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ardupilot/libraries/SITL/examples/Webots/worlds/pyramidMapReduced2.wbt

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#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 {
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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 {
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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 [
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thrustConstants 12.2583125 0
torqueConstants 18 0
device RotationalMotor {
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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 {
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rotation 0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586
children [
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torqueConstants 18 0
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controlPID 10.001 0 0
maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 1 0 0.1
}
}
geometry Cylinder {
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radius 0.02
}
}
]
}
slowHelix Solid {
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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 {
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rotation 1 0 0 -1.5707963071795863
children [
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rotation 1 0 0 1.5707959999999999
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torqueConstants 18 0
device RotationalMotor {
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maxVelocity 1000
}
fastHelix Solid {
children [
Shape {
appearance Appearance {
material Material {
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}
}
geometry Cylinder {
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radius 0.02
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}
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slowHelix Solid {
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children [
Shape {
appearance Appearance {
material Material {
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}
}
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 [
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]
}
rotationStep 0.261799
controller "ardupilot_SITL_QUAD"
controllerArgs "-p 5599 -df 0.01"
customData "1"
}
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speedLimit 27.777778
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leftBorder FALSE
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spine [
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]
splineSubdivision 0
}
}
]
name "wall(51)"
boundingObject USE SHAPE
}
Solid {
translation 0 0.75 0
children [
DEF SHAPE Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
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]
}
roughness 1
metalness 0
textureTransform TextureTransform {
scale 105.9 1.5
}
}
geometry Extrusion {
crossSection [
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]
spine [
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]
splineSubdivision 0
}
}
]
name "wall(54)"
boundingObject USE SHAPE
}
Solid {
translation 0 0.75 0
children [
DEF SHAPE Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
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]
}
roughness 1
metalness 0
textureTransform TextureTransform {
scale 60.3 1.5
}
}
geometry Extrusion {
crossSection [
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spine [
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87.02 0 529.44
90.71 0 529.44
90.44 0 482.36
]
splineSubdivision 0
}
}
]
name "wall(57)"
boundingObject USE SHAPE
}
Solid {
translation 0 0.75 0
children [
DEF SHAPE Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
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]
}
roughness 1
metalness 0
textureTransform TextureTransform {
scale 26.2 1.5
}
}
geometry Extrusion {
crossSection [
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]
spine [
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]
splineSubdivision 0
}
}
]
name "wall(61)"
boundingObject USE SHAPE
}
Solid {
translation 0 0.75 0
children [
DEF SHAPE Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
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]
}
roughness 1
metalness 0
textureTransform TextureTransform {
scale 19.3 1.5
}
}
geometry Extrusion {
crossSection [
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]
spine [
-577.58 0 -220.63
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]
splineSubdivision 0
}
}
]
name "wall(62)"
boundingObject USE SHAPE
}
DEF parking Transform {
translation -39.635652 0 511.606044
children [
Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
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]
}
roughness 1
metalness 0
textureTransform TextureTransform {
scale 221 221
}
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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}
coordIndex [
0, 1, 2, 3, 4, 5, 6, 7, 8, 9
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}
castShadows FALSE
}
]
}
DEF parking Transform {
translation 231.419057 0 738.65357
children [
Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
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]
}
roughness 1
metalness 0
textureTransform TextureTransform {
scale 86 86
}
}
geometry IndexedFaceSet {
coord Coordinate {
point [
0 -0.01 0
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}
ccw FALSE
coordIndex [
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]
}
castShadows FALSE
}
]
}
DEF parking Transform {
translation 184.85589 0 635.276057
children [
Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
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]
}
roughness 1
metalness 0
textureTransform TextureTransform {
scale 119 119
}
}
geometry IndexedFaceSet {
coord Coordinate {
point [
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}
ccw FALSE
coordIndex [
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]
}
castShadows FALSE
}
]
}
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