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

#VRML_SIM R2020a utf8
WorldInfo {
  gravity 0 -9.80665 0
  physics "sitl_physics_env"
  basicTimeStep 1
  FPS 25
  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
}
DogHouse {
  translation 34.82 0.76 -24.56
  name "dog house(1)"
}
DogHouse {
  translation 161.819 0.75 -152.174
  name "dog house(2)"
}
DogHouse {
  translation 185.42 0.77 48.97
  name "dog house(5)"
}
Viewpoint {
  orientation 0.9952082156446058 0.09310572995296737 0.02986520656892867 5.659589519324221
  position -0.1971228135348432 5.281009887921962 4.9181113380378845
  follow "tricopter"
}
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 -8.233889875751989e-05 0.666500515499142 -1.3598750857814472
  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 -4.8849852365954544e-15 -4.102262941093136e-12 1.8091922030330322e-13
            rotation 3.4266344293343444e-10 1 -6.900208306501498e-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 0.02
                      }
                    }
                  ]
                }
                slowHelix Solid {
                  rotation 0 1 0 2.238367478129037
                  children [
                    Shape {
                      appearance Appearance {
                        material Material {
                          diffuseColor 0 1 0.09999999999999999
                        }
                      }
                      geometry Cylinder {
                        height 0.002
                        radius 0.02
                      }
                    }
                  ]
                }
              }
            ]
            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 0.02
                }
              }
            ]
          }
          slowHelix Solid {
            rotation 0 1 0 0.012993
            children [
              Shape {
                appearance Appearance {
                  material Material {
                    diffuseColor 1 0 0.1
                  }
                }
                geometry Cylinder {
                  height 0.002
                  radius 0.02
                }
              }
            ]
          }
        }
      ]
    }
    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 0.02
                }
              }
            ]
          }
          slowHelix Solid {
            rotation 0 1 0 0.012993
            children [
              Shape {
                appearance Appearance {
                  material Material {
                    diffuseColor 1 0 0.1
                  }
                }
                geometry Cylinder {
                  height 0.002
                  radius 0.02
                }
              }
            ]
          }
        }
      ]
    }
    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"
}
DirectionalLight {
  direction 0 -1 0
}
UnevenTerrain {
  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
}
AdvertisingBoard {
  translation 84.03999999999999 2.35 -5.81
  rotation 0 1 0 -1.5707963071795863
  name "advertising board(1)"
}