1 2.533555103014215e-15 - children [ - Emitter { - type "serial" - channel 1 - } - ] - name "supervisor_sync" - boundingObject Box { - size 0.1 0.1 0.1 - } - physics Physics { - } - controller "ardupilot_SITL_Supervisor" - supervisor TRUE -} Viewpoint { - orientation -0.9919331177114086 -0.11439530181889061 -0.054611399076472875 0.8971103745745552 - position -0.9553539884549295 11.277792894156029 8.463112348647094 - follow "quad_plus_sitl" + orientation -0.876127950041513 -0.46933997493480994 -0.11008997721976312 0.5231847446439049 + position -3.507998466973923 7.686764746094164 13.66147356160692 + follow "quad_x_sitl" followType "Mounted Shot" } DogHouse { @@ -68,12 +51,6 @@ DEF DEF_VEHICLE Robot { translation -0.027601 0.694307 0.005031 rotation 0 1 0 0.785388 children [ - Receiver { - name "receiver_main" - type "serial" - channel 1 - bufferSize 32 - } Emitter { name "emitter_plugin" description "commuicates with physics plugin" @@ -115,21 +92,23 @@ DEF DEF_VEHICLE Robot { name "inertial_unit" } Transform { - translation -0.09999999999999999 0 0 + translation -0.1 0 0 rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor3" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -141,7 +120,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -152,12 +131,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -165,7 +144,7 @@ DEF DEF_VEHICLE Robot { } ] physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -181,21 +160,23 @@ DEF DEF_VEHICLE Robot { ] } Transform { - translation 0 0 0.09999999999999999 + translation 0 0.01 0.1 rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor2" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -207,7 +188,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -218,12 +199,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -232,7 +213,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(2)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -250,17 +231,19 @@ DEF DEF_VEHICLE Robot { rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor1" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -272,7 +255,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -283,12 +266,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -297,7 +280,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(1)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -315,17 +298,19 @@ DEF DEF_VEHICLE Robot { rotation 1 0 0 -1.5707963071795863 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor4" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -337,7 +322,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -348,12 +333,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -362,7 +347,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(3)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -382,14 +367,19 @@ DEF DEF_VEHICLE Robot { } physics Physics { density -1 - mass 1.5 + mass 1 centerOfMass [ 0 0 0 ] } rotationStep 0.261799 controller "ardupilot_SITL_QUAD" - controllerArgs "-p 5577 -df 0.01" + controllerArgs [ + "-p" + "5577" + "-df" + "0.01" + ] customData "1" } DirectionalLight { @@ -404,6 +394,9 @@ HouseWithGarage { } AdvertisingBoard { translation 0 2.35 -5.71 + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] } AdvertisingBoard { translation 84.03999999999999 2.35 -5.81 diff --git a/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt b/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt index 71d0aa3d2d..21a736cd99 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_tricopter.wbt @@ -1,28 +1,17 @@ -#VRML_SIM R2020a utf8 +#VRML_SIM R2021b utf8 WorldInfo { - gravity 0 -9.80665 0 + gravity 9.80665 physics "sitl_physics_env" basicTimeStep 1 - FPS 25 + FPS 15 + optimalThreadCount 4 + coordinateSystem "NUE" randomSeed 52 } -Robot { - translation -1.949999999999999 0.23391237384410402 0 - rotation 0 0 1 2.533555103014215e-15 - children [ - Emitter { - type "serial" - channel 1 - } - ] - name "supervisor_sync" - boundingObject Box { - size 0.1 0.1 0.1 - } - physics Physics { - } - controller "ardupilot_SITL_Supervisor" - supervisor TRUE +Viewpoint { + orientation 0.9817595579497901 0.18074833080110114 0.05897636210252833 5.641450773408579 + position -0.25435571209748176 3.4363486643124848 2.2561209069971624 + follow "tricopter" } DogHouse { translation 34.82 0.76 -24.56 @@ -36,11 +25,6 @@ DogHouse { translation 185.42 0.77 48.97 name "dog house(5)" } -Viewpoint { - orientation 0.9952082156446058 0.09310572995296737 0.02986520656892867 5.659589519324221 - position -0.1971228135348432 5.281009887921962 4.9181113380378845 - follow "tricopter" -} Background { skyColor [ 0.15 0.5 1 @@ -96,8 +80,8 @@ DEF DEF_VEHICLE Robot { } ] endPoint Solid { - translation -4.8849852365954544e-15 -4.102262941093136e-12 1.8091922030330322e-13 - rotation 3.4266344293343444e-10 1 -6.900208306501498e-10 1.5707963071795863 + translation -4.884985467668676e-15 -4.1022629410928594e-12 1.8091922030330322e-13 + rotation 3.80215598061924e-10 1 -7.275729865152367e-10 1.5707963071795863 children [ Propeller { shaftAxis 0 1 0 @@ -118,23 +102,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 2.238367478129037 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 0 1 0.09999999999999999 + diffuseColor 0.45098 0.823529 0.0862745 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -174,23 +158,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 0.012993 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -220,23 +204,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 0.012993 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -285,7 +269,12 @@ DEF DEF_VEHICLE Robot { mass 0.001 } controller "ardupilot_SITL_TRICOPTER" - controllerArgs "-p 5599 -df 0.01" + controllerArgs [ + "-p" + "5599" + "-df" + "0.01" + ] customData "1" } DirectionalLight { @@ -305,4 +294,7 @@ AdvertisingBoard { translation 84.03999999999999 2.35 -5.81 rotation 0 1 0 -1.5707963071795863 name "advertising board(1)" + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] } diff --git a/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt b/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt index 0aabbd5cf0..7a2446bd03 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_two_quadX.wbt @@ -1,36 +1,17 @@ -#VRML_SIM R2020a utf8 +#VRML_SIM R2021b utf8 WorldInfo { - gravity 0 -9.80665 0 + gravity 9.80665 physics "sitl_physics_env" - basicTimeStep 2 + basicTimeStep 1 FPS 15 optimalThreadCount 4 + coordinateSystem "NUE" randomSeed 52 } -Robot { - translation -1.9499999999999953 0.3722134041213816 0 - rotation 0 0 1 1.4890101503307464e-14 - 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 7.084819282124348e-13 24.393373207754877 0 - angularVelocity 0 0 2.254085857556385e-12 -} Viewpoint { - orientation -0.9482622824196637 -0.31233593113705876 -0.05696411028881694 0.3800228985388573 - position -1.546983649438513 5.685333881651476 12.687075631078367 - follow "quad_plus_sitl" + orientation -0.9809407353203402 -0.18800438009076653 -0.04908795021058695 0.520283069940929 + position -0.4263057978186248 9.362345229216729 15.402780917057946 + follow "quad_x_sitl_2" followType "Mounted Shot" } DogHouse { @@ -67,15 +48,9 @@ Solid { name "solid(1)" } DEF DEF_VEHICLE Robot { - translation -0.027601000000000004 0.6940716404 0.005030999999999995 + translation -0.027601 0.694307 0.005031 rotation 0 1 0 0.785388 children [ - Receiver { - name "receiver_main" - type "serial" - channel 1 - bufferSize 32 - } Emitter { name "emitter_plugin" description "commuicates with physics plugin" @@ -117,21 +92,23 @@ DEF DEF_VEHICLE Robot { name "inertial_unit" } Transform { - translation -0.09999999999999999 0 0 + translation -0.1 0 0 rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor3" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -143,7 +120,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -154,12 +131,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -167,7 +144,7 @@ DEF DEF_VEHICLE Robot { } ] physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -183,21 +160,23 @@ DEF DEF_VEHICLE Robot { ] } Transform { - translation 0 0 0.09999999999999999 + translation 0 0.01 0.1 rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor2" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -209,7 +188,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -220,12 +199,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -234,7 +213,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(2)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -252,17 +231,19 @@ DEF DEF_VEHICLE Robot { rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor1" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -274,7 +255,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -285,12 +266,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -299,7 +280,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(1)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -317,17 +298,19 @@ DEF DEF_VEHICLE Robot { rotation 1 0 0 -1.5707963071795863 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor4" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -339,7 +322,7 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -350,12 +333,12 @@ DEF DEF_VEHICLE Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -364,7 +347,7 @@ DEF DEF_VEHICLE Robot { ] name "solid(3)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -378,33 +361,31 @@ DEF DEF_VEHICLE Robot { ] } ] - name "quad_x_sitl_1" + name "quad_x_sitl" boundingObject Box { size 0.1 0.1 0.1 } physics Physics { density -1 - mass 1.5 + mass 1 centerOfMass [ 0 0 0 ] } rotationStep 0.261799 controller "ardupilot_SITL_QUAD" - controllerArgs "-p 5598 -df 0.01" + controllerArgs [ + "-p" + "5599" + "-df" + "0.01" + ] customData "1" - linearVelocity 0 -0.0588399 0 } -DEF DEF_VEHICLE2 Robot { - translation 1.58556 0.6941503202 1.61821 +DEF DEF_VEHICLE Robot { + translation -2.21265 0.694307 2.19001 rotation 0 1 0 0.785388 children [ - Receiver { - name "receiver_main" - type "serial" - channel 2 - bufferSize 32 - } Emitter { name "emitter_plugin" description "commuicates with physics plugin" @@ -446,21 +427,23 @@ DEF DEF_VEHICLE2 Robot { name "inertial_unit" } Transform { - translation -0.09999999999999999 0 0 + translation -0.1 0 0 rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor3" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -472,7 +455,7 @@ DEF DEF_VEHICLE2 Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -483,12 +466,12 @@ DEF DEF_VEHICLE2 Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -496,7 +479,7 @@ DEF DEF_VEHICLE2 Robot { } ] physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -512,21 +495,23 @@ DEF DEF_VEHICLE2 Robot { ] } Transform { - translation 0 0 0.09999999999999999 + translation 0 0.01 0.1 rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor2" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -538,7 +523,7 @@ DEF DEF_VEHICLE2 Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -549,12 +534,12 @@ DEF DEF_VEHICLE2 Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -563,7 +548,7 @@ DEF DEF_VEHICLE2 Robot { ] name "solid(2)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -581,17 +566,19 @@ DEF DEF_VEHICLE2 Robot { rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 -1 0 - thrustConstants -12.2583125 0 - torqueConstants 18 0 + thrustConstants -1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor1" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -603,7 +590,7 @@ DEF DEF_VEHICLE2 Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -614,12 +601,12 @@ DEF DEF_VEHICLE2 Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -628,7 +615,7 @@ DEF DEF_VEHICLE2 Robot { ] name "solid(1)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -646,17 +633,19 @@ DEF DEF_VEHICLE2 Robot { rotation 1 0 0 -1.5707963071795863 children [ Solid { - translation 0 0.35 0 + translation 0 0.2 0 rotation 1 0 0 1.5707959999999999 children [ Propeller { shaftAxis 0 1 0 - thrustConstants 12.2583125 0 - torqueConstants 18 0 + thrustConstants 1.00001 0 + torqueConstants 1.1 0 + fastHelixThreshold 1 device RotationalMotor { name "motor4" controlPID 10.001 0 0 - maxVelocity 1000 + maxVelocity 50000 + maxTorque 90 } fastHelix Solid { children [ @@ -668,7 +657,7 @@ DEF DEF_VEHICLE2 Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -679,12 +668,12 @@ DEF DEF_VEHICLE2 Robot { Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -693,7 +682,7 @@ DEF DEF_VEHICLE2 Robot { ] name "solid(3)" physics Physics { - mass 0.25 + mass 0.05 } } Shape { @@ -707,22 +696,26 @@ DEF DEF_VEHICLE2 Robot { ] } ] - name "quad_x_sitl_2" + name "quad_x_sitl" boundingObject Box { size 0.1 0.1 0.1 } physics Physics { density -1 - mass 1.5 + mass 1 centerOfMass [ 0 0 0 ] } rotationStep 0.261799 controller "ardupilot_SITL_QUAD" - controllerArgs "-p 5599 -df 0.01" + controllerArgs [ + "-p" + "5598" + "-df" + "0.01" + ] customData "2" - linearVelocity 0 -0.0392266 0 } DirectionalLight { direction 0 -1 0 @@ -736,9 +729,15 @@ HouseWithGarage { } AdvertisingBoard { translation 0 2.35 -5.71 + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] } AdvertisingBoard { translation 84.03999999999999 2.35 -5.81 rotation 0 1 0 -1.5707963071795863 name "advertising board(1)" + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] } diff --git a/libraries/SITL/examples/Webots/worlds/webots_two_tricopter.wbt b/libraries/SITL/examples/Webots/worlds/webots_two_tricopter.wbt index f9e3deb0d6..e9e1e2cc12 100644 --- a/libraries/SITL/examples/Webots/worlds/webots_two_tricopter.wbt +++ b/libraries/SITL/examples/Webots/worlds/webots_two_tricopter.wbt @@ -1,24 +1,16 @@ -#VRML_SIM R2020a utf8 +#VRML_SIM R2021b utf8 WorldInfo { - gravity 0 -9.80665 0 + gravity 9.80665 physics "sitl_physics_env" basicTimeStep 1 FPS 25 optimalThreadCount 4 + coordinateSystem "NUE" 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 + orientation 0.7430204203343388 0.6136940340292428 0.2670211369219613 5.2236735858922065 + position -13.41495339376872 28.05967141215561 19.477401792573247 } Background { skyColor [ @@ -42,8 +34,8 @@ Solid { name "solid(1)" } DEF DEF_VEHICLE Robot { - translation -6.12062 0.6576871933499999 0.4069059999999998 - rotation 0.005134141913449905 0.9999763391777008 0.0045783918111282325 0.26180410065967374 + translation 0.241399 0.666833 -1.42457 + rotation 0.00514799893982893 0.9999767940663002 0.004461999081102697 0.261804 children [ Receiver { name "receiver_main" @@ -64,7 +56,7 @@ DEF DEF_VEHICLE Robot { children [ HingeJoint { jointParameters HingeJointParameters { - position -9.387964099116676e-12 + position -9.388038782122357e-12 axis 0 0 1 } device [ @@ -75,8 +67,8 @@ DEF DEF_VEHICLE Robot { } ] endPoint Solid { - translation -4.884981346861648e-15 -4.102163053687445e-12 1.8030021919912542e-13 - rotation 1.422280360462637e-09 1 -1.7696377693563738e-09 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 @@ -97,23 +89,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 2.238367478129037 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 0 1 0.09999999999999999 + diffuseColor 0.45098 0.823529 0.0862745 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -153,23 +145,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 0.012993 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -199,23 +191,23 @@ DEF DEF_VEHICLE Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 0.012993 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -259,25 +251,27 @@ DEF DEF_VEHICLE Robot { } } ] - name "tricopter1" + name "tricopter" physics Physics { mass 0.001 } controller "ardupilot_SITL_TRICOPTER" - controllerArgs "-p 5599 -df 0.01 " + 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 +DEF DEF_VEHICLE Robot { + translation -1.86439 0.663929 -0.860399 + rotation 0.00514799893982893 0.9999767940663002 0.004461999081102697 0.261804 children [ Receiver { name "receiver_main" type "serial" - channel 2 + channel 1 bufferSize 32 } Compass { @@ -293,7 +287,7 @@ DEF DEF_VEHICLE2 Robot { children [ HingeJoint { jointParameters HingeJointParameters { - position -9.38790858754193e-12 + position -9.388038782122357e-12 axis 0 0 1 } device [ @@ -304,8 +298,8 @@ DEF DEF_VEHICLE2 Robot { } ] endPoint Solid { - translation -4.440892137013443e-15 -4.102385098292374e-12 1.8118839761882555e-13 - rotation 1.426974259244834e-09 1 -1.7743316682306419e-09 1.5707963071795863 + translation -4.884985583205287e-15 -4.102262941092721e-12 1.8091922030330322e-13 + rotation 3.9429765623510775e-10 1 -7.416550449646442e-10 1.5707963071795863 children [ Propeller { shaftAxis 0 1 0 @@ -326,23 +320,23 @@ DEF DEF_VEHICLE2 Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 2.238367478129037 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 0 1 0.09999999999999999 + diffuseColor 0.45098 0.823529 0.0862745 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -382,23 +376,23 @@ DEF DEF_VEHICLE2 Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 0.012993 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -428,23 +422,23 @@ DEF DEF_VEHICLE2 Robot { } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] } slowHelix Solid { - rotation 0 1 0 0.012993 + rotation 0 1 0 1.1667874781290464 children [ Shape { appearance Appearance { material Material { - diffuseColor 1 0 0.1 + diffuseColor 0.960784 0.47451 0 } } geometry Cylinder { height 0.002 - radius 0.02 + radius 0.1 } } ] @@ -488,34 +482,18 @@ DEF DEF_VEHICLE2 Robot { } } ] - name "tricopter2" + name "tricopter" 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 - } + controllerArgs [ + "-p" + "5598" + "-df" + "0.01" ] - 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 + customData "2" } DirectionalLight { direction 0 -1 0 @@ -530,9 +508,15 @@ HouseWithGarage { } AdvertisingBoard { translation 0 2.35 -5.71 + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] } AdvertisingBoard { translation 84.03999999999999 2.35 -5.81 rotation 0 1 0 -1.5707963071795863 name "advertising board(1)" + frontTexture [ + "https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png" + ] }