#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 0.8382771255106711 0.49551794864617704 0.2274937876405669 5.281073186765893
  position -3.115785721141444 8.10790622845529 5.55883340805579
  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 -0.2 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 0.2
      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 0.2 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 -0.2
      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 {
  translation 514.133801 0.01 691.346361
  name "crossroad(1)"
  id "1139439381"
  shape [
    0.268503 0 -4.464068
    -3.410153 0 -2.893243
    -4.471601 0 -0.069196
    -2.738317 0 3.535763
    -0.609476 0 4.430411
    3.178643 0 3.145827
    4.311975 0 1.186114
    3.536077 0 -2.737912
    0.268503 0 -4.464068
  ]
  connectedRoadIDs [
    "305881954_2"
    "305883844_1"
    "681410564_1"
    "723835727_2"
  ]
}
Crossroad {
  translation -118.114664 0.01 679.046183
  name "crossroad(2)"
  id "1163547984"
  shape [
    -1.8038 0 -4.092225
    -4.058017 0 -1.879495
    -3.938406 0 2.118716
    3.669252 0 2.556676
    4.246892 0 -1.401396
    2.1915 0 -3.898375
    -1.8038 0 -4.092225
  ]
  connectedRoadIDs [
    "100650329"
    "76190925_3"
    "76190925_7"
  ]
}
Crossroad {
  translation -356.738405 0.01 963.398441
  name "crossroad(3)"
  id "1163548066"
  shape [
    0.8866 0 -4.329695
    -3.000297 0 -3.385219
    -2.815584 0 -2.625052
    -1.000545 0 4.358774
    2.886692 0 3.415701
    4.313543 0 1.1804
    3.532446 0 -2.742595
    0.8866 0 -4.329695
  ]
  connectedRoadIDs [
    "28878966_4"
    "28878966_5"
    "723982260"
  ]
}
Crossroad {
  translation -125.305915 0.01 813.530109
  name "crossroad(4)"
  id "1163548072"
  shape [
    1.196649 0 -4.309064
    -2.729261 0 -3.542758
    -4.170125 0 -1.615567
    -3.794529 0 2.36676
    3.849883 0 2.27561
    4.130418 0 -1.71454
    1.196649 0 -4.309064
  ]
  connectedRoadIDs [
    "510736128_3"
    "681384898_10"
    "681384898_5"
  ]
}
Crossroad {
  translation 170.017809 0.01 806.79148
  name "crossroad(5)"
  id "1163548092"
  shape [
    2.604146 0 -3.635715
    -0.933457 0 -1.768801
    -1.00301 0 -1.73031
    -4.463629 0 0.27571
    -2.45761 0 3.736329
    -0.592643 0 4.432694
    3.19057 0 3.13373
    4.47106 0 -0.098113
    2.604146 0 -3.635715
  ]
  connectedRoadIDs [
    "48678100_2"
    "48678100_8"
    "724079230"
  ]
}
Crossroad {
  translation -286.042883 0.01 834.255264
  name "crossroad(6)"
  id "1163548100"
  shape [
    3.767173 0 -2.410063
    -0.210591 0 -1.988882
    -0.268885 0 -1.981843
    -4.232571 0 -1.444072
    -3.6948 0 2.519613
    -0.890412 0 4.382598
    2.971832 0 3.341888
    4.188355 0 1.567701
    3.767173 0 -2.410063
  ]
  connectedRoadIDs [
    "510736117"
    "681384898_3"
    "681384898_7"
  ]
}
Crossroad {
  translation 296.370609 0.01 948.530806
  name "crossroad(7)"
  id "1163548141"
  shape [
    3.224728 0 -4.22506
    -1.608451 0 -4.172875
    -4.602279 0 -2.658764
    -3.246157 0 4.208618
    0.678061 0 3.433691
    0.695502 0 3.430201
    4.615731 0 2.635342
    3.224728 0 -4.22506
  ]
  connectedRoadIDs [
    "305881375"
    "306589389_11"
    "306589389_3"
  ]
}
Crossroad {
  translation -247.028391 0.01 681.685287
  name "crossroad(8)"
  id "1163548170"
  shape [
    3.962905 0 -2.07253
    -4.035479 0 -1.92741
    -3.963215 0 2.071937
    -1.763768 0 4.109638
    2.22945 0 3.876797
    4.035767 0 1.926806
    3.962905 0 -2.07253
  ]
  connectedRoadIDs [
    "681296213"
    "76190925_12"
    "76190925_9"
  ]
}
Crossroad {
  translation 52.134476 0.01 814.272444
  name "crossroad(9)"
  id "1163548373"
  shape [
    -1.568782 0 -4.18795
    -4.291629 0 -1.257744
    -4.400495 0 0.79727
    -2.002481 0 3.998758
    1.375152 0 4.255462
    4.229461 0 1.453155
    1.427154 0 -1.401153
    1.361424 0 -1.465103
    -1.568782 0 -4.18795
  ]
  connectedRoadIDs [
    "223184764_2"
    "76190925_10"
    "76190925_15"
  ]
}
Crossroad {
  translation -331.384573 0.01 1067.591571
  name "crossroad(10)"
  id "1163548496"
  shape [
    0.992718 0 -4.360563
    -2.89282 0 -3.410512
    -4.569295 0 -2.715058
    -3.297575 0 4.168453
    0.63586 0 3.441756
    4.5693 0 2.715051
    3.297568 0 -4.168459
    0.992718 0 -4.360563
  ]
  connectedRoadIDs [
    "28878966_5"
    "306589389_13"
    "306589389_16"
  ]
}
Crossroad {
  translation -117.631736 0.01 669.0929
  name "crossroad(11)"
  id "1163548625"
  shape []
  connectedRoadIDs [
    "100650329"
    "778381060_1"
  ]
}
Crossroad {
  translation -375.992332 0.01 884.448213
  name "crossroad(12)"
  id "1163548659"
  shape [
    1.311973 0 -4.275363
    -2.633106 0 -3.614796
    -4.349754 0 -1.039057
    -3.441098 0 2.856369
    -1.012337 0 4.35605
    2.877438 0 3.4235
    4.281241 0 1.292662
    3.602874 0 -2.649395
    1.311973 0 -4.275363
  ]
  connectedRoadIDs [
    "28878966_1"
    "28878966_2"
    "681300128_1"
    "723982262"
  ]
}
Crossroad {
  translation 533.587492 0.01 902.888617
  name "crossroad(13)"
  id "1163548665"
  shape [
    3.29395 0 -4.171318
    -2.119149 0 -3.938173
    -4.568468 0 -2.716449
    -3.298844 0 4.167449
    0.634812 0 3.441949
    4.571654 0 2.711085
    3.29395 0 -4.171318
  ]
  connectedRoadIDs [
    "306589389_14"
    "306589389_6"
    "681787378"
  ]
}
Crossroad {
  translation -19.435668 0.01 678.551957
  name "crossroad(14)"
  id "1163548700"
  shape [
    -1.002737 0 -4.35827
    -4.013843 0 -1.97207
    -3.985962 0 2.027832
    -2.977732 0 3.336632
    0.882667 0 4.384165
    1.930199 0 0.523766
    1.943855 0 0.470559
    2.884974 0 -3.417152
    -1.002737 0 -4.35827
  ]
  connectedRoadIDs [
    "100650420_2"
    "305866462_2"
    "305866462_3"
  ]
}
Crossroad {
  translation -34.622762 0.01 734.519887
  name "crossroad(15)"
  id "1163548746"
  shape [
    -0.882667 0 -4.384165
    -1.813983 0 -4.087721
    -4.358567 0 -1.001447
    1.632978 0 4.163338
    4.310457 0 1.19162
    2.977732 0 -3.336632
    -0.882667 0 -4.384165
  ]
  connectedRoadIDs [
    "305866462_3"
    "76190925_16"
    "76190925_6"
  ]
}
Crossroad {
  translation -93.014128 0.01 815.800442
  name "crossroad(16)"
  id "1163548778"
  shape [
    1.341645 0 -4.266145
    -2.607929 0 -3.633003
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    1.341645 0 -4.266145
  ]
  connectedRoadIDs [
    "510736127"
    "681384898_1"
    "681384898_5"
  ]
}
Crossroad {
  translation -209.466898 0.01 681.000974
  name "crossroad(17)"
  id "1163548987"
  shape [
    3.963317 0 -2.071743
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    -3.962905 0 2.07253
    -1.967379 0 4.016145
    2.032488 0 3.98359
    4.035385 0 1.927608
    3.963317 0 -2.071743
  ]
  connectedRoadIDs [
    "681296211"
    "76190925_8"
    "76190925_9"
  ]
}
Crossroad {
  translation -225.288533 0.01 809.641642
  name "crossroad(18)"
  id "1163549040"
  shape [
    1.833704 0 -4.078913
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    -3.791807 0 -2.371118
    -4.171979 0 1.610774
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    3.849484 0 2.276284
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    1.833704 0 -4.078913
  ]
  connectedRoadIDs [
    "681296212_1"
    "723985899_4"
    "723985899_5"
  ]
}
Crossroad {
  translation -347.367783 0.01 651.940644
  name "crossroad(19)"
  id "1163549055"
  shape [
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    3.7306 0 -2.466298
  ]
  connectedRoadIDs [
    "28878954_1"
    "28878954_2"
    "681296216_1"
  ]
}
Crossroad {
  translation 484.626619 0.01 911.930513
  name "crossroad(20)"
  id "1163549134"
  shape [
    -1.197574 0 -4.308807
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    -1.197574 0 -4.308807
  ]
  connectedRoadIDs [
    "306589389_12"
    "306589389_7"
    "681787379"
  ]
}
Crossroad {
  translation -294.286299 0.01 598.024158
  name "crossroad(21)"
  id "2289290069"
  shape []
  connectedRoadIDs [
    "100650323"
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  ]
}
Crossroad {
  translation 30.855967 0.01 830.210709
  name "crossroad(22)"
  id "2321122999"
  shape [
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  ]
  connectedRoadIDs [
    "223184762"
    "223184764_2"
    "223184764_3"
  ]
}
Crossroad {
  translation 277.988994 0.01 528.694262
  name "crossroad(23)"
  id "2321123001"
  shape [
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  ]
  connectedRoadIDs [
    "223184766_3"
    "223184766_4"
    "223184772_1"
  ]
}
Crossroad {
  translation 526.491472 0.01 728.503076
  name "crossroad(24)"
  id "2321123008"
  shape [
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  ]
  connectedRoadIDs [
    "48678100_9"
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    "723835727_6"
  ]
}
Crossroad {
  translation 105.240722 0.01 745.792813
  name "crossroad(25)"
  id "2321123009"
  shape [
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  ]
  connectedRoadIDs [
    "223184774"
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  ]
}
Crossroad {
  translation 486.343802 0.01 738.941852
  name "crossroad(26)"
  id "2321123030"
  shape [
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  ]
  connectedRoadIDs [
    "48678100_10"
    "48678100_9"
    "724079237"
    "724079238"
  ]
}
Crossroad {
  translation 464.407785 0.01 558.93837
  name "crossroad(27)"
  id "2321123034"
  shape [
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  ]
  connectedRoadIDs [
    "305881988"
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    "681410564_6"
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