initial commit, basic sim (no code)
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commit
3ae1a34c30
GPG key ID:
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4 changed files with 325 additions and 0 deletions
BIN
simulation/ground.png
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simulation/ground.png
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simulation/wall.png
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simulation/wall.png
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10
simulation/worlds/.cc.wbproj
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10
simulation/worlds/.cc.wbproj
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Webots Project File version R2023b
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perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f00000000000000000000000100000075000003a6fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000003a60000003f00ffffff000000030000076c00000039fc0100000002fb0000000e0043006f006e0073006f006c0065010000000000000a010000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000000000000076c0000006900ffffff000006f5000003a600000004000000040000000100000008fc00000000
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simulationViewPerspectives: 000000ff00000001000000020000014d000003550100000002010000000101
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sceneTreePerspectives: 000000ff00000001000000030000001f0000024d000000fa0100000002010000000201
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maximizedDockId: -1
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centralWidgetVisible: 1
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orthographicViewHeight: 1
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textFiles: -1
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consoles: Console:All:All
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renderingDevicePerspectives: robot:camera7;1;0.15;0;0
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315
simulation/worlds/cc.wbt
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simulation/worlds/cc.wbt
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#VRML_SIM R2023b utf8
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/vehicles/protos/abstract/GenericTireAppearance.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/TireRubber.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/ScuffedPlastic.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/DamascusSteel.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Pcb.proto"
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WorldInfo {
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basicTimeStep 16
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}
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Viewpoint {
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orientation 0.005373553293139983 -0.5150879002726926 0.8571205165655963 5.779758402826299
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position -2.481287100883719 1.1754982535361718 0.8184941756963482
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followType "Pan and Tilt Shot"
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}
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TexturedBackground {
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}
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TexturedBackgroundLight {
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}
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Robot {
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translation 0.601627781577624 0.3310424902905001 0.09097176702440847
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rotation -0.07117315016156012 -0.006014052836253844 0.9974458450786 -2.973138225661935
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children [
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HingeJoint {
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jointParameters HingeJointParameters {
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position 1.4523620848631533e-05
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axis 0 1 0
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minStop -1.7
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}
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device [
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RotationalMotor {
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name "flipper"
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minPosition -1.4
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maxPosition 0.2
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}
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]
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endPoint Solid {
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translation 0.20999536585258985 -6.60630822546525e-08 -0.0001466143078223891
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rotation 0.00818412898038644 0.9998859644401825 -0.012691656643578396 1.4463555563889593e-05
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children [
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Shape {
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appearance DamascusSteel {
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}
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geometry DEF flippr Box {
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size 0.4 0.2 0.05
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}
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}
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]
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name "solid(3)"
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boundingObject USE flippr
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physics Physics {
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}
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}
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}
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Camera {
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translation 0.26 -0.24 0.07
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children [
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Shape {
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appearance Pcb {
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}
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geometry Box {
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size 0.01 0.05 0.05
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}
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}
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]
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name "camera7"
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width 320
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height 240
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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position 255.74933007077615
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axis 0 1 0
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}
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device [
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DEF motor_l RotationalMotor {
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name "motorl"
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}
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]
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endPoint Solid {
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translation -4.7705786756717797e-05 0.3496188333737429 0.0001312094398698585
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rotation 0.4654921954528252 -0.6251558035816978 0.6264959993652238 2.268904614112613
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children [
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DEF wheel-l Shape {
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appearance TireRubber {
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}
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geometry Cylinder {
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height 0.1
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radius 0.1
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}
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}
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]
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name "solid(2)"
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boundingObject USE wheel-l
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physics Physics {
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}
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}
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}
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HingeJoint {
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jointParameters HingeJointParameters {
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position -30.019721658991458
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axis 0 1 0
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}
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device [
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DEF motor_r RotationalMotor {
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name "motorr"
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}
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]
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endPoint DEF wheel Solid {
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translation 0.00031435994125281755 -0.34981416744574356 0.00019375228355231422
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rotation 0.6432373535723704 0.542298500072152 -0.5405164602384536 1.9939183181133648
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children [
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DEF wheel-s Shape {
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appearance GenericTireAppearance {
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}
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geometry Cylinder {
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height 0.1
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radius 0.1
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}
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}
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]
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boundingObject USE wheel-s
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physics Physics {
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}
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}
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}
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Solid {
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children [
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Shape {
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appearance ScuffedPlastic {
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colorOverride 0.333333 0.666667 0
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}
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geometry DEF BODY Box {
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size 0.6 0.6 0.1
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}
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}
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]
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name "solid(1)"
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physics Physics {
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}
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}
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]
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boundingObject Group {
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children [
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Pose {
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children [
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USE BODY
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]
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}
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]
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}
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physics Physics {
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}
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}
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Solid {
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children [
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Solid {
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children [
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Shape {
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appearance PBRAppearance {
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baseColorMap ImageTexture {
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url [
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"../ground.png"
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]
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}
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roughness 1
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roughnessMap ImageTexture {
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url [
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"https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/parquetry/chequered_parquetry_roughness.jpg"
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]
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}
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metalness 0
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normalMap ImageTexture {
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url [
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"https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/parquetry/chequered_parquetry_normal.jpg"
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]
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}
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occlusionMap ImageTexture {
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url [
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"https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/parquetry/chequered_parquetry_occlusion.jpg"
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]
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}
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}
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geometry IndexedFaceSet {
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coord Coordinate {
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point [
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-1 -1 0
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1 -1 0
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-1 1 0
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1 1 0
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]
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}
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texCoord TextureCoordinate {
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point [
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0 0
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1 0
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0 1
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1 1
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]
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}
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coordIndex [
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2, 0, 1, 3, -1
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]
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texCoordIndex [
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2, 0, 1, 3, -1
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]
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}
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}
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]
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name "floor"
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model "floor"
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boundingObject Plane {
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size 2 2
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}
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locked TRUE
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}
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Solid {
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translation 1.005 0 0.05
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children [
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Shape {
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appearance PBRAppearance {
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baseColorMap ImageTexture {
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url [
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"../wall.png"
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]
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}
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metalness 0
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}
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geometry Box {
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size 0.01 2 0.1
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}
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}
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]
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name "wall"
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model "box"
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boundingObject DEF wall1 Box {
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size 0.01 2 0.1
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}
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}
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Solid {
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translation -1.005 0 0.05
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children [
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Shape {
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appearance PBRAppearance {
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baseColorMap ImageTexture {
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url [
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"../wall.png"
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]
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}
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metalness 0
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}
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geometry Box {
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size 0.01 2 0.1
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}
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}
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]
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name "wall#2"
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model "box"
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boundingObject Box {
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size 0.01 2 0.1
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}
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}
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Solid {
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translation 0 1.005 0.05
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children [
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Shape {
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appearance PBRAppearance {
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baseColorMap ImageTexture {
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url [
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"../wall.png"
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]
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}
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metalness 0
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}
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geometry Box {
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size 2.02 0.01 0.1
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}
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}
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]
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name "wall#3"
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model "box"
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boundingObject Box {
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size 2.02 0.01 0.1
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}
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}
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Solid {
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translation 0 -1.005 0.05
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children [
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Shape {
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appearance PBRAppearance {
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baseColorMap ImageTexture {
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url [
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"../wall.png"
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]
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}
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metalness 0
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}
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geometry Box {
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size 2.02 0.01 0.1
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}
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}
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]
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name "wall#4"
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model "box"
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boundingObject Box {
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size 2.02 0.01 0.1
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}
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}
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]
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name "rectangle arena"
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model "rectangle arena"
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}
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