custom.wbt

#VRML_SIM R2023b utf8

EXTERNPROTO "../protos/TexturedBackground.proto"
EXTERNPROTO "../protos/TexturedBackgroundLight.proto"
EXTERNPROTO "../protos/RectangleArena.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/rocks/protos/Rock.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/WoodenBox.proto"

WorldInfo {
}
Viewpoint {
  orientation 0.18478028940301824 0.013995871723725156 -0.9826801922410108 3.9519606702489782
  position 1.3563665091102002 -1.501207425260114 0.9017480762905308
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
  floorSize 2 2
}
Robot {
  translation -0.16383931543279195 -0.0006081326586651825 0.03972057905040909
  rotation 0.00023326557207525826 0.05854029199138639 -0.9982850193210034 0.0002700720940811805
  children [
    HingeJoint {
      jointParameters HingeJointParameters {
        position -3.4237080817774506
        axis 0 1 0
        anchor 0.05 0.06 0
      }
      device [
        DEF wheel1 RotationalMotor {
          name "wheel1"
        }
      ]
      endPoint Solid {
        translation 0.05 0.06 0
        rotation -0.09990751758662259 -0.7035676412145337 0.7035702254682866 3.340746096725138
        children [
          DEF wheel Shape {
            appearance PBRAppearance {
              baseColor 0.870588 0.866667 0.854902
              metalness 0
            }
            geometry Cylinder {
              height 0.02
              radius 0.04
            }
          }
        ]
        boundingObject USE wheel
        physics DEF wheel_physics Physics {
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position -4.095650518772092
        axis 0 1 0
        anchor 0.05 -0.06 0
      }
      device [
        DEF wheel2 RotationalMotor {
          name "wheel2"
        }
      ]
      endPoint Solid {
        translation 0.05 -0.06 0
        rotation -0.34325705371324244 -0.6641428139726565 0.664145253483442 3.802900710995585
        children [
          USE wheel
        ]
        name "wheel2"
        boundingObject USE wheel
        physics USE wheel_physics
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position -4.095650539074345
        axis 0 1 0
        anchor -0.05 0.06 0
      }
      device [
        DEF wheel3 RotationalMotor {
          name "wheel3"
        }
      ]
      endPoint Solid {
        translation -0.05 0.06 0
        rotation -0.3432570612494133 -0.6641428120251653 0.6641452515359291 3.802900724479189
        children [
          USE wheel
        ]
        name "wheel3"
        boundingObject USE wheel
        physics USE wheel_physics
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position -4.095650569420188
        axis 0 1 0
        anchor -0.05 -0.06 0
      }
      device [
        DEF wheel4 RotationalMotor {
          name "wheel4"
        }
      ]
      endPoint Solid {
        translation -0.05 -0.06 0
        rotation -0.3432570725137577 -0.6641428091142306 0.6641452486249854 3.8029007446331615
        children [
          USE wheel
        ]
        name "wheel4"
        boundingObject USE wheel
        physics USE wheel_physics
      }
    }
    DistanceSensor {
      translation 0.1 0.02 0
      rotation 0 0 1 0.3
      children [
        DEF sensor Shape {
          geometry Box {
            size 0.01 0.01 0.01
          }
        }
      ]
      name "ds_left"
      boundingObject USE sensor
      physics Physics {
      }
    }
    DEF ds_right DistanceSensor {
      translation 0.1 -0.02 0
      rotation 0 0 1 -0.3
      children [
        DEF sensor Shape {
          geometry Box {
            size 0.01 0.01 0.01
          }
        }
      ]
      name "ds_right"
      boundingObject USE sensor
      physics Physics {
      }
    }
    DEF body Shape {
      appearance PBRAppearance {
      }
      geometry Box {
        size 0.2 0.1 0.05
      }
    }
    GPS {
      translation 0.01 0 0.03
      children [
        Shape {
          geometry Cylinder {
            height 0.02
            radius 0.01
          }
        }
      ]
      name "global"
    }
    InertialUnit {
      translation 0.07 0 0.03
      children [
        Shape {
          geometry Box {
            size 0.02 0.02 0.02
          }
        }
      ]
      name "imu"
    }
    DEF L1 Solid {
      translation -0.05 0 0.12
      children [
        Shape {
          geometry Box {
            size 0.02 0.02 0.25
          }
        }
      ]
      name "solid(1)"
    }
    SliderJoint {
      jointParameters JointParameters {
      }
      device [
        LinearMotor {
          name "linear"
          maxPosition 0.2
        }
      ]
      endPoint Solid {
        translation -0.05 -0.085 0.06
        children [
          DEF L2 Shape {
            geometry Box {
              size 0.02 0.15 0.02
            }
          }
          HingeJoint {
            jointParameters HingeJointParameters {
              axis 0 0 1
              anchor 0 -0.075 1
            }
            device [
              RotationalMotor {
                name "RM"
              }
            ]
            endPoint Solid {
              translation 0 -0.08 0
              rotation 1 0 0 1.5708
              children [
                Shape {
                  appearance PBRAppearance {
                  }
                  geometry Cylinder {
                    height 0.02
                    radius 0.01
                  }
                }
                Camera {
                  translation 0 0 0.01
                  rotation 0.577349935856137 0.5773509358560258 0.577349935856137 -2.094395307179586
                  name "CAM"
                }
              ]
            }
          }
        ]
        name "L2"
      }
    }
  ]
  boundingObject USE body
  physics Physics {
  }
  controller "gpbot"
}
Rock {
  translation 0.51 -0.39 0.04
}
Rock {
  translation 0.4 0.13 0.04
  name "rock(1)"
}
Rock {
  translation -0.64 0.18 0.12
  name "rock(2)"
}
Rock {
  translation -0.27 -0.69 0.09
  name "rock(3)"
}
WoodenBox {
  translation 0 0.55 0.07
  size 0.1 0.1 0.1
}
WoodenBox {
  translation 0.1 -0.56 0.07
  name "wooden box(1)"
  size 0.1 0.1 0.1
}