Full description of the drone model file

Below is the full text of the model file describing the Drone model explained in :doc:step0.

drone.body
  1format: ChoreonoidBody
  2formatVersion: 1.0
  3angleUnit: degree
  4name: Drone
  5
  6links:
  7  -
  8    name: CHASSIS
  9    translation: [ 0, 0, 0.03 ]
 10    jointType: free
 11    centerOfMass: [ 0, 0, 0 ]
 12    mass: 0.093
 13    inertia: [
 14      1.43e-05, 0, 0,
 15      0, 3.76e-05, 0,
 16      0, 0, 4.22e-05 ]
 17    elements:
 18      -
 19        type: Shape
 20        geometry: { type: Box, size: [ 0.065, 0.035, 0.025 ] }
 21        appearance: { material: { diffuseColor: [ 0.8, 0.8, 0.8 ] } }
 22      -
 23        type: Shape
 24        rotation: [ 0, 0, 1, 42 ]
 25        geometry: { type: Box, size: [ 0.01, 0.12, 0.01 ] }
 26        appearance: &BodyAppearance { material: { diffuseColor: [ 0.3, 0.3, 0.3 ] } }
 27      -
 28        type: Shape
 29        rotation: [ 0, 0, 1, -42 ]
 30        geometry: { type: Box, size: [ 0.01, 0.12, 0.01 ] }
 31        appearance: *BodyAppearance
 32      -
 33        type: Shape
 34        translation: [ 0, 0, 0.02 ]
 35        geometry: { type: Box, size: [ 0.17, 0.175, 0.02 ] }
 36        appearance: { material: { diffuseColor: [ 0.3, 0.3, 0.3 ], transparency: 0.5 } }
 37      -
 38        type: Camera
 39        name: Camera
 40        translation: [ 0.0325, 0, 0 ]
 41        rotation: [ [ 1, 0, 0, 90 ], [ 0, 1, 0, -90 ] ]
 42        format: COLOR
 43        fieldOfView: 62
 44        nearClipDistance: 0.06
 45        width: 640
 46        height: 480
 47        frameRate: 30
 48        elements:
 49          -
 50            type: Shape
 51            rotation: [ 1, 0, 0, 90 ]
 52            geometry: { type: Cylinder, height: 0.005, radius: 0.005 }
 53            appearance: { material: { diffuseColor: [ 0.3, 0.3, 0.3 ] } }
 54      -
 55        type: IMU
 56        name: Imu
 57        maxAcceleration: [ 1000.0, 1000.0, 1000.0 ]
 58        maxAngularVelocity: 1000.0
 59      -
 60        type: BatteryDevice
 61        name: FlightBattery
 62        maxCapacity: 1100
 63        current: 5077
 64  -
 65    name: ROTOR_FR
 66    parent: CHASSIS
 67    translation: [ 0.04, -0.045, 0.015 ]
 68    jointType: fixed
 69    centerOfMass: [ 0, 0, 0 ]
 70    mass: 0.0005
 71    inertia: [
 72      1.92e-07, 0, 0,
 73      0, 1.92e-07, 0,
 74      0, 0, 3.52e-07 ]
 75    elements:
 76      - &rotor_shape1
 77        type: Shape
 78        rotation: [ 1, 0, 0, -90 ]
 79        geometry: { type: Cylinder, height: 0.02, radius: 0.0375 }
 80        appearance: { material: { diffuseColor: [ 0.3, 0.8, 0.3 ], transparency: 0.8 } }
 81      - &rotor_device { type: Rotor, name: Rotor_FR, symbol: false }
 82  -
 83    name: ROTOR_FL
 84    parent: CHASSIS
 85    translation: [ 0.04, 0.045, 0.015 ]
 86    jointType: fixed
 87    centerOfMass: [ 0, 0, 0 ]
 88    mass: 0.0005
 89    inertia: [
 90      1.92e-07, 0, 0,
 91      0, 1.92e-07, 0,
 92      0, 0, 3.52e-07 ]
 93    elements:
 94      - { <<: *rotor_shape1 }
 95      - { <<: *rotor_device, name: Rotor_FL }
 96  -
 97    name: ROTOR_RL
 98    parent: CHASSIS
 99    translation: [ -0.04, 0.045, 0.015 ]
100    jointType: fixed
101    centerOfMass: [ 0, 0, 0 ]
102    mass: 0.0005
103    inertia: [
104      1.92e-07, 0, 0,
105      0, 1.92e-07, 0,
106      0, 0, 3.52e-07 ]
107    elements:
108      - &rotor_shape2
109        type: Shape
110        rotation: [ 1, 0, 0, -90 ]
111        geometry: { type: Cylinder, height: 0.02, radius: 0.0375 }
112        appearance: { material: { diffuseColor: [ 0.8, 0.3, 0.3 ], transparency: 0.8 } }
113      - { <<: *rotor_device, name: Rotor_RL }
114  -
115    name: ROTOR_RR
116    parent: CHASSIS
117    translation: [ -0.04, -0.045, 0.015 ]
118    jointType: fixed
119    centerOfMass: [ 0, 0, 0 ]
120    mass: 0.0005
121    inertia: [
122      1.92e-07, 0, 0,
123      0, 1.92e-07, 0,
124      0, 0, 3.52e-07 ]
125    elements:
126      - { <<: *rotor_shape2 }
127      - { <<: *rotor_device, name: Rotor_RR }