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

#VRML_SIM R2019b utf8
WorldInfo {
  gravity 0 -9.80665 0
  basicTimeStep 2
  FPS 25
  optimalThreadCount 4
  randomSeed 52
}
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 -0.4802960487107921 -0.8160262481931511 -0.32158493100985075 1.374242044385044
  position -34.80383906285916 39.60501890601726 13.953518107115032
  followOrientation TRUE
}
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)"
}
Car {
  translation -0.0010326953082284774 1.0033229120626295 2.2409311299249333
  rotation 0.00024190667924360975 0.9999990672138167 0.0013442665863175399 1.5707409280078055
  name "rover"
  controller "ardupilot_SITL_ROVER"
  supervisor TRUE
  wheelbase 2
  extensionSlot [
    Camera {
      rotation 0 1 0 -3.1415923071795864
      name "camera1"
    }
    InertialUnit {
      rotation 0 -1 0 1.5707959999999999
      name "inertial_unit"
    }
    Compass {
      rotation 0 -1 0 1.5707959999999999
      name "compass1"
    }
    Gyro {
      rotation 0 -1 0 1.5707959999999999
      name "gyro1"
    }
    Accelerometer {
      rotation 0 -1 0 1.5707959999999999
      name "accelerometer1"
    }
    GPS {
      rotation 0 -1 0 1.5707959999999999
      name "gps1"
    }
    VehicleLights {
    }
  ]
  physics Physics {
    mass 3.5
  }
  wheelFrontRight VehicleWheel {
    thickness 0.2
    tireRadius 0.3
  }
  wheelFrontLeft VehicleWheel {
    name "vehicle wheel(1)"
    thickness 0.2
    tireRadius 0.3
  }
  wheelRearRight VehicleWheel {
  }
  wheelRearLeft VehicleWheel {
    name "wheel4"
  }
  engineType "electric"
}
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)"
}