#VRML_SIM R2021a utf8
WorldInfo {
  coordinateSystem "NUE"
}
Viewpoint {
  orientation -0.8818525787650351 -0.3767457987150442 0.28354652612229425 0.08625071663475813
  position -0.1906315418853935 1.7802839159550832 2.8464267843684885
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
  floorSize 5 5
}
Robot {
  translation 0 0.03 0
  children [
    DEF Body Transform {
      translation 0 1.3 0
      children [
        Shape {
          appearance PBRAppearance {
            roughness 1
            metalness 0
          }
          geometry Box {
            size 0.5 0.7 0.25
          }
        }
      ]
    }
    BallJoint {
      jointParameters BallJointParameters {
        anchor -0.33 1.6 0
      }
      jointParameters2 JointParameters {
      }
      jointParameters3 JointParameters {
        axis 1 0 0
      }
      device [
        RotationalMotor {
          name "shoulder_roll"
        }
      ]
      device2 [
        RotationalMotor {
          name "shoulder_yaw"
          minPosition -1.5707963267948966
          maxPosition 1.5707963267948966
        }
      ]
      device3 [
        RotationalMotor {
          name "shoulder_pitch"
        }
      ]
      endPoint Solid {
        translation -0.330806 1.37 -2.28548e-05
        rotation 0.0008954593566532848 0.9999525246665688 -0.009702915309103947 0.12741759639284905
        children [
          DEF shoulder Shape {
            appearance PBRAppearance {
              roughness 1
              metalness 0
            }
            geometry Capsule {
              height 0.35
              radius 0.075
            }
          }
        ]
        boundingObject USE shoulder
        physics Physics {
        }
      }
    }
    BallJoint {
      jointParameters BallJointParameters {
        anchor 0 1.78 0
      }
      jointParameters2 JointParameters {
        axis 1 0 0
      }
      jointParameters3 JointParameters {
      }
      device [
        RotationalMotor {
          name "neck_pitch"
        }
      ]
      device2 [
        RotationalMotor {
          name "neck_yaw"
          minPosition -1.5707963267948966
          maxPosition 1.5707963267948966
        }
      ]
      device3 [
        RotationalMotor {
          name "neck_roll"
        }
      ]
      endPoint Solid {
        translation 1.5688930727008528e-10 1.775023867890655 0.000487964374053785
        rotation 0.9999999999997564 -6.209227482014029e-07 -3.186911752856171e-07 5.228680744087191
        children [
          DEF head Shape {
            appearance PBRAppearance {
              roughness 1
              metalness 0
            }
            geometry Sphere {
              radius 0.125
            }
          }
        ]
        name "solid(2)"
        boundingObject USE head
        physics Physics {
        }
      }
    }
  ]
  boundingObject USE Body
  physics Physics {
  }
  controller "olympian"
}