523 lines
12 KiB
Plaintext
523 lines
12 KiB
Plaintext
#VRML_SIM R2021b utf8
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WorldInfo {
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gravity 9.80665
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physics "sitl_physics_env"
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basicTimeStep 1
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FPS 25
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optimalThreadCount 4
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coordinateSystem "NUE"
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randomSeed 52
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}
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Viewpoint {
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orientation 0.7430204203343388 0.6136940340292428 0.2670211369219613 5.2236735858922065
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position -13.41495339376872 28.05967141215561 19.477401792573247
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}
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Background {
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skyColor [
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0.15 0.5 1
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]
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}
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Solid {
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translation 36.93 0.77 -37.93
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children [
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HouseWithGarage {
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}
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]
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}
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Solid {
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translation 192.76999999999998 0 64.98
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rotation 0 1 0 -1.5707963071795863
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children [
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HouseWithGarage {
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}
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]
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name "solid(1)"
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}
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DEF DEF_VEHICLE Robot {
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translation 0.241399 0.666833 -1.42457
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rotation 0.00514799893982893 0.9999767940663002 0.004461999081102697 0.261804
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children [
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Receiver {
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name "receiver_main"
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type "serial"
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channel 1
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bufferSize 32
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}
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Compass {
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name "compass1"
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}
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Camera {
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translation 0 0.25 0
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name "camera1"
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}
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Transform {
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translation -0.34 0 0
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rotation 0 1 0 1.5707959999999999
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children [
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HingeJoint {
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jointParameters HingeJointParameters {
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position -9.388038782122357e-12
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axis 0 0 1
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}
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device [
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RotationalMotor {
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name "servo_tail"
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maxVelocity 50000
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maxTorque 1000
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}
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]
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endPoint Solid {
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translation -4.884985544693083e-15 -4.102262941092767e-12 1.8091922030330322e-13
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rotation 3.896036368440465e-10 1 -7.369610254815084e-10 1.5707963071795863
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children [
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Propeller {
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shaftAxis 0 1 0
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thrustConstants 11.44 0
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torqueConstants 1e-05 0
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device RotationalMotor {
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name "motor3"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 1.1667874781290464
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 0.45098 0.823529 0.0862745
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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}
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]
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name "solid(1)"
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boundingObject Box {
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size 0.01 0.01 0.01
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}
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physics Physics {
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mass 0.001
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}
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}
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}
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]
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}
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Transform {
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translation 0.17 0 0.3
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children [
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Propeller {
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shaftAxis 0 -1 0
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thrustConstants -11.443 0
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torqueConstants 1e-05 0
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device RotationalMotor {
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name "motor1"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 1.1667874781290464
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 0.960784 0.47451 0
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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}
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]
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}
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Transform {
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translation 0.16 0 -0.3
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children [
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Propeller {
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shaftAxis 0 1 0
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thrustConstants 11.443 0
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torqueConstants 1e-05 0
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device RotationalMotor {
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name "motor2"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 1.1667874781290464
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 0.960784 0.47451 0
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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}
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]
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}
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Emitter {
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rotation 0 1 0 -1.5707963071795863
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name "emitter_plugin"
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}
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InertialUnit {
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name "inertial_unit"
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}
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Gyro {
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name "gyro1"
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}
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Accelerometer {
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name "accelerometer1"
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}
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GPS {
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name "gps1"
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}
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Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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}
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}
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geometry Box {
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size 0.1 0.1 0.1
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}
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}
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]
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boundingObject Box {
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size 0.1 0.1 0.1
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}
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physics Physics {
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mass 1
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}
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}
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]
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name "tricopter"
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physics Physics {
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mass 0.001
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}
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controller "ardupilot_SITL_TRICOPTER"
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controllerArgs [
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"-p"
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"5599"
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"-df"
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"0.01"
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]
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customData "1"
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}
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DEF DEF_VEHICLE Robot {
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translation -1.86439 0.663929 -0.860399
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rotation 0.00514799893982893 0.9999767940663002 0.004461999081102697 0.261804
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children [
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Receiver {
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name "receiver_main"
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type "serial"
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channel 1
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bufferSize 32
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}
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Compass {
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name "compass1"
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}
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Camera {
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translation 0 0.25 0
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name "camera1"
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}
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Transform {
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translation -0.34 0 0
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rotation 0 1 0 1.5707959999999999
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children [
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HingeJoint {
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jointParameters HingeJointParameters {
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position -9.388038782122357e-12
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axis 0 0 1
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}
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device [
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RotationalMotor {
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name "servo_tail"
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maxVelocity 50000
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maxTorque 1000
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}
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]
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endPoint Solid {
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translation -4.884985583205287e-15 -4.102262941092721e-12 1.8091922030330322e-13
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rotation 3.9429765623510775e-10 1 -7.416550449646442e-10 1.5707963071795863
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children [
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Propeller {
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shaftAxis 0 1 0
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thrustConstants 11.44 0
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torqueConstants 1e-05 0
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device RotationalMotor {
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name "motor3"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 1.1667874781290464
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 0.45098 0.823529 0.0862745
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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}
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]
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name "solid(1)"
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boundingObject Box {
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size 0.01 0.01 0.01
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}
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physics Physics {
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mass 0.001
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}
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}
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}
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]
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}
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Transform {
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translation 0.17 0 0.3
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children [
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Propeller {
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shaftAxis 0 -1 0
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thrustConstants -11.443 0
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torqueConstants 1e-05 0
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device RotationalMotor {
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name "motor1"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 1.1667874781290464
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 0.960784 0.47451 0
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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}
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]
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}
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Transform {
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translation 0.16 0 -0.3
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children [
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Propeller {
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shaftAxis 0 1 0
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thrustConstants 11.443 0
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torqueConstants 1e-05 0
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device RotationalMotor {
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name "motor2"
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controlPID 10.001 0 0
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maxVelocity 1000
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}
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fastHelix Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 1 0 0.1
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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slowHelix Solid {
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rotation 0 1 0 1.1667874781290464
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children [
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Shape {
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appearance Appearance {
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material Material {
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diffuseColor 0.960784 0.47451 0
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}
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}
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geometry Cylinder {
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height 0.002
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radius 0.1
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}
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}
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]
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}
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}
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]
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}
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Emitter {
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rotation 0 1 0 -1.5707963071795863
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name "emitter_plugin"
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}
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InertialUnit {
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name "inertial_unit"
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}
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Gyro {
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name "gyro1"
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}
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Accelerometer {
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name "accelerometer1"
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}
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GPS {
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name "gps1"
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}
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Solid {
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children [
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Shape {
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appearance Appearance {
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material Material {
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}
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}
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geometry Box {
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size 0.1 0.1 0.1
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}
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}
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]
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boundingObject Box {
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size 0.1 0.1 0.1
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}
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physics Physics {
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mass 1
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}
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}
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]
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name "tricopter"
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physics Physics {
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mass 0.001
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}
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controller "ardupilot_SITL_TRICOPTER"
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controllerArgs [
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"-p"
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"5598"
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"-df"
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"0.01"
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]
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customData "2"
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}
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DirectionalLight {
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direction 0 -1 0
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}
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UnevenTerrain {
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translation 0 -0.85 0
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size 500 1 500
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}
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HouseWithGarage {
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translation 174.25 1.88 -157.5
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rotation 0 1 0 -1.5707963071795863
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}
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AdvertisingBoard {
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translation 0 2.35 -5.71
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frontTexture [
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"https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png"
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]
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}
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AdvertisingBoard {
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translation 84.03999999999999 2.35 -5.81
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rotation 0 1 0 -1.5707963071795863
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name "advertising board(1)"
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frontTexture [
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"https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png"
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]
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}
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