diff --git a/Gazebo/config/hexapod_copter.param b/Gazebo/config/hexapod_copter.param new file mode 100644 index 00000000..74fa5bd3 --- /dev/null +++ b/Gazebo/config/hexapod_copter.param @@ -0,0 +1,127 @@ +FRAME_CLASS 17.0 # Dynamic Scripting Matrix +FRAME_TYPE 1 # X +SERVO_32_ENABLE 1 + +SCR_DEBUG_OPTS 0 +SCR_DIR_DISABLE 0 +SCR_ENABLE 1 # Lua Scripts +SCR_HEAP_SIZE 204800 +SCR_USER1 0.0 +SCR_USER2 0.0 +SCR_USER3 0.0 +SCR_USER4 0.0 +SCR_USER5 0.0 +SCR_USER6 0.0 +SCR_VM_I_COUNT 10000 + +SERVO1_FUNCTION 33.0 # Motor 1 +SERVO1_MAX 2000.0 +SERVO1_MIN 1000.0 +SERVO1_REVERSED 0 +SERVO1_TRIM 1500.0 +SERVO2_FUNCTION 34.0 # Motor 2 +SERVO2_MAX 2000.0 +SERVO2_MIN 1000.0 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500.0 +SERVO3_FUNCTION 35.0 # Motor 3 +SERVO3_MAX 2000.0 +SERVO3_MIN 1000.0 +SERVO3_REVERSED 0 +SERVO3_TRIM 1500.0 +SERVO4_FUNCTION 36.0 # Motor 4 +SERVO4_MAX 2000.0 +SERVO4_MIN 1000.0 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500.0 +SERVO5_FUNCTION 37.0 # Motor 5 +SERVO5_MAX 2000.0 +SERVO5_MIN 1000.0 +SERVO5_REVERSED 0 +SERVO5_TRIM 1500.0 +SERVO6_FUNCTION 38.0 # Motor 6 +SERVO6_MAX 2000.0 +SERVO6_MIN 1000.0 +SERVO6_REVERSED 0 +SERVO6_TRIM 1500.0 + +SERVO7_FUNCTION 94.0 # Script 1 +SERVO7_MAX 2000.0 +SERVO7_MIN 1000.0 +SERVO7_REVERSED 0 +SERVO7_TRIM 1500.0 +SERVO8_FUNCTION 95.0 # Script 2 +SERVO8_MAX 2000.0 +SERVO8_MIN 1000.0 +SERVO8_REVERSED 0 +SERVO8_TRIM 1500.0 +SERVO9_FUNCTION 96.0 # Script 3 +SERVO9_MAX 2000.0 +SERVO9_MIN 1000.0 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500.0 +SERVO10_FUNCTION 97.0 # Script 4 +SERVO10_MAX 2000.0 +SERVO10_MIN 1000.0 +SERVO10_REVERSED 0 +SERVO10_TRIM 1500.0 +SERVO11_FUNCTION 98.0 # Script 5 +SERVO11_MAX 2000.0 +SERVO11_MIN 1000.0 +SERVO11_REVERSED 0 +SERVO11_TRIM 1500.0 +SERVO12_FUNCTION 99.0 # Script 6 +SERVO12_MAX 2000.0 +SERVO12_MIN 1000.0 +SERVO12_REVERSED 0 +SERVO12_TRIM 1500.0 +SERVO13_FUNCTION 100.0 # Script 7 +SERVO13_MAX 2000.0 +SERVO13_MIN 1000.0 +SERVO13_REVERSED 0 +SERVO13_TRIM 1500.0 +SERVO14_FUNCTION 101.0 # Script 8 +SERVO14_MAX 2000.0 +SERVO14_MIN 1000.0 +SERVO14_REVERSED 0 +SERVO15_TRIM 1500.0 +SERVO15_FUNCTION 102.0 # Script 9 +SERVO15_MAX 2000.0 +SERVO15_MIN 1000.0 +SERVO15_REVERSED 0 +SERVO15_TRIM 1500.0 +SERVO16_FUNCTION 103.0 # Script 10 +SERVO16_MAX 2000.0 +SERVO16_MIN 1000.0 +SERVO16_REVERSED 0 +SERVO16_TRIM 1500.0 +SERVO17_FUNCTION 104.0 # Script 11 +SERVO17_MAX 2000.0 +SERVO17_MIN 1000.0 +SERVO17_REVERSED 0 +SERVO17_TRIM 1500.0 +SERVO18_FUNCTION 105.0 # Script 12 +SERVO18_MAX 2000.0 +SERVO18_MIN 1000.0 +SERVO18_REVERSED 0 +SERVO18_TRIM 1500.0 +SERVO19_FUNCTION 106.0 # Script 13 +SERVO19_MAX 2000.0 +SERVO19_MIN 1000.0 +SERVO19_REVERSED 0 +SERVO19_TRIM 1500.0 +SERVO20_FUNCTION 107.0 # Script 14 +SERVO20_MAX 2000.0 +SERVO20_MIN 1000.0 +SERVO20_REVERSED 0 +SERVO20_TRIM 1500.0 +SERVO21_FUNCTION 108.0 # Script 15 +SERVO21_MAX 2000.0 +SERVO21_MIN 1000.0 +SERVO21_REVERSED 0 +SERVO21_TRIM 1500.0 +SERVO22_FUNCTION 109.0 # Script 16 +SERVO22_MAX 2000.0 +SERVO22_MIN 1000.0 +SERVO22_REVERSED 0 +SERVO22_TRIM 1500.0 diff --git a/Gazebo/docs/HexapodCopter.md b/Gazebo/docs/HexapodCopter.md new file mode 100644 index 00000000..5d9acac2 --- /dev/null +++ b/Gazebo/docs/HexapodCopter.md @@ -0,0 +1,62 @@ +# Hexapod Copter + +A Gazebo model for a hexapod copter (a hexapod rover with motors on each arm). + +The original quadruped version of this frame is the result of Ashvath's project [GSoC 2020: Walking Robot Support For Ardupilot](https://discuss.ardupilot.org/t/gsoc-2020-walking-robot-support-for-ardupilot/57080). + + +![hexapod_copter_hover](https://user-images.githubusercontent.com/24916364/225340320-9aa31fe2-4602-4036-ba6b-491f72097c01.jpg) + +The frame is fully articulated. Each of the 6 legs has 3 joints, however only 16 are actuated. The middle two 'hip' joints are fixed in this example. The motor ordering and orientation is the same as a standard hexa X frame, however in this case the FRAME_CLASS 17 (Dynamic Scripting Matrix) and the motor mixing is set in the Lua script. + +The legs have two positions - folded when disarmed, and unfolded when armed. + +If the scripting control of the legs is disabled they may be moved using gz topic commands: + +```bash +# move the mid right femur joint down from its initial position of -0.6 rad to -0.4 rad +gz topic -t "/femur_mr_joint/cmd_pos" -m gz.msgs.Double -p "data: -0.4" +``` + +## Usage + +Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions. + +Update the `GZ_SIM_RESOURCE_PATH` to include these models: + +```bash +export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\ +$HOME/SITL_Models/Gazebo/models:\ +$HOME/SITL_Models/Gazebo/worlds +``` + +#### Run Gazebo + +```bash +$ gz sim -v4 -r hexapod_copter_runway.sdf +``` + +#### Run ArduPilot SITL + +Copy the script $HOME/SITL_Models/Gazebo/scripts/hexapod_copter.lua to the SITL scripts directory, +then start SITL: + +```bash +sim_vehicle.py -D -v ArduCopter -f hexa --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/hexapod_copter.param --console +``` + +## Dimensions + +- height: 53.23 mm +- coxa_axis_width: 101.42 mm +- coxa_axis_length: 177.03 mm +- coxa_axis_to_femur_axis: 30.0 mm +- femur_axis_to_tibia_axis: 76.17 mm +- tibia_axis_to_foot: 122.0 mm + +## Credits + +### Hexapod CAD model + +- Author: [Tim Mills](https://grabcad.com/tim.mills-1) +- Model: [Hexapod Robot](https://grabcad.com/library/hexapod-robot-1) diff --git a/Gazebo/models/hexapod_copter/meshes/iris_prop_ccw.dae b/Gazebo/models/hexapod_copter/meshes/iris_prop_ccw.dae new file mode 100755 index 00000000..eb6fe937 --- /dev/null +++ b/Gazebo/models/hexapod_copter/meshes/iris_prop_ccw.dae @@ -0,0 +1,160 @@ + + + + + Blender User + Blender 2.73.0 commit date:2015-01-07, commit time:13:17, 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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-0.5 + 1000 + 2000 + COMMAND + tibia_mr_joint/cmd_pos + + + + + + diff --git a/Gazebo/scripts/hexapod_copter.lua b/Gazebo/scripts/hexapod_copter.lua new file mode 100644 index 00000000..01e4485b --- /dev/null +++ b/Gazebo/scripts/hexapod_copter.lua @@ -0,0 +1,190 @@ +-- Lua "motor driver" for a six legged walking / flying robot +-- +-- Adapted from https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/quadruped.lua + +--[[ + AutoPilot servo connections: + + Motors 1 - 6 + SERVO1: Motor1: mid right cw + SERVO2: Motor2: mid left ccw + SERVO3: Motor3: front left cw + SERVO4: Motor4: back right ccw + SERVO5: Motor5: front right ccw + SERVO6: Motor6: back left cw + + Leg joints 1 - 18 + SERVO7: Script1: front right coxa (hip) servo + SERVO8: Script2: front right femur (thigh) servo + SERVO9: Script3: front right tibia (shin) servo + SERVO10: Script4: front left coxa (hip) servo + SERVO11: Script5: front left femur (thigh) servo + SERVO12: Script6: front left tibia (shin) servo + SERVO13: Script7: back left coxa (hip) servo + SERVO14: Script8: back left femur (thigh) servo + SERVO15: Script9: back left tibia (shin) servo + SERVO16: Script10: back right coxa (hip) servo + SERVO17: Script11: back right femur (thigh) servo + SERVO18: Script12: back right tibia (shin) servo + NOT ACTUATED mid left coxa (hip) servo + SERVO19: Script13: mid left femur (thigh) servo + SERVO20: Script14: mid left tibia (shin) servo + NOT ACTUATED mid right coxa (hip) servo + SERVO21: Script15: mid right femur (thigh) servo + SERVO22: Script16: mid right tibia (shin) servo + +CAUTION: This script should only be used with ArduPilot firmware +]] + +--[[ + Converting from AP_MotorsMatrix: + + Take as an example the Hexa X motor matrix set up in + AP_MotorsMatrix::setup_hexa_matrix MOTOR_FRAME_TYPE_X + + { 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2 }, + { -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5 }, + { -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6 }, + { 150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 }, + { 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 }, + { -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4 }, + + - Each row corresponds to a motor, listed in order of motor number. + - First column is the angle subtended by the motor from the + vehicle x-axis (forward). + - Second column is the yaw_factor: CCW = 1, CW = -1. + - Third column is the motor test order + - Fourth (optional) column is the thrust factor + - roll_factor = sin(-angle_rad) + - pitch_factor = cos(-angle_rad) + + ]] + +-- FRAME_CLASS 15 (Scripting Matrix) + +-- 1. Hexa X +-- MotorsMatrix:add_motor_raw(0, -1, 0, -1, 2) +-- MotorsMatrix:add_motor_raw(1, 1, 0, 1, 5) +-- MotorsMatrix:add_motor_raw(2, 0.5, 0.86602540, -1, 6) +-- MotorsMatrix:add_motor_raw(3, -0.5, -0.86602540, 1, 3) +-- MotorsMatrix:add_motor_raw(4, -0.5, 0.86602540, 1, 1) +-- MotorsMatrix:add_motor_raw(5, 0.5, -0.86602540, -1, 4) + +-- assert(MotorsMatrix:init(6), "Failed to init MotorsMatrix") +-- motors:set_frame_string("Hexapod Copter") + +-- FRAME_CLASS 17 (Dynamic Scripting Matrix) +Motors_dynamic:add_motor(0, 2) +Motors_dynamic:add_motor(1, 5) +Motors_dynamic:add_motor(2, 6) +Motors_dynamic:add_motor(3, 3) +Motors_dynamic:add_motor(4, 1) +Motors_dynamic:add_motor(5, 4) + +local factors = motor_factor_table() + +-- Roll for motors 1 - 6 +factors:roll(0, -1.0) +factors:roll(1, 1.0) +factors:roll(2, 0.5) +factors:roll(3, -0.5) +factors:roll(4, -0.5) +factors:roll(5, 0.5) + +-- pitch for motors 1 - 6 +factors:pitch(0, 0) +factors:pitch(1, 0) +factors:pitch(2, 0.86602540) +factors:pitch(3, -0.86602540) +factors:pitch(4, 0.86602540) +factors:pitch(5, -0.86602540) + +-- yaw for motors 1 - 6 +factors:yaw(0, -1) +factors:yaw(1, 1) +factors:yaw(2, -1) +factors:yaw(3, 1) +factors:yaw(4, 1) +factors:yaw(5, -1) + +-- throttle for motors 1 - 6 +factors:throttle(0, 1.0) +factors:throttle(1, 1.0) +factors:throttle(2, 1.0) +factors:throttle(3, 1.0) +factors:throttle(4, 1.0) +factors:throttle(5, 1.0) + +-- must load factors before init +Motors_dynamic:load_factors(factors) + +-- expecting 6 motors +assert(Motors_dynamic:init(6), "Failed to init MotorsDynamic") + +-- at any time we can then re-load new factors +Motors_dynamic:load_factors(factors) + +motors:set_frame_string("Hexapod Copter") + +-- if doing changes in flight it is a good idea to us pcall to protect +-- the script from crashing see 'protected_call.lua' example + +-- servo angles when robot is disarmed and resting body on the ground +local disarmed_leg_angles = { + 45, -90, 40, -- front right leg (coxa, femur, tibia) + -45, -90, 40, -- front left leg (coxa, femur, tibia) + -45, -90, 40, -- back left leg (coxa, femur, tibia) + 45, -90, 40, -- back right leg (coxa, femur, tibia) + -90, 40, -- mid left leg (femur, tibia) + -90, 40 -- mid right leg (femur, tibia) +} + +local armed_leg_angles = { + 0, -25, -60, -- front right leg (coxa, femur, tibia) + 0, -25, -60, -- front left leg (coxa, femur, tibia) + 0, -25, -60, -- back left leg (coxa, femur, tibia) + 0, -25, -60, -- back right leg (coxa, femur, tibia) + -25, -60, -- mid left leg (femur, tibia) + -25, -60 -- mid right leg (femur, tibia) +} + +local leg_servo_direction = { + 1, -1, 1, -- front right leg (coxa, femur, tibia) + 1, 1, -1, -- front left leg (coxa, femur, tibia) + -1, -1, 1, -- back left leg (coxa, femur, tibia) + -1, 1, -1, -- back right leg (coxa, femur, tibia) + 1, -1, -- mid left leg (femur, tibia) + 1, -1 -- mid right leg (femur, tibia) +} + +function update() + + -- update motor mixer + Motors_dynamic:load_factors(factors) + + -- update legs + local leg_angles + if arming:is_armed() then + leg_angles = armed_leg_angles + else + leg_angles = disarmed_leg_angles + end + + for i = 1, 16 do + -- normalised angle is in [-1, 1] + local norm_angle = leg_angles[i] * leg_servo_direction[i] / 90 + -- ensure pwm is in [1000, 2000] + local pwm = math.floor(norm_angle * 500 + 1500) + + -- Q: is index for assigned channel or absolute? + -- A: it is absolute (so offset for the 6 motors) + SRV_Channels:set_output_pwm_chan_timeout(i + 5, pwm, 1000) + end + + return update, 10 +end + +-- turn off rudder based arming/disarming +param:set_and_save('ARMING_RUDDER', 0) +gcs:send_text(0, "Hexapod Copter") +return update() diff --git a/Gazebo/worlds/hexapod_copter_runway.sdf b/Gazebo/worlds/hexapod_copter_runway.sdf new file mode 100755 index 00000000..8a607952 --- /dev/null +++ b/Gazebo/worlds/hexapod_copter_runway.sdf @@ -0,0 +1,52 @@ + + + + + 0.001 + 1 + + + + + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + model://runway + + + + + 0 0 0.12 0 0 1.57079632 + model://hexapod_copter + + + +