#VRML_SIM R2019b utf8 WorldInfo { gravity 0 -9.80665 0 physics "sitl_physics_env" 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 0.8271274640436935 0.5437841938242927 0.1419820720073933 5.671643293801365 position -7.234434459826133 13.00762277807382 18.43704042041417 follow "quad_x_sitl" 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)" } DEF DEF_VEHICLE Robot { translation -0.027601 0.674307 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 -0.09999999999999999 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 { diffuseColor 1 0.09999999999999999 0 } } geometry USE DEF_ARM } ] } Transform { translation 0.09999999999999999 0 0 rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 children [ Solid { translation 0 0.35 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_x_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" controllerArgs "-p 5599 -df 0.01" 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)" }