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zr-v4/libraries/SITL/examples/Webots/worlds/pyramidMapReduced2.wbt

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#VRML_SIM R2020a utf8
WorldInfo {
info [
"World generated using the Open Street Map to Webots importer"
"Author: David Mansolino <david.mansolino@epfl.ch>"
]
physics "sitl_physics_env"
basicTimeStep 2
FPS 5
optimalThreadCount 4
physicsDisableTime 0
northDirection 0 0 1
randomSeed 52
}
Robot {
translation -1.949999999999999 0.23391237384410402 0
rotation 0 0 1 2.533555103014215e-15
children [
Emitter {
type "serial"
channel 1
}
]
name "supervisor_sync"
boundingObject Box {
size 0.1 0.1 0.1
}
physics Physics {
}
controller "ardupilot_SITL_Supervisor"
supervisor TRUE
}
Viewpoint {
orientation -0.008430334675332775 -0.9889506387233125 -0.1480052824260481 2.792301901785628
position -2.7392169823215062 2.3278150473447536 -7.277902320169236
near 3
follow "quad_plus_sitl"
followType "Mounted Shot"
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Floor {
size 2105 2128
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
"textures/grass.jpg"
]
}
roughness 1
metalness 0
}
}
DEF DEF_VEHICLE Robot {
translation 7.15062e-12 0.06 1.08491e-11
rotation -1.6967771456756733e-10 1 2.4151813868919206e-10 -0.7512383045779282
children [
Receiver {
name "receiver_main"
type "serial"
channel 1
bufferSize 32
}
Emitter {
name "emitter_plugin"
description "commuicates with physics plugin"
}
Shape {
appearance Appearance {
material Material {
}
}
geometry Box {
size 0.1 0.1 0.1
}
}
Camera {
translation 0 0.12 0
rotation 0.12942795977353752 0.9831056944488316 0.12942795977353752 -1.5878343071795866
name "camera1"
width 128
height 128
}
Compass {
name "compass1"
rotationStep 0.261799
}
GPS {
name "gps1"
}
Accelerometer {
name "accelerometer1"
}
Gyro {
name "gyro1"
}
InertialUnit {
name "inertial_unit"
}
Transform {
translation -0.09999999999999999 0 0
rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
children [
Solid {
translation 0 0.35 0
rotation 1 0 0 1.5707959999999999
children [
Propeller {
shaftAxis 0 -1 0
thrustConstants -12.2583125 0
torqueConstants 18 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 0.02
}
}
]
}
slowHelix Solid {
rotation 0 1 0 1.0783029265387833
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
physics Physics {
mass 0.25
}
}
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF DEF_ARM Cylinder {
height 0.1
radius 0.01
}
}
]
}
Transform {
translation 0 0 0.09999999999999999
rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
children [
Solid {
translation 0 0.35 0
rotation 1 0 0 1.5707959999999999
children [
Propeller {
shaftAxis 0 1 0
thrustConstants 12.2583125 0
torqueConstants 18 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 0.02
}
}
]
}
slowHelix Solid {
rotation 0 -1 0 5.723596857910636
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
name "solid(2)"
physics Physics {
mass 0.25
}
}
Shape {
appearance Appearance {
material Material {
}
}
geometry USE DEF_ARM
}
]
}
Transform {
translation 0.09999999999999999 0 0
rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
Solid {
translation 0 0.35 0
rotation 1 0 0 1.5707959999999999
children [
Propeller {
shaftAxis 0 -1 0
thrustConstants -12.2583 0
torqueConstants 18 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 0.02
}
}
]
}
slowHelix Solid {
rotation 0 -0.9999999999999999 0 4.897215133097218
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
name "solid(1)"
physics Physics {
mass 0.25
}
}
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0.09999999999999999 0
}
}
geometry USE DEF_ARM
}
]
}
Transform {
translation 0 0 -0.09999999999999999
rotation 1 0 0 -1.5707963071795863
children [
Solid {
translation 0 0.35 0
rotation 1 0 0 1.5707959999999999
children [
Propeller {
shaftAxis 0 1 0
thrustConstants 12.2583125 0
torqueConstants 18 0
device RotationalMotor {
name "motor4"
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 0.02
}
}
]
}
slowHelix Solid {
rotation 0 0.9999999999999999 0 6.252850469660148
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
height 0.002
radius 0.02
}
}
]
}
}
]
name "solid(3)"
physics Physics {
mass 0.25
}
}
Shape {
appearance Appearance {
material Material {
diffuseColor 0.7999999999999999 0.7999999999999999 0.7999999999999999
}
}
geometry USE DEF_ARM
}
]
}
]
name "quad_plus_sitl"
boundingObject Box {
size 0.1 0.1 0.1
}
physics Physics {
density -1
mass 1.5
centerOfMass [
0 0 0
]
}
rotationStep 0.261799
controller "ardupilot_SITL_QUAD"
controllerArgs "-p 5599 -df 0.01"
customData "1"
}
Road {
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speedLimit 13.888889
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endingAngle [
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endLine [
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]
splineSubdivision 0
}
Road {
translation -649.883762 0.01 -295.350839
name "road(42)"
id "28878954_1"
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speedLimit 13.888889
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splineSubdivision 0
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Road {
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name "road(43)"
id "59519875_1"
startJunction "3371097807"
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width 4
numberOfLanes 1
speedLimit 27.777778
lines []
rightBorder FALSE
leftBorder FALSE
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splineSubdivision 0
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Road {
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speedLimit 27.777778
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leftBorder FALSE
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splineSubdivision 0
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Road {
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name "Abou Al Hool Al Selahi(1)"
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speedLimit 13.888889
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Road {
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