d358ca1b32
The various C Webots controllers are replaced by a single Python controller - More readable (in my opinion) - Does not require compilation - Easily modifiable to run user code - Can be blackboxed and configured via arguments when designing a robot model - Optionally provides the ability to stream camera images over TCP - Generalizable to copters and rovers (and probably more) - Supports multi-vehicle simulation (including of multiple types) - Requires no non-standard libraries (neither does current) Higher fidelity example worlds - Iris quadcopter demo world similar to gazebo - Crazyflie quadcopter demo world (crazyflie models baked into webots) - Pioneer3at rover demo world (pioneer models baked into webots)
77 lines
2.3 KiB
Plaintext
77 lines
2.3 KiB
Plaintext
#VRML_SIM R2023a utf8
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/bitcraze/crazyflie/protos/Crazyflie.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
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WorldInfo {
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title "Crazyflie Ardupilot"
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basicTimeStep 2
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FPS 30
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}
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Viewpoint {
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orientation -0.0593532354440745 0.9880332410323718 0.14236399845953884 0.798588127989691
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position -0.5248689288960577 0.1043842791985661 0.5678333324847978
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follow "Crazyflie 0"
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followSmoothness 0.01
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}
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TexturedBackground {
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}
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TexturedBackgroundLight {
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}
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Floor {
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}
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Crazyflie {
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hidden linearVelocity_0 -4.637218965709596e-19 -4.196252875038606e-19 3.352873534367973e-16
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hidden angularVelocity_0 4.956352788505185e-17 6.199137112878587e-17 -7.59922590549506e-18
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translation -1.2560172892842563e-17 0.2 0.014998773749999996
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rotation 0.0006423841504381482 0.0009061380955760532 -0.9999993831279872 3.0862235845634213e-16
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name "Crazyflie 0"
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controller "ardupilot_vehicle_controller"
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controllerArgs [
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"--reversed-motors"
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"1, 2"
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"--camera"
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"camera"
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"--camera-fps"
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"10"
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"--motors"
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"m1_motor, m3_motor, m4_motor, m2_motor"
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"--motor-cap"
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"100"
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"--instance"
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"0"
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]
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extensionSlot [
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Accelerometer {
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}
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]
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}
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Crazyflie {
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hidden linearVelocity_0 1.1290302625479896e-18 -4.326730364482081e-19 3.352873534367973e-16
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hidden angularVelocity_0 5.546676845014852e-31 2.0628843433230186e-17 -7.9532317962812e-18
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translation -3.7742147020501796e-18 -1.921003416687696e-17 0.014998773749999996
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rotation -0.0017125758688741218 0.0002306643848911165 -0.9999985069378028 3.183501628356045e-16
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name "Crazyflie 1"
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controller "ardupilot_vehicle_controller"
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controllerArgs [
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"--reversed-motors"
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"1, 2"
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"--camera-fps"
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"10"
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"--camera"
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"camera"
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"--motors"
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"m1_motor, m3_motor, m4_motor, m2_motor"
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"--motor-cap"
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"100"
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"--instance"
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"1"
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]
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extensionSlot [
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Accelerometer {
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}
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]
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}
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