#VRML_SIM R2022a utf8
WorldInfo {
  gravity 9.8
  basicTimeStep 10
  FPS 30
}
Viewpoint {
  orientation -0.04868145919800372 -0.12123491245501367 0.9914293779853299 5.615546223951008
  position -5.709434720146811 2.55918651991547 0.6902690082993183
}
TexturedBackground {
  luminosity 0
}
TexturedBackgroundLight {
  texture "noon_sunny_empty"
  luminosity 3
  castShadows FALSE
}
RectangleArena {
  floorSize 100 100
  floorTileSize 2 2
}
DirectionalLight {
  ambientIntensity 1
  direction -1 -1 -1
  intensity 2
}
DEF body Robot {
  translation 0 0 0.513232
  children [
    Accelerometer {
    }
    Gyro {
      children [
        Shape {
          appearance MarbleTiles {
          }
          geometry Box {
            size 0.02 0.02 0.02
          }
        }
      ]
    }
    DEF L1 HingeJoint {
      jointParameters DEF theta5 HingeJointParameters {
        anchor 0 -0.06 0
      }
      device [
        PositionSensor {
          name "ps1"
        }
        RotationalMotor {
          name "motor1"
          controlPID 1000 0 0
          maxVelocity 1000
          maxTorque 30
        }
      ]
      endPoint DEF L1 Solid {
        translation 0.2015 -0.1554 0.03007
        rotation -0.9999999999999999 0 0 0.3053999999999999
        children [
          HingeJoint {
            jointParameters DEF theta6 HingeJointParameters {
              anchor 0 -0.1 0
            }
            endPoint DEF L1_foot Solid {
              translation -0.01 0.0443327 -0.040842
              rotation -1 0 0 0.2757619999999994
              children [
                HingeJoint {
                  jointParameters HingeJointParameters {
                    axis 2 0 0
                    anchor 0 0.15 0
                  }
                  device [
                    RotationalMotor {
                      name "motor5"
                      controlPID 100 0 0
                      maxVelocity 1000
                      maxTorque 1000
                    }
                    PositionSensor {
                      name "ps5"
                    }
                  ]
                  endPoint DEF wheel1 Solid {
                    translation 0.035 0.15 0
                    rotation 0 -1 0 1.5708
                    children [
                      Shape {
                        appearance PaintedWood {
                        }
                        geometry DEF WHEEL Cylinder {
                          height 0.04
                          radius 0.1
                        }
                      }
                    ]
                    name "wheel1"
                    boundingObject USE WHEEL
                    physics Physics {
                      density -1
                      mass 1
                    }
                  }
                }
                Shape {
                  appearance Grass {
                  }
                  geometry DEF leg_long Box {
                    size 0.01 0.3 0.052
                  }
                }
              ]
              name "solid_11"
              contactMaterial "wheel"
              boundingObject USE leg_long
              physics Physics {
                density -1
                mass 0.25
              }
            }
          }
          Shape {
            appearance CorrodedMetal {
            }
            geometry DEF leg_short Box {
              size 0.01 0.2 0.052
            }
          }
        ]
        name "solid_l1"
        boundingObject USE leg_short
        physics Physics {
          density -1
          mass 0.19
        }
      }
    }
    DEF R1 HingeJoint {
      jointParameters DEF theta1 HingeJointParameters {
        anchor 0 -0.06 0
      }
      device [
        PositionSensor {
          name "ps2"
        }
        RotationalMotor {
          name "motor2"
          controlPID 1000 0 0
          maxVelocity 1000
          maxTorque 30
        }
      ]
      endPoint DEF R1 Solid {
        translation -0.2015 -0.1554 0.03007
        rotation -1 0 0 0.3053999999999999
        children [
          HingeJoint {
            jointParameters DEF theta2 HingeJointParameters {
              anchor 0 -0.1 0
            }
            endPoint DEF R1_foot Solid {
              translation 0.01 0.0443327 -0.040842
              rotation -1 0 0 0.2757619999999994
              children [
                HingeJoint {
                  jointParameters HingeJointParameters {
                    axis 2 0 0
                    anchor 0 0.15 0
                  }
                  device [
                    RotationalMotor {
                      name "motor6"
                      controlPID 100 0 0
                      maxVelocity 1000
                      maxTorque 1000
                    }
                    PositionSensor {
                      name "ps6"
                    }
                  ]
                  endPoint DEF wheel2 Solid {
                    translation -0.035 0.15 0
                    rotation 0 1 0 1.5708
                    children [
                      Shape {
                        appearance PaintedWood {
                        }
                        geometry DEF WHEEL Cylinder {
                          height 0.04
                          radius 0.1
                        }
                      }
                    ]
                    name "wheel2"
                    contactMaterial "wheel"
                    boundingObject USE WHEEL
                    physics Physics {
                      density -1
                      mass 1
                    }
                  }
                }
                Shape {
                  appearance Grass {
                  }
                  geometry DEF leg_long Box {
                    size 0.01 0.3 0.052
                  }
                }
              ]
              name "solid_11"
              boundingObject USE leg_long
              physics Physics {
                density -1
                mass 0.25
              }
            }
          }
          Shape {
            appearance CorrodedMetal {
            }
            geometry DEF leg_short Box {
              size 0.01 0.2 0.052
            }
          }
        ]
        name "solid_l1(1)"
        boundingObject USE leg_short
        physics Physics {
          density -1
          mass 0.19
        }
      }
    }
    DEF L2 HingeJoint {
      jointParameters DEF theta8 HingeJointParameters {
        anchor 0 0.06 0
      }
      device [
        PositionSensor {
          name "ps3"
        }
        RotationalMotor {
          name "motor3"
          controlPID 1000 0 0
          maxVelocity 1000
          maxTorque 30
        }
      ]
      endPoint DEF L2 Solid {
        translation 0.1915 0.1554 0.03007
        rotation 1 0 0 0.3053999999999999
        children [
          HingeJoint {
            jointParameters HingeJointParameters {
              anchor 0 0.1 0
            }
          }
          HingeJoint {
            jointParameters DEF theta7 HingeJointParameters {
              anchor 0 0.1 0
            }
            endPoint DEF L2_foot Solid {
              translation 0.01 -0.0443327 -0.040841
              rotation 1 0 0 0.2757619999999994
              children [
                HingeJoint {
                  jointParameters HingeJointParameters {
                    anchor 0 -0.15 0
                  }
                  endPoint SolidReference {
                    solidName "wheel1"
                  }
                }
                Shape {
                  appearance Grass {
                  }
                  geometry DEF leg_long Box {
                    size 0.01 0.3 0.052
                  }
                }
              ]
              name "solid_21"
              boundingObject USE leg_long
              physics Physics {
                density -1
                mass 0.25
              }
            }
          }
          Shape {
            appearance CorrodedMetal {
            }
            geometry DEF leg_short Box {
              size 0.01 0.2 0.052
            }
          }
        ]
        name "solid_l2"
        boundingObject USE leg_short
        physics Physics {
          density -1
          mass 0.19
        }
      }
    }
    DEF R2 HingeJoint {
      jointParameters DEF theta4 HingeJointParameters {
        anchor 0 0.06 0
      }
      device [
        PositionSensor {
          name "ps4"
        }
        RotationalMotor {
          name "motor4"
          controlPID 1000 0 0
          maxVelocity 1000
          maxTorque 30
        }
      ]
      endPoint DEF R2 Solid {
        translation -0.1915 0.1554 0.03007
        rotation 1 0 0 0.3053999999999999
        children [
          HingeJoint {
            jointParameters HingeJointParameters {
              anchor 0 0.1 0
            }
            endPoint SolidReference {
              solidName "mlink"
            }
          }
          HingeJoint {
            jointParameters DEF theta3 HingeJointParameters {
              anchor 0 0.1 0
            }
            endPoint DEF R2_foot Solid {
              translation -0.01 -0.0443327 -0.040842
              rotation 1 0 0 0.2757619999999994
              children [
                HingeJoint {
                  jointParameters HingeJointParameters {
                    anchor 0 -0.15 0
                  }
                  endPoint SolidReference {
                    solidName "wheel2"
                  }
                }
                Shape {
                  appearance Grass {
                  }
                  geometry DEF leg_long Box {
                    size 0.01 0.3 0.052
                  }
                }
              ]
              name "solid_21"
              boundingObject USE leg_long
              physics Physics {
                density -1
                mass 0.25
              }
            }
          }
          Shape {
            appearance CorrodedMetal {
            }
            geometry DEF leg_short Box {
              size 0.01 0.2 0.052
            }
          }
        ]
        name "solid_l2(1)"
        boundingObject USE leg_short
        physics Physics {
          density -1
          mass 0.19
        }
      }
    }
    Shape {
      appearance BakelitePlastic {
      }
      geometry DEF BODY Box {
        size 0.373 0.37 0.15
      }
    }
  ]
  boundingObject USE BODY
  physics Physics {
    density 300
  }
  controller "<extern>"
  supervisor TRUE
}
Solid {
  translation 0 0.01 0.15
  children [
    Shape {
      appearance Appearance {
        material Material {
          diffuseColor 0 0 0.498039
        }
      }
      geometry DEF BB Box {
        size 1 1 0.3
      }
    }
  ]
  boundingObject USE BB
  physics Physics {
  }
}
Solid {
  translation 0.06 -4.16 0.05
  rotation 0 1 0 0
  children [
    Shape {
      appearance Appearance {
        material Material {
          diffuseColor 0 0 0.498039
        }
      }
      geometry DEF BB Box {
        size 1 0.1 0.1
      }
    }
  ]
  name "solid(1)"
  boundingObject USE BB
  physics Physics {
  }
}
Solid {
  translation 0.3 -1.33 -4.15126e-06
  rotation -0.5773509358554485 0.5773489358556708 0.5773509358554485 -2.094395307179586
  children [
    Solid {
      translation 0 0 0.03
      rotation 0 1 0 0
      children [
        DEF SHAPE Shape {
          appearance PBRAppearance {
            roughness 1
            metalness 0
            name "DefaultMaterial"
          }
          geometry IndexedFaceSet {
            coord Coordinate {
              point [
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      name ""
      boundingObject USE SHAPE
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  name "<STL_BINARY>(1)"
}