#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 [
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]
connectedRoadIDs [
"305881954_2"
"305883844_1"
"681410564_1"
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]
}
Crossroad {
translation -118.114664 0.01 679.046183
name "crossroad(2)"
id "1163547984"
shape [
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]
connectedRoadIDs [
"100650329"
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]
}
Crossroad {
translation -356.738405 0.01 963.398441
name "crossroad(3)"
id "1163548066"
shape [
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]
connectedRoadIDs [
"28878966_4"
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]
}
Crossroad {
translation -125.305915 0.01 813.530109
name "crossroad(4)"
id "1163548072"
shape [
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]
connectedRoadIDs [
"510736128_3"
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]
}
Crossroad {
translation 170.017809 0.01 806.79148
name "crossroad(5)"
id "1163548092"
shape [
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]
connectedRoadIDs [
"48678100_2"
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]
}
Crossroad {
translation -286.042883 0.01 834.255264
name "crossroad(6)"
id "1163548100"
shape [
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]
connectedRoadIDs [
"510736117"
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]
}
Crossroad {
translation 296.370609 0.01 948.530806
name "crossroad(7)"
id "1163548141"
shape [
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]
connectedRoadIDs [
"305881375"
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]
}
Crossroad {
translation -247.028391 0.01 681.685287
name "crossroad(8)"
id "1163548170"
shape [
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]
connectedRoadIDs [
"681296213"
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]
}
Crossroad {
translation 52.134476 0.01 814.272444
name "crossroad(9)"
id "1163548373"
shape [
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]
connectedRoadIDs [
"223184764_2"
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]
}
Crossroad {
translation -331.384573 0.01 1067.591571
name "crossroad(10)"
id "1163548496"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation -117.631736 0.01 669.0929
name "crossroad(11)"
id "1163548625"
shape []
connectedRoadIDs [
"100650329"
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]
}
Crossroad {
translation -375.992332 0.01 884.448213
name "crossroad(12)"
id "1163548659"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation 533.587492 0.01 902.888617
name "crossroad(13)"
id "1163548665"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation -19.435668 0.01 678.551957
name "crossroad(14)"
id "1163548700"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation -34.622762 0.01 734.519887
name "crossroad(15)"
id "1163548746"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation -93.014128 0.01 815.800442
name "crossroad(16)"
id "1163548778"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation -209.466898 0.01 681.000974
name "crossroad(17)"
id "1163548987"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation -225.288533 0.01 809.641642
name "crossroad(18)"
id "1163549040"
shape [
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connectedRoadIDs [
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}
Crossroad {
translation -347.367783 0.01 651.940644
name "crossroad(19)"
id "1163549055"
shape [
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]
connectedRoadIDs [
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]
}
Crossroad {
translation 484.626619 0.01 911.930513
name "crossroad(20)"
id "1163549134"
shape [
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connectedRoadIDs [
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}
Crossroad {
translation -294.286299 0.01 598.024158
name "crossroad(21)"
id "2289290069"
shape []
connectedRoadIDs [
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}
Crossroad {
translation 30.855967 0.01 830.210709
name "crossroad(22)"
id "2321122999"
shape [
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connectedRoadIDs [
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]
}
Crossroad {
translation 277.988994 0.01 528.694262
name "crossroad(23)"
id "2321123001"
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Crossroad {
translation 526.491472 0.01 728.503076
name "crossroad(24)"
id "2321123008"
shape [
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Crossroad {
translation 105.240722 0.01 745.792813
name "crossroad(25)"
id "2321123009"
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Crossroad {
translation 486.343802 0.01 738.941852
name "crossroad(26)"
id "2321123030"
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Crossroad {
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name "crossroad(27)"
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Crossroad {
translation 331.288097 0.01 524.250941
name "crossroad(28)"
id "2321123041"
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}
Crossroad {
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name "crossroad(29)"
id "2321123044"
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Crossroad {
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name "crossroad(30)"
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Crossroad {
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name "crossroad(31)"
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}
Crossroad {
translation -62.546883 0.01 852.673236
name "crossroad(32)"
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