#VRML_SIM R2021b utf8
WorldInfo {
  info [
    "The user drives a Supervisor by the Keyboard which drives slaves robots by using an emitter device."
  ]
  title "Omniscience"
  coordinateSystem "NUE"
  lineScale 0.15
}
Viewpoint {
  orientation 0.011982571754036471 0.990420797366239 0.13756112139184917 3.2259807768666806
  position -0.47807713358084486 1.1788407458010974 -2.8710608860653486
}
TexturedBackground {
}
TexturedBackgroundLight {
}
CircleArena {
}
WoodenBox {
  translation -0.06339 0.05 0.372612
  rotation 0 1 0 0.5
  size 0.1 0.1 0.1
}
WoodenBox {
  translation 0.449512 0.05 -0.488552
  rotation 0 1 0 4.96782
  name "wooden box(1)"
  size 0.1 0.1 0.1
}
WoodenBox {
  translation 0.5 0.05 0.35471
  rotation 0 1 0 5.36782
  name "wooden box(2)"
  size 0.1 0.1 0.1
}
WoodenBox {
  translation -0.3 0.05 -0.36
  rotation 0 1 0 5.36782
  name "wooden box(3)"
  size 0.1 0.1 0.1
}
WoodenBox {
  translation -0.645944 0.05 0.192254
  rotation 0 1 0 5.36782
  name "wooden box(4)"
  size 5 10 0.1
}
DEF ROBOT1 Robot {
  translation -0.36230599992105533 -0.00023914673412048226 0.14025099964199306
  rotation 0.0021163498445359464 -0.9999977321736229 0.00023814060314790065 0.22175448381340965
  children [
    DEF LIDAR Lidar {
      translation 0 0.12 0
      rotation 0 1 0 0.523599
      children [
        Transform {
          translation 0 -0.01 0
          rotation 1 0 0 -1.5708
          scale 6 5 3
          children [
            DEF STRUCTURE_AXES Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 0.02 0.02 0.02
                }
              }
              geometry IndexedLineSet {
                coord Coordinate {
                  point [
                    0 0 0.01
                    0.01 0 -0.08
                    -0.01 0 -0.08
                    0 0.01 -0.08
                    0 -0.01 -0.08
                  ]
                }
                coordIndex [
                  0, 1, 0, 2, 0, 3, 0, 4
                ]
              }
            }
          ]
        }
      ]
      tiltAngle -0.1
      horizontalResolution 256
      fieldOfView 1.57
      numberOfLayers 6
      near 0.05
      minRange 0.05
      maxRange 8
      type "rotating"
      noise 0.1
      defaultFrequency 2
      rotatingHead Solid {
        children [
          Transform {
            translation 0 0 -0.03
            children [
              DEF LENS Shape {
                appearance PBRAppearance {
                  baseColor 0 0 0
                  roughness 1.1102230246251565e-16
                  metalness 0
                }
                geometry Sphere {
                  radius 0.015
                  subdivision 2
                }
              }
            ]
          }
          DEF CAMERA_SHAPE Transform {
            rotation 1 0 0 1.57
            children [
              DEF CAMERA_OUTLINE Shape {
                appearance PBRAppearance {
                  baseColor 0.898039 0.898039 0.898039
                  roughness 1
                  metalness 0
                }
                geometry Cylinder {
                  height 0.06
                  radius 0.024
                }
              }
            ]
          }
        ]
      }
    }
    DEF MAIN_BODY Transform {
      translation 0 0.0415 0
      children [
        Shape {
          appearance PBRAppearance {
            baseColor 0.0820075 0.364731 0.8
            roughness 1
            metalness 0
          }
          geometry DEF BODY Cylinder {
            height 0.08
            radius 0.045
          }
        }
      ]
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position -1.7866352851730753e-07
        axis -1 0 0
        anchor 0 0.025 0
      }
      device [
        RotationalMotor {
          name "left wheel motor"
        }
        PositionSensor {
          name "left wheel sensor"
        }
      ]
      endPoint DEF LEFT_WHEEL Solid {
        translation -0.045 0.025 0
        rotation 1 0 0 4.984670178663533
        children [
          DEF WHEEL Transform {
            rotation 0 0 1 1.57
            children [
              Shape {
                appearance PBRAppearance {
                  baseColor 1 0 0
                  roughness 1
                  metalness 0
                }
                geometry Cylinder {
                  height 0.01
                  radius 0.025
                }
              }
            ]
          }
        ]
        name "left wheel"
        boundingObject DEF WHEEL Transform {
          rotation 0 0 1 1.57
          children [
            Shape {
              appearance PBRAppearance {
                baseColor 1 0 0
                roughness 1
                metalness 0
              }
              geometry Cylinder {
                height 0.01
                radius 0.025
              }
            }
          ]
        }
        physics DEF PHYSICS_WHEEL Physics {
          density -1
          mass 0.05
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position 1.7866606142223756e-07
        axis -1 0 0
        anchor 0 0.025 0
      }
      device [
        RotationalMotor {
          name "right wheel motor"
        }
        PositionSensor {
          name "right wheel sensor"
        }
      ]
      endPoint DEF RIGHT_WHEEL Solid {
        translation 0.045 0.025 0
        rotation 1 0 0 4.587349821333938
        children [
          DEF WHEEL Transform {
            rotation 0 0 1 1.57
            children [
              Shape {
                appearance PBRAppearance {
                  baseColor 1 0 0
                  roughness 1
                  metalness 0
                }
                geometry Cylinder {
                  height 0.01
                  radius 0.025
                }
              }
            ]
          }
        ]
        name "right wheel"
        boundingObject USE WHEEL
        physics DEF PHYSICS_WHEEL Physics {
          density -1
          mass 0.05
        }
      }
    }
    DEF LEFT_EYE DistanceSensor {
      translation -0.02 0.063 -0.042
      rotation 0 1 0 2.07
      children [
        DEF INFRARED Transform {
          rotation 0 0 1 1.57
          children [
            Shape {
              appearance PBRAppearance {
                baseColor 0.975691 0.981481 0.0252992
                roughness 1
                metalness 0
              }
              geometry Cylinder {
                height 0.004
                radius 0.008
              }
            }
          ]
        }
      ]
      name "ds0"
      lookupTable [
        0 1024 0
        0.05 1024 0
        0.15 0 0
      ]
      numberOfRays 2
      aperture 1
    }
    DEF RIGHT_EYE DistanceSensor {
      translation 0.02 0.063 -0.042
      rotation 0 1 0 1.07
      children [
        DEF INFRARED Transform {
          rotation 0 0 1 1.57
          children [
            Shape {
              appearance PBRAppearance {
                baseColor 0.975691 0.981481 0.0252992
                roughness 1
                metalness 0
              }
              geometry Cylinder {
                height 0.004
                radius 0.008
              }
            }
          ]
        }
      ]
      name "ds1"
      lookupTable [
        0 1024 0
        0.05 1024 0
        0.15 0 0
      ]
      numberOfRays 2
      aperture 1
    }
    Camera {
      translation 0 0.045 -0.045
      children [
        Transform {
          rotation 1 0 0 1.57
          children [
            Shape {
              appearance PBRAppearance {
                baseColor 0.8 0.8 0.8
                roughness 1
                metalness 0
              }
              geometry Cylinder {
                height 0.01
                radius 0.007
              }
            }
          ]
        }
      ]
    }
  ]
  name "robot1"
  boundingObject DEF MYBOT_BOUNDING Transform {
    translation 0 0.0415 0
    children [
      DEF BODY Cylinder {
        height 0.08
        radius 0.045
      }
    ]
  }
  physics DEF MYBOT_PHYSICS Physics {
    density -1
    mass 0.5
  }
  controller "LidarStuff"
}