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

#VRML_SIM R2020a utf8
WorldInfo {
  gravity 0 -9.80665 0
  physics "sitl_physics_env"
  basicTimeStep 1
  FPS 25
  optimalThreadCount 4
  randomSeed 52
}
DogHouse {
  name "dog house(1)"
}
DogHouse {
  name "dog house(2)"
}
DogHouse {
  name "dog house(5)"
}
Viewpoint {
  orientation 0.7086803181760043 0.6899712774114916 0.14734939082708026 5.697800962651686
  position -9.937979108654101 14.58080553998484 26.61082096142779
}
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 -6.12062 0.6576871933499999 0.4069059999999998
  rotation 0.005134141913449905 0.9999763391777008 0.0045783918111282325 0.26180410065967374
  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 -9.387964099116676e-12
            axis 0 0 1
          }
          device [
            RotationalMotor {
              name "servo_tail"
              maxVelocity 50000
              maxTorque 1000
            }
          ]
          endPoint Solid {
            translation -4.884981346861648e-15 -4.102163053687445e-12 1.8030021919912542e-13
            rotation 1.422280360462637e-09 1 -1.7696377693563738e-09 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 "tricopter1"
  physics Physics {
    mass 0.001
  }
  controller "ardupilot_SITL_TRICOPTER"
  controllerArgs "-p 5599  -df 0.01 "
  customData "1"
  supervisor TRUE
  linearVelocity 2.688242491099282e-27 -0.009806650000000002 4.892319843481843e-25
  angularVelocity -1.555631679291012e-22 -3.6929757828058823e-22 -5.825152319722367e-22
}
DEF DEF_VEHICLE2 Robot {
  translation -4.8145 0.65222219335 5.00811
  rotation 0.005134141913449905 0.9999763391777008 0.0045783918111282325 0.26180410065967374
  children [
    Receiver {
      name "receiver_main"
      type "serial"
      channel 2
      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 -9.38790858754193e-12
            axis 0 0 1
          }
          device [
            RotationalMotor {
              name "servo_tail"
              maxVelocity 50000
              maxTorque 1000
            }
          ]
          endPoint Solid {
            translation -4.440892137013443e-15 -4.102385098292374e-12 1.8118839761882555e-13
            rotation 1.426974259244834e-09 1 -1.7743316682306419e-09 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 "tricopter2"
  physics Physics {
    mass 0.001
  }
  controller "ardupilot_SITL_TRICOPTER"
  controllerArgs "-p 5598  -df 0.01 "
  customData "2"
  supervisor TRUE
  linearVelocity 1.891022353254736e-26 -0.009806650000000002 5.497731765059014e-25
  angularVelocity -1.554888292972712e-22 -5.540057171831428e-22 -5.832083344416216e-22
}
Robot {
  translation -6.43222 1.6878201933499999 0.218095
  children [
    Emitter {
      type "serial"
      channel 2
    }
  ]
  name "supervisor_sync"
  boundingObject Box {
    size 0.1 0.1 0.1
  }
  physics Physics {
  }
  controller "ardupilot_SITL_Supervisor"
  supervisor TRUE
  linearVelocity 0 -0.00980665 0
}
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
}
AdvertisingBoard {
  translation 84.03999999999999 2.35 -5.81
  rotation 0 1 0 -1.5707963071795863
  name "advertising board(1)"
}