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

#VRML_SIM R2021b utf8
WorldInfo {
  info [
    "World generated using the Open Street Map to Webots importer"
    "Author: David Mansolino <david.mansolino@epfl.ch>"
  ]
  gravity 9.80665
  physics "sitl_physics_env"
  basicTimeStep 1
  FPS 5
  optimalThreadCount 4
  physicsDisableTime 0
  coordinateSystem "NUE"
  randomSeed 52
}
Viewpoint {
  orientation 0.9105337223064622 0.3972882470335872 0.11441323923269492 5.670531893452289
  position -81.01261461993163 254.55784447899657 285.7682724220764
  near 3
  follow "quad_x_sitl"
  followType "Mounted Shot"
}
DEF DEF_VEHICLE Robot {
  translation -0.027601 0.694307 0.005031
  rotation 0 1 0 0.785388
  children [
    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 -1 0 2.356195
      name "camera1"
      width 128
      height 128
    }
    Compass {
      rotation 0 1 0 -0.7853983071795865
      name "compass1"
    }
    GPS {
      rotation 0 1 0 -0.785398
      name "gps1"
    }
    Accelerometer {
      rotation 0 1 0 -0.785398
      name "accelerometer1"
    }
    Gyro {
      rotation 0 1 0 -0.785398
      name "gyro1"
    }
    InertialUnit {
      rotation 0 -1 0 0.7853979999999999
      name "inertial_unit"
    }
    Transform {
      translation -0.1 0 0
      rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.094395
      children [
        Solid {
          translation 0 0.2 0
          rotation 1 0 0 1.5707959999999999
          children [
            Propeller {
              shaftAxis 0 -1 0
              thrustConstants -1.00001 0
              torqueConstants 1.1 0
              fastHelixThreshold 1
              device RotationalMotor {
                name "motor3"
                controlPID 10.001 0 0
                maxVelocity 50000
                maxTorque 90
              }
              fastHelix Solid {
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 1 0 0.1
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
              slowHelix Solid {
                rotation 0 1 0 1.1667874781290464
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.960784 0.47451 0
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
            }
          ]
          physics Physics {
            mass 0.05
          }
        }
        Shape {
          appearance Appearance {
            material Material {
            }
          }
          geometry DEF DEF_ARM Cylinder {
            height 0.1
            radius 0.01
          }
        }
      ]
    }
    Transform {
      translation 0 0.01 0.1
      rotation 0 0.7071067811865476 0.7071067811865476 -3.1415923071795864
      children [
        Solid {
          translation 0 0.2 0
          rotation 1 0 0 1.5707959999999999
          children [
            Propeller {
              shaftAxis 0 1 0
              thrustConstants 1.00001 0
              torqueConstants 1.1 0
              fastHelixThreshold 1
              device RotationalMotor {
                name "motor2"
                controlPID 10.001 0 0
                maxVelocity 50000
                maxTorque 90
              }
              fastHelix Solid {
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 1 0 0.1
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
              slowHelix Solid {
                rotation 0 -1 0 5.370767303526115
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.960784 0.47451 0
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
            }
          ]
          name "solid(2)"
          physics Physics {
            mass 0.05
          }
        }
        Shape {
          appearance Appearance {
            material Material {
              diffuseColor 1 0.09 0
            }
          }
          geometry USE DEF_ARM
        }
      ]
    }
    Transform {
      translation 0.09999999999999999 0 0
      rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
      children [
        Solid {
          translation 0 0.2 0
          rotation 1 0 0 1.5707959999999999
          children [
            Propeller {
              shaftAxis 0 -1 0
              thrustConstants -1.00001 0
              torqueConstants 1.1 0
              fastHelixThreshold 1
              device RotationalMotor {
                name "motor1"
                controlPID 10.001 0 0
                maxVelocity 50000
                maxTorque 90
              }
              fastHelix Solid {
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 1 0 0.1
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
              slowHelix Solid {
                rotation 0 1 0 5.486397909883531
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.960784 0.47451 0
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
            }
          ]
          name "solid(1)"
          physics Physics {
            mass 0.05
          }
        }
        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 0.2 0
          rotation 1 0 0 1.5707959999999999
          children [
            Propeller {
              shaftAxis 0 1 0
              thrustConstants 1.00001 0
              torqueConstants 1.1 0
              fastHelixThreshold 1
              device RotationalMotor {
                name "motor4"
                controlPID 10.001 0 0
                maxVelocity 50000
                maxTorque 90
              }
              fastHelix Solid {
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 1 0 0.1
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
              slowHelix Solid {
                rotation 0 -1 0 5.350616673324008
                children [
                  Shape {
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.960784 0.47451 0
                      }
                    }
                    geometry Cylinder {
                      height 0.002
                      radius 0.1
                    }
                  }
                ]
              }
            }
          ]
          name "solid(3)"
          physics Physics {
            mass 0.05
          }
        }
        Shape {
          appearance Appearance {
            material Material {
              diffuseColor 0.7999999999999999 0.7999999999999999 0.7999999999999999
            }
          }
          geometry USE DEF_ARM
        }
      ]
    }
  ]
  name "quad_x_sitl"
  boundingObject Box {
    size 0.1 0.1 0.1
  }
  physics Physics {
    density -1
    mass 1
    centerOfMass [
      0 0 0
    ]
  }
  rotationStep 0.261799
  controller "ardupilot_SITL_QUAD"
  controllerArgs [
    "-p"
    "5599"
    "-df"
    "0.01"
  ]
  customData "1"
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Floor {
  translation 0 -0.02 0
  size 1615 2922
  appearance PBRAppearance {
    baseColor 0.988235 0.686275 0.243137
    baseColorMap ImageTexture {
    }
    roughness 1
    metalness 0
  }
}
Crossroad {
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  name "crossroad(1)"
  id "1139439381"
  shape [
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  connectedRoadIDs [
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}
Crossroad {
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  name "crossroad(2)"
  id "1163547984"
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  connectedRoadIDs [
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  ]
}
Crossroad {
  translation -356.738405 0.01 963.398441
  name "crossroad(3)"
  id "1163548066"
  shape [
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  connectedRoadIDs [
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}
Crossroad {
  translation -125.305915 0.01 813.530109
  name "crossroad(4)"
  id "1163548072"
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}
Crossroad {
  translation 170.017809 0.01 806.79148
  name "crossroad(5)"
  id "1163548092"
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}
Crossroad {
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  name "crossroad(6)"
  id "1163548100"
  shape [
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  connectedRoadIDs [
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}
Crossroad {
  translation 296.370609 0.01 948.530806
  name "crossroad(7)"
  id "1163548141"
  shape [
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Crossroad {
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  name "crossroad(8)"
  id "1163548170"
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}
Crossroad {
  translation 52.134476 0.01 814.272444
  name "crossroad(9)"
  id "1163548373"
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Crossroad {
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  name "crossroad(10)"
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Crossroad {
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}
Crossroad {
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  name "crossroad(12)"
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}
Crossroad {
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  name "crossroad(13)"
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}
Crossroad {
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  name "crossroad(14)"
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}
Crossroad {
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  name "crossroad(15)"
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Crossroad {
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Crossroad {
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Crossroad {
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Crossroad {
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Crossroad {
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Crossroad {
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Crossroad {
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Crossroad {
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Crossroad {
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Crossroad {
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