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)
119 lines
3.5 KiB
Plaintext
119 lines
3.5 KiB
Plaintext
#VRML_SIM R2023a utf8
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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/road/protos/StraightRoadSegment.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/advertising_board/protos/AdvertisingBoard.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/animals/protos/Dog.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/animals/protos/Rabbit.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/garden/protos/Gnome.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/forklift/protos/Forklift.proto"
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EXTERNPROTO "../protos/Iris.proto"
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EXTERNPROTO "../protos/ArucoMarker.proto"
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WorldInfo {
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title "Iris Ardupilot"
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basicTimeStep 2
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FPS 20
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}
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Viewpoint {
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orientation 0.10264123808602478 -0.7648124131744727 -0.6360241732028804 5.867275660921915
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position -2.488925008027789 0.29237831017431365 2.067754838508868
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follow "Iris"
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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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size 300 100
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appearance Grass {
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}
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}
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StraightRoadSegment {
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translation -15 0.3 0.02
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rotation 0 0 1 0.105
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width 16.5
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rightBorder FALSE
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leftBorder FALSE
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length 140
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}
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Rabbit {
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translation 4.68362 1.88178 0.88
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rotation 0 0 1 2.61799
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name "nibbles"
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}
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Gnome {
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translation 5.87588 0.590355 3.6788e-21
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rotation 0 0 1 2.61799
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}
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Forklift {
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translation 9.19827 2.56008 0.81
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rotation 0 0 1 -2.3561953071795863
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enablePhysics FALSE
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}
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Dog {
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translation 5.97592 3.52 1.77636e-15
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rotation 0 0 1 -2.6179953071795863
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name "bentley"
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}
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OilBarrel {
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translation 4.54625 1.79835 0.44
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}
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AdvertisingBoard {
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translation 13.1012 17.8267 0
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rotation 0 0 1 -1.469
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frontTexture [
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"../../../../../Tools/autotest/web-firmware/images/logo.png"
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]
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backTexture [
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"../../../../../Tools/autotest/web-firmware/images/logo.png"
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]
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displayWidth 16.28
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displayHeight 6
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poleNumber 2
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poleType "H-shape"
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poleHeight 10
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}
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Table {
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translation 0 0.92 0
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}
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Iris {
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translation 0.0702495 1.45039 0.8
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controller "ardupilot_vehicle_controller"
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controllerArgs [
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"--motors"
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"m1_motor, m2_motor, m3_motor, m4_motor"
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"--camera"
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"camera"
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"--camera-port"
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"5599"
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]
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extensionSlot [
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Camera {
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translation 0.05 0 0.05
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rotation 0 1 0 0
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width 640
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height 480
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}
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]
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}
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ArucoMarker {
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translation 4.23295 1.80428 0.72
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rotation 0 1 0 -1.5707953071795862
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name "aruco 0"
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size 0.2
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}
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ArucoMarker {
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translation 4.39446 1.53182 0.44
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rotation 0.44721372362178063 -0.7745965212991105 0.44721372362178063 1.82348
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name "aruco 1"
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size 0.2
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markerId "1"
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}
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