ardupilot/libraries/SITL/examples/Webots/worlds/webots_quadPlus.wbt

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#VRML_SIM R2019b utf8
WorldInfo {
gravity 0 -9.80665 0
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physics "sitl_physics_env"
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basicTimeStep 2
FPS 15
optimalThreadCount 4
randomSeed 52
}
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Viewpoint {
orientation 0.5542589845891367 0.8247263718920818 0.11235385844706426 5.801159266912386
position -4.295082945651872 3.093288102690911 9.827811912728198
follow "quad_plus_sitl"
followOrientation TRUE
}
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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)"
}
Background {
skyColor [
0.15 0.5 1
]
cubemap Cubemap {
}
}
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)"
}
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DEF DEF_VEHICLE Robot {
translation -0.027601 0.674307 0.005031
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rotation -0.012461000916064287 0.999885073506054 -0.008635000634797779 -0.22761130717958622
children [
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Emitter {
name "emitter_plugin"
description "commuicates with physics plugin"
}
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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"
}
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 1.1667874781290464
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 5.370767303526115
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 -12.2583125 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 1 0 5.486397909883531
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 -1 0 5.350616673324008
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"
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controllerArgs "-p 5599 -df 0.01"
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supervisor TRUE
}
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)"
}