#VRML_SIM R2021a utf8
WorldInfo {
  coordinateSystem "NUE"
}
Viewpoint {
  orientation 0.1667677765231006 -0.9859728993943109 0.006778670483028679 0.08240461746309974
  position -0.11229290729588565 0.9987161303730752 4.757655782188762
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
  floorSize 5 5
}
Robot {
  translation 0 0.03 0
  children [
    DEF Body Transform {
      translation 0 1.05 0
      children [
        Shape {
          appearance PBRAppearance {
            roughness 1
            metalness 0
          }
          geometry Box {
            size 0.2 0.2 0.25
          }
        }
      ]
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        anchor 0.17 0.79 0
      }
      device [
        RotationalMotor {
        }
      ]
      endPoint Solid {
        translation 0.17 0.79 0
        rotation -1 0 0 1.8916846600245166e-06
        children [
          DEF upperLeftLeg Shape {
            appearance PBRAppearance {
            }
            geometry Capsule {
              height 0.45
              radius 0.06
            }
          }
        ]
        boundingObject USE upperLeftLeg
        physics Physics {
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        anchor -0.17 0.79 0
      }
      device [
        RotationalMotor {
        }
      ]
      endPoint Solid {
        translation -0.17 0.79 0
        rotation 1 0 0 0
        children [
          DEF upperRightLeg Shape {
            appearance PBRAppearance {
            }
            geometry Capsule {
              height 0.45
              radius 0.06
            }
          }
        ]
        name "upperRightLegMotor"
        boundingObject USE upperRightLeg
        physics Physics {
        }
      }
    }
    BallJoint {
      jointParameters BallJointParameters {
        anchor 0 1.15 0
      }
      jointParameters2 JointParameters {
        axis 1 0 0
      }
      jointParameters3 JointParameters {
      }
      device [
        RotationalMotor {
          name "torso_pitch"
        }
      ]
      device2 [
        RotationalMotor {
          name "torso_yaw"
          minPosition -1.5707963267948966
          maxPosition 1.5707963267948966
        }
      ]
      device3 [
        RotationalMotor {
          name "torso_roll"
        }
      ]
      endPoint Solid {
        translation 0 1.51 0
        rotation 1 0 0 0
        children [
          DEF torso Shape {
            appearance PBRAppearance {
              roughness 1
              metalness 0
            }
            geometry Box {
              size 0.5 0.7 0.25
            }
          }
          BallJoint {
            jointParameters BallJointParameters {
              anchor -0.33 0.25 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 0.1 -2.28548e-05
              rotation 0.0008954593566532848 0.9999525246665688 -0.009702915309103947 0.12741759639284905
              children [
                HingeJoint {
                  jointParameters HingeJointParameters {
                  }
                  device [
                    RotationalMotor {
                      name "elbow_pitch"
                    }
                  ]
                  endPoint Solid {
                    translation 0 -0.42499999999726895 -1.5235950555825944e-06
                    rotation 0.9999999999999999 0 0 3.5849604925388305e-06
                    children [
                      DEF elbow Shape {
                        appearance PBRAppearance {
                          roughness 1
                          metalness 0
                        }
                        geometry Capsule {
                          height 0.25
                          radius 0.075
                        }
                      }
                    ]
                    boundingObject USE elbow
                    physics Physics {
                    }
                  }
                }
                DEF shoulder Shape {
                  appearance PBRAppearance {
                    roughness 1
                    metalness 0
                  }
                  geometry Capsule {
                    height 0.3
                    radius 0.075
                  }
                }
              ]
              boundingObject USE shoulder
              physics Physics {
              }
            }
          }
          BallJoint {
            jointParameters BallJointParameters {
              anchor 0 0.48 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 1.56889e-10 0.48 0.000487964
              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 {
              }
            }
          }
          BallJoint {
            jointParameters BallJointParameters {
              anchor 0.33 0.25 0
            }
            jointParameters2 JointParameters {
            }
            jointParameters3 JointParameters {
              axis 1 0 0
            }
            device [
              RotationalMotor {
                name "right_shoulder_roll"
              }
            ]
            device2 [
              RotationalMotor {
                name "right_shoulder_yaw"
                minPosition -1.5707963267948966
                maxPosition 1.5707963267948966
              }
            ]
            device3 [
              RotationalMotor {
                name "right_shoulder_pitch"
              }
            ]
            endPoint Solid {
              translation 0.33 0.1 0
              children [
                HingeJoint {
                  jointParameters HingeJointParameters {
                  }
                  device [
                    RotationalMotor {
                      name "right_elbow_pitch"
                    }
                  ]
                  endPoint Solid {
                    translation 0 -0.42499999999726895 -1.5235950555825944e-06
                    rotation 0.9999999999999999 0 0 3.5849604925388305e-06
                    children [
                      DEF right_elbow Shape {
                        appearance PBRAppearance {
                          roughness 1
                          metalness 0
                        }
                        geometry Capsule {
                          height 0.25
                          radius 0.075
                        }
                      }
                    ]
                    boundingObject USE right_elbow
                    physics Physics {
                    }
                  }
                }
                DEF right_shoulder Shape {
                  appearance PBRAppearance {
                    roughness 1
                    metalness 0
                  }
                  geometry Capsule {
                    height 0.3
                    radius 0.075
                  }
                }
              ]
              name "solid(1)"
              boundingObject USE right_shoulder
              physics Physics {
              }
            }
          }
        ]
        name "solid(2)"
        boundingObject USE torso
        physics Physics {
        }
      }
    }
  ]
  boundingObject USE Body
  physics Physics {
  }
  controller "olympian"
}