#VRML_SIM R2023b utf8

EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/vehicles/protos/abstract/GenericTireAppearance.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/TireRubber.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/ScuffedPlastic.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/DamascusSteel.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Pcb.proto"

WorldInfo {
  basicTimeStep 16
}
Viewpoint {
  orientation -0.20252767285431608 -0.0674248654048158 0.9769526238530493 3.4959887657000683
  position 2.9865434559469093 0.7208082034535581 1.392316514841507
  followType "Pan and Tilt Shot"
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Robot {
  translation 0.4259829256496424 0.6130076483711184 0.09121779991306146
  rotation -0.07132084831144353 -0.05983736629860717 0.9956569821934573 -1.7556638990412452
  children [
    HingeJoint {
      jointParameters HingeJointParameters {
        position 1.452387894238653e-05
        axis 0 1 0
        minStop -1.7
      }
      device [
        RotationalMotor {
          name "flipper"
          minPosition -1.4
          maxPosition 0.2
        }
      ]
      endPoint Solid {
        translation 0.20999536585255046 -6.606308225465158e-08 -0.0001466143620208815
        rotation 0.00818361643944395 0.9998859787237327 -0.012690861816878403 1.4463801193914388e-05
        children [
          Shape {
            appearance DamascusSteel {
            }
            geometry DEF flippr Box {
              size 0.4 0.2 0.05
            }
          }
        ]
        name "solid(3)"
        boundingObject USE flippr
        physics Physics {
        }
      }
    }
    Camera {
      translation 0.26 -0.24 0.07
      children [
        Shape {
          appearance Pcb {
          }
          geometry Box {
            size 0.01 0.05 0.05
          }
        }
      ]
      name "camera7"
      fieldOfView 1.0856
      width 320
      height 240
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position 255.23737744608914
        axis 0 1 0
      }
      device [
        DEF motor_l RotationalMotor {
          name "motorl"
        }
      ]
      endPoint Solid {
        translation -0.00010586635003879364 0.3496188333737463 9.10168947531339e-05
        rotation 0.2742044798475611 -0.6794935439895432 0.6805148248995456 2.6043433955761808
        children [
          DEF wheel-l Shape {
            appearance TireRubber {
            }
            geometry Cylinder {
              height 0.1
              radius 0.1
            }
          }
        ]
        name "solid(2)"
        boundingObject USE wheel-l
        physics Physics {
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position -21.122075062215625
        axis 0 1 0
      }
      device [
        DEF motor_r RotationalMotor {
          name "motorr"
        }
      ]
      endPoint DEF wheel Solid {
        translation -0.00017421846075908173 -0.3498141674457398 -0.00032559184261425796
        rotation 0.3117156454776022 -0.6734193996637559 0.6703280305350422 2.535812857851766
        children [
          DEF wheel-s Shape {
            appearance GenericTireAppearance {
            }
            geometry Cylinder {
              height 0.1
              radius 0.1
            }
          }
        ]
        boundingObject USE wheel-s
        physics Physics {
        }
      }
    }
    Solid {
      children [
        Shape {
          appearance ScuffedPlastic {
            colorOverride 0.333333 0.666667 0
          }
          geometry DEF BODY Box {
            size 0.6 0.6 0.1
          }
        }
      ]
      name "solid(1)"
      physics Physics {
      }
    }
  ]
  boundingObject Group {
    children [
      Pose {
        children [
          USE BODY
        ]
      }
    ]
  }
  physics Physics {
  }
  controller "cruise"
}
Solid {
  children [
    Solid {
      children [
        Shape {
          appearance PBRAppearance {
            baseColorMap ImageTexture {
              url [
                "../ground.png"
              ]
            }
            roughness 1
            roughnessMap ImageTexture {
              url [
                "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/parquetry/chequered_parquetry_roughness.jpg"
              ]
            }
            metalness 0
            normalMap ImageTexture {
              url [
                "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/parquetry/chequered_parquetry_normal.jpg"
              ]
            }
            occlusionMap ImageTexture {
              url [
                "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/parquetry/chequered_parquetry_occlusion.jpg"
              ]
            }
          }
          geometry IndexedFaceSet {
            coord Coordinate {
              point [
                -1 -1 0
                1 -1 0
                -1 1 0
                1 1 0
              ]
            }
            texCoord TextureCoordinate {
              point [
                0 0
                1 0
                0 1
                1 1
              ]
            }
            coordIndex [
              2, 0, 1, 3, -1
            ]
            texCoordIndex [
              2, 0, 1, 3, -1
            ]
          }
        }
      ]
      name "floor"
      model "floor"
      boundingObject Plane {
        size 2 2
      }
      locked TRUE
    }
    Solid {
      translation 1.005 0 0.05
      children [
        Shape {
          appearance PBRAppearance {
            baseColorMap ImageTexture {
              url [
                "../wall.png"
              ]
            }
            metalness 0
          }
          geometry Box {
            size 0.01 2 0.1
          }
        }
      ]
      name "wall"
      model "box"
      boundingObject DEF wall1 Box {
        size 0.01 2 0.1
      }
    }
    Solid {
      translation -1.005 0 0.05
      children [
        Shape {
          appearance PBRAppearance {
            baseColorMap ImageTexture {
              url [
                "../wall.png"
              ]
            }
            metalness 0
          }
          geometry Box {
            size 0.01 2 0.1
          }
        }
      ]
      name "wall#2"
      model "box"
      boundingObject Box {
        size 0.01 2 0.1
      }
    }
    Solid {
      translation 0 1.005 0.05
      children [
        Shape {
          appearance PBRAppearance {
            baseColorMap ImageTexture {
              url [
                "../wall.png"
              ]
            }
            metalness 0
          }
          geometry Box {
            size 2.02 0.01 0.1
          }
        }
      ]
      name "wall#3"
      model "box"
      boundingObject Box {
        size 2.02 0.01 0.1
      }
    }
    Solid {
      translation 0 -1.005 0.05
      children [
        Shape {
          appearance PBRAppearance {
            baseColorMap ImageTexture {
              url [
                "../wall.png"
              ]
            }
            metalness 0
          }
          geometry Box {
            size 2.02 0.01 0.1
          }
        }
      ]
      name "wall#4"
      model "box"
      boundingObject Box {
        size 2.02 0.01 0.1
      }
    }
  ]
  name "rectangle arena"
  model "rectangle arena"
}