#VRML_SIM R2021b utf8
WorldInfo {
gravity 9.80665
physics "sitl_physics_env"
basicTimeStep 1
FPS 15
optimalThreadCount 6
coordinateSystem "NUE"
randomSeed 52
}
Viewpoint {
orientation -0.943398879972064 -0.32399608276223696 -0.0708878806438778 0.45578096925392375
position -2.49488296075554 5.810716177630025 10.814322133903834
follow "quad_x_sitl"
followType "Mounted Shot"
}
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)"
}
Background {
skyColor [
0.15 0.5 1
]
}
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 0.694307 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"
"5577"
"-df"
"0.01"
]
customData "1"
}
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
frontTexture [
"https://ardupilot.org/application/files/6315/7552/1962/ArduPilot-Motto.png"
]
}
AdvertisingBoard {
translation 84.03999999999999 2.35 -5.81
rotation 0 1 0 -1.5707963071795863
name "advertising board(1)"
}