#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 0.005373553293139983 -0.5150879002726926 0.8571205165655963 5.779758402826299
  position -2.481287100883719 1.1754982535361718 0.8184941756963482
  followType "Pan and Tilt Shot"
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Robot {
  translation 0.601627781577624 0.3310424902905001 0.09097176702440847
  rotation -0.07117315016156012 -0.006014052836253844 0.9974458450786 -2.973138225661935
  children [
    HingeJoint {
      jointParameters HingeJointParameters {
        position 1.4523620848631533e-05
        axis 0 1 0
        minStop -1.7
      }
      device [
        RotationalMotor {
          name "flipper"
          minPosition -1.4
          maxPosition 0.2
        }
      ]
      endPoint Solid {
        translation 0.20999536585258985 -6.60630822546525e-08 -0.0001466143078223891
        rotation 0.00818412898038644 0.9998859644401825 -0.012691656643578396 1.4463555563889593e-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"
      width 320
      height 240
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position 255.74933007077615
        axis 0 1 0
      }
      device [
        DEF motor_l RotationalMotor {
          name "motorl"
        }
      ]
      endPoint Solid {
        translation -4.7705786756717797e-05 0.3496188333737429 0.0001312094398698585
        rotation 0.4654921954528252 -0.6251558035816978 0.6264959993652238 2.268904614112613
        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 -30.019721658991458
        axis 0 1 0
      }
      device [
        DEF motor_r RotationalMotor {
          name "motorr"
        }
      ]
      endPoint DEF wheel Solid {
        translation 0.00031435994125281755 -0.34981416744574356 0.00019375228355231422
        rotation 0.6432373535723704 0.542298500072152 -0.5405164602384536 1.9939183181133648
        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 {
  }
}
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"
}