engine-software/simulation/worlds/olympian.wbt

#VRML_SIM R2021a utf8
WorldInfo {
  coordinateSystem "NUE"
}
Viewpoint {
  orientation -0.6317508657596447 0.7640332861949025 0.13093502662831516 0.4783818664153489
  position 0.8859297766753556 2.1334347652363816 2.270266388485401
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
  floorSize 5 5
}
Robot {
  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
          }
        }
      ]
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        anchor -0.25 1.55 0
      }
      device [
        RotationalMotor {
          name "arm_pitch"
        }
      ]
      endPoint Solid {
        translation -0.25 1.55 0
        rotation 0 0 1 1.57
        children [
          DEF arm_joint Shape {
            appearance PBRAppearance {
              roughness 1
              metalness 0
            }
            geometry Cylinder {
              height 0.1
              radius 0.075
            }
          }
        ]
        boundingObject USE arm_joint
        physics Physics {
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        anchor -0.375 1.55 0
      }
      device [
        RotationalMotor {
          name "arm_yaw"
        }
      ]
      endPoint Solid {
        translation -0.375 1.55 0
        rotation 1 0 0 1.57
        children [
          USE arm_joint
        ]
        name "solid(1)"
        boundingObject USE arm_joint
        physics Physics {
        }
      }
    }
  ]
  boundingObject USE Body
  physics Physics {
  }
}