#VRML_SIM R2020a utf8
WorldInfo {
  info [
    "World generated using the Open Street Map to Webots importer"
    "Author: David Mansolino <david.mansolino@epfl.ch>"
  ]
  physics "sitl_physics_env"
  basicTimeStep 2
  FPS 5
  optimalThreadCount 4
  physicsDisableTime 0
  northDirection 0 0 1
  randomSeed 52
}
Robot {
  translation -1.949999999999999 0.23391237384410402 0
  rotation 0 0 1 2.533555103014215e-15
  children [
    Emitter {
      type "serial"
      channel 1
    }
  ]
  name "supervisor_sync"
  boundingObject Box {
    size 0.1 0.1 0.1
  }
  physics Physics {
  }
  controller "ardupilot_SITL_Supervisor"
  supervisor TRUE
}
Viewpoint {
  orientation -0.008430334675332775 -0.9889506387233125 -0.1480052824260481 2.792301901785628
  position -2.7392169823215062 2.3278150473447536 -7.277902320169236
  near 3
  follow "quad_plus_sitl"
  followType "Mounted Shot"
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Floor {
  size 2105 2128
  appearance PBRAppearance {
    baseColorMap ImageTexture {
      url [
        "textures/grass.jpg"
      ]
    }
    roughness 1
    metalness 0
  }
}
DEF DEF_VEHICLE Robot {
  translation 7.15062e-12 0.06 1.08491e-11
  rotation -1.6967771456756733e-10 1 2.4151813868919206e-10 -0.7512383045779282
  children [
    Receiver {
      name "receiver_main"
      type "serial"
      channel 1
      bufferSize 32
    }
    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 0.12942795977353752 0.9831056944488316 0.12942795977353752 -1.5878343071795866
      name "camera1"
      width 128
      height 128
    }
    Compass {
      name "compass1"
      rotationStep 0.261799
    }
    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 1.0783029265387833
                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 5.723596857910636
                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 -12.2583 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 -0.9999999999999999 0 4.897215133097218
                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 0.9999999999999999 0 6.252850469660148
                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"
  controllerArgs "-p 5599 -df 0.01"
  customData "1"
}
Road {
  translation -972.826351 0.01 137.636697
  name "road(41)"
  id "28799877_1"
  endJunction "1163548746"
  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
  wayPoints [
    0 0 0
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    93.876988 0 -25.719414
    101.0161 0 -29.084957
    107.915642 0 -33.152834
    116.647708 0 -39.519207
    138.179215 0 -59.636237
    162.882895 0 -84.901447
    169.503268 0 -91.989374
    199.210581 0 -123.437362
    201.116915 0 -125.524008
    240.458362 0 -169.188843
  ]
  endingAngle [
    -2.408233
  ]
  endLine [
    "textures/road_line_triangle.png"
    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation -649.883762 0.01 -295.350839
  name "road(42)"
  id "28878954_1"
  startJunction "6380091556"
  endJunction "6380091554"
  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
  wayPoints [
    0 0 0
    5.573959 0 -0.874136
    7.787052 0 -1.891449
  ]
  startingAngle [
    -1.63079
  ]
  endingAngle [
    -2.00167
  ]
  endLine [
    "textures/road_line_triangle.png"
    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation 104.431075 0.01 668.725871
  name "road(43)"
  id "59519875_1"
  startJunction "3371097807"
  endJunction "738164232"
  width 4
  numberOfLanes 1
  speedLimit 27.777778
  lines []
  rightBorder FALSE
  leftBorder FALSE
  wayPoints [
    0 0 0
    14.085687 0 -5.993738
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    73.29163 0 -3.210707
    111.170075 0 -0.586585
    119.74693 0 1.992311
    129.169828 0 9.249375
  ]
  startingAngle [
    -1.973107
  ]
  endingAngle [
    -0.763362
  ]
  startLine [
    "textures/road_line_dashed.png"
    "textures/road_line_triangle.png"
  ]
  endLine [
    "textures/road_line_triangle.png"
    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation 680.059363 0.01 184.65391
  name "road(45)"
  id "538990485_2"
  startJunction "5216248040"
  endJunction "868141445"
  width 4
  numberOfLanes 1
  speedLimit 27.777778
  lines []
  rightBorder FALSE
  leftBorder FALSE
  wayPoints [
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  ]
  startingAngle [
    1.571129
  ]
  endingAngle [
    1.73106
  ]
  startLine [
    "textures/road_line_dashed.png"
    "textures/road_line_triangle.png"
  ]
  endLine [
    "textures/road_line_triangle.png"
    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation -677.233655 0.01 -289.70268
  name "Abou Al Hool Al Selahi(1)"
  id "100650257_1"
  startJunction "316652198"
  endJunction "1163548170"
  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
  wayPoints [
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    0.598778 0 38.766285
  ]
  startingAngle [
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  ]
  endingAngle [
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  ]
  startLine [
    "textures/road_line_dashed.png"
    "textures/road_line_triangle.png"
  ]
  endLine [
    "textures/road_line_triangle.png"
    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation -616.349032 0.01 260.810713
  name "road(46)"
  id "100650297_1"
  startJunction "3105541811"
  endJunction "3105729296"
  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
  wayPoints [
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  ]
  startingAngle [
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  ]
  endingAngle [
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  ]
  endLine [
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    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation -673.968129 0.01 -91.328216
  name "Haret El Zis(1)"
  id "100650420_2"
  startJunction "1163548246"
  endJunction "1163548700"
  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
  wayPoints [
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  startingAngle [
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  startLine [
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    "textures/road_line_triangle.png"
  ]
  endLine [
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    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation -668.13322 0.01 261.94844
  name "road(47)"
  id "100650432_1"
  startJunction "618032418"
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  width 4
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  speedLimit 13.888889
  lines []
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  startingAngle [
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  startLine [
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    "textures/road_line_triangle.png"
  ]
  endLine [
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    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation -676.771687 0.01 205.70485
  name "road(48)"
  id "100650432_2"
  startJunction "6383511309"
  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
  wayPoints [
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  ]
  startingAngle [
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  startLine [
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    "textures/road_line_triangle.png"
  ]
  splineSubdivision 0
}
Road {
  translation -520.845436 0.01 327.636861
  name "road(49)"
  id "223184766_2"
  startJunction "2321123041"
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  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
  wayPoints [
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  startingAngle [
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  startLine [
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    "textures/road_line_triangle.png"
  ]
  endLine [
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    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
  translation -527.711905 0.01 279.183537
  name "road(50)"
  id "223184772_1"
  startJunction "2321123001"
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  width 4
  numberOfLanes 1
  speedLimit 13.888889
  lines []
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  startLine [
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  ]
  endLine [
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    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
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  name "road(51)"
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  lines []
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    "textures/road_line_triangle.png"
  ]
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}
Road {
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  name "road(52)"
  id "223184776_1"
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  endLine [
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    "textures/road_line_dashed.png"
  ]
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}
Road {
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  name "road(53)"
  id "223184776_3"
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  ]
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    "textures/road_line_dashed.png"
  ]
  splineSubdivision 0
}
Road {
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  name "road(54)"
  id "223184785_1"
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  width 4
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}
Road {
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  name "road(55)"
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}
Road {
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  name "road(56)"
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  ]
  splineSubdivision 0
}
Road {
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  name "road(57)"
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  width 4
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  ]
  splineSubdivision 0
}
Road {
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  name "road(58)"
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          -1
        ]
      }
      castShadows FALSE
    }
  ]
}