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

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