#VRML_SIM R2023a utf8

EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/StraightRoadSegment.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/advertising_board/protos/AdvertisingBoard.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/animals/protos/Dog.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/animals/protos/Rabbit.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/garden/protos/Gnome.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/forklift/protos/Forklift.proto"
EXTERNPROTO "../protos/Iris.proto"
EXTERNPROTO "../protos/ArucoMarker.proto"

WorldInfo {
  title "Iris Ardupilot"
  basicTimeStep 2
  FPS 20
}
Viewpoint {
  orientation 0.10264123808602478 -0.7648124131744727 -0.6360241732028804 5.867275660921915
  position -2.488925008027789 0.29237831017431365 2.067754838508868
  follow "Iris"
  followSmoothness 0.01
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Floor {
  size 300 100
  appearance Grass {
  }
}
StraightRoadSegment {
  translation -15 0.3 0.02
  rotation 0 0 1 0.105
  width 16.5
  rightBorder FALSE
  leftBorder FALSE
  length 140
}
Rabbit {
  translation 4.68362 1.88178 0.88
  rotation 0 0 1 2.61799
  name "nibbles"
}
Gnome {
  translation 5.87588 0.590355 3.6788e-21
  rotation 0 0 1 2.61799
}
Forklift {
  translation 9.19827 2.56008 0.81
  rotation 0 0 1 -2.3561953071795863
  enablePhysics FALSE
}
Dog {
  translation 5.97592 3.52 1.77636e-15
  rotation 0 0 1 -2.6179953071795863
  name "bentley"
}
OilBarrel {
  translation 4.54625 1.79835 0.44
}
AdvertisingBoard {
  translation 13.1012 17.8267 0
  rotation 0 0 1 -1.469
  frontTexture [
    "../../../../../Tools/autotest/web-firmware/images/logo.png"
  ]
  backTexture [
    "../../../../../Tools/autotest/web-firmware/images/logo.png"
  ]
  displayWidth 16.28
  displayHeight 6
  poleNumber 2
  poleType "H-shape"
  poleHeight 10
}
Table {
  translation 0 0.92 0
}
Iris {
  translation 0.0702495 1.45039 0.8
  controller "ardupilot_vehicle_controller"
  controllerArgs [
    "--motors"
    "m1_motor, m2_motor, m3_motor, m4_motor"
    "--camera"
    "camera"
    "--camera-port"
    "5599"
  ]
  extensionSlot [
    Camera {
      translation 0.05 0 0.05
      rotation 0 1 0 0
      width 640
      height 480
    }
  ]
}
ArucoMarker {
  translation 4.23295 1.80428 0.72
  rotation 0 1 0 -1.5707953071795862
  name "aruco 0"
  size 0.2
}
ArucoMarker {
  translation 4.39446 1.53182 0.44
  rotation 0.44721372362178063 -0.7745965212991105 0.44721372362178063 1.82348
  name "aruco 1"
  size 0.2
  markerId "1"
}