#VRML_SIM V5.0 utf8
#000000
#!mainWindow: 0 0 0.399219 0.485352
#!sceneTreeWindow: 0.003125 0.485352 0.396875 0.507813 0.199219
#!textEditorWindow: 0.402344 -0.00488281 0.590625 0.725586 0.390625
#!logWindow: 0.509375 0.719727 0.444531 0.268555

WorldInfo {
  info [
    "Description"
    "Author: first name last name <e-mail>"
    "Date: DD MMM YYYY"
  ]
}
Viewpoint {
  orientation 0.221048 0.930429 0.292299 4.20339
  position -0.625048 0.765914 -0.326621
}
Background {
  skyColor [
    0.4 0.7 1
  ]
}
PointLight {
  ambientIntensity 0.6
  attenuation 1 1 1
  intensity 0.8
  location 0.5 0.5 0.5
}
PointLight {
  ambientIntensity 0.6
  attenuation 1 1 1
  intensity 0.8
  location -0.5 0.5 0.5
}
PointLight {
  ambientIntensity 0.6
  attenuation 1 1 1
  intensity 0.8
  location 0.5 0.5 -0.5
}
PointLight {
  ambientIntensity 0.6
  attenuation 1 1 1
  intensity 0.8
  location -0.5 0.5 -0.5
}
Solid {
  translation -0.5 0 -0.5
  children [
    Shape {
      geometry ElevationGrid {
        color Color {
          color [
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
            1 1 0
            0.803922 0.498039 0.298039
          ]
        }
        colorPerVertex FALSE
        xDimension 11
        xSpacing 0.1
        zDimension 11
        zSpacing 0.1
      }
    }
  ]
  name "floor"
  boundingObject IndexedFaceSet {
    coord Coordinate {
      point [
        1 0 1
        1 0 0
        0 0 0
        0 0 1
      ]
    }
    coordIndex [
      0, 1, 2, 3
    ]
  }
  locked TRUE
}
Solid {
  children [
    Shape {
      appearance DEF WALL_APPEARANCE Appearance {
        material Material {
          diffuseColor 0.25098 0.501961 0.501961
        }
      }
      geometry Extrusion {
        convex FALSE
        crossSection [
          -0.489 -0.5
          -0.489 -0.49
          0.49 -0.49
          0.49 0.49
          -0.49 0.49
          -0.49 -0.5
          -0.5 -0.5
          -0.5 0.5
          0.5 0.5
          0.5 -0.5
          -0.489 -0.5
        ]
        spine [
          0 0 0
          0 0.1 0
        ]
      }
    }
  ]
  name "wall"
  boundingObject Group {
    children [
      Transform {
        translation 0 0.05 0.495
        children [
          Shape {
            appearance USE WALL_APPEARANCE
            geometry Box {
              size 1 0.1 0.01
            }
          }
        ]
      }
      Transform {
        translation 0 0.05 -0.495
        children [
          Shape {
            appearance USE WALL_APPEARANCE
            geometry Box {
              size 1 0.1 0.01
            }
          }
        ]
      }
      Transform {
        translation 0.495 0.05 0
        rotation 0 1 0 1.57
        children [
          Shape {
            appearance USE WALL_APPEARANCE
            geometry Box {
              size 1 0.1 0.01
            }
          }
        ]
      }
      Transform {
        translation -0.495 0.05 0
        rotation 0 1 0 1.57
        children [
          Shape {
            appearance USE WALL_APPEARANCE
            geometry Box {
              size 1 0.1 0.01
            }
          }
        ]
      }
    ]
  }
  locked TRUE
}
DifferentialWheels {
  translation 0.1 0 0.3
  rotation 0 1 0 1.2
  children [
    Transform {
      translation 0 0.06 0
      children [
        Shape {
          appearance Appearance {
            material Material {
              diffuseColor 0.501961 0 0.501961
            }
          }
          geometry Box {
            size 0.08 0.08 0.08
          }
        }
      ]
    }
    Solid {
      translation -0.045 0.025 0
      rotation 1 0 0 3.00869
      children [
        DEF WHEEL Transform {
          rotation 0 0 1 1.57
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 0 0 1
                }
              }
              geometry Cylinder {
                height 0.01
                radius 0.025
              }
            }
          ]
        }
      ]
      name "left wheel"
      boundingObject USE WHEEL
      physics DEF WHEEL_PHYSICS Physics {
        density 0.1
        coulombFriction 0.9
        forceDependentSlip 0.1
      }
      joint Joint {
      }
    }
    Solid {
      translation 0.045 0.025 0
      rotation 1 0 0 1.66861
      children [
        USE WHEEL
      ]
      name "right wheel"
      boundingObject USE WHEEL
      physics USE WHEEL_PHYSICS
      joint Joint {
      }
    }
    DistanceSensor {
      translation -0.02 0.08 -0.042
      rotation 0 1 0 1.57
      children [
        DEF INFRARED Transform {
          rotation 0 0 1 1.57
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 1 1 0
                }
              }
              geometry Cylinder {
                height 0.004
                radius 0.008
              }
            }
          ]
        }
      ]
      name "ir0"
      lookupTable [
        0 1024 0
        0.05 1024 0
        0.15 0 0
      ]
    }
    DistanceSensor {
      translation 0.02 0.08 -0.042
      rotation 0 1 0 1.57
      children [
        USE INFRARED
      ]
      name "ir1"
      lookupTable [
        0 1024 0
        0.05 1024 0
        0.15 0 0
      ]
    }
    Camera {
      translation 0 0.1 -0.026
      children [
        Transform {
          rotation 1 0 0 1.57
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 0.501961 0.501961 0.752941
                }
              }
              geometry Cylinder {
                height 0.03
                radius 0.01
              }
            }
          ]
        }
      ]
      name "camera"
    }
    Emitter {
      translation 0 0.1 0.02
      children [
        DEF ANTENA Shape {
          appearance Appearance {
            material Material {
              diffuseColor 0 0 1
            }
          }
          geometry Cylinder {
            height 0.1
            radius 0.002
          }
        }
      ]
      name "ircom"
      channel 1
    }
  ]
  name "emitter"
  boundingObject Transform {
    translation 0 0.05 -0.002
    children [
      Box {
        size 0.1 0.1 0.084
      }
    ]
  }
  physics Physics {
    density 100
  }
  axleLength 0.09
  wheelRadius 0.025
}
DifferentialWheels {
  translation 0.284761 0 -0.130328
  rotation 0 1 0 1.7685
  children [
    Transform {
      translation 0 0.06 0
      children [
        Shape {
          appearance Appearance {
            material Material {
              diffuseColor 0.501961 0 0.501961
            }
          }
          geometry Box {
            size 0.08 0.08 0.08
          }
        }
      ]
    }
    Solid {
      translation -0.045 0.025 0
      rotation 1 0 0 3.00869
      children [
        DEF WHEEL Transform {
          rotation 0 0 1 1.57
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 0 0 1
                }
              }
              geometry Cylinder {
                height 0.01
                radius 0.025
              }
            }
          ]
        }
      ]
      name "left wheel"
      boundingObject USE WHEEL
      physics DEF WHEEL_PHYSICS Physics {
        density 0.1
        coulombFriction 0.9
        forceDependentSlip 0.1
      }
      joint Joint {
      }
    }
    Solid {
      translation 0.045 0.025 0
      rotation 1 0 0 1.66861
      children [
        USE WHEEL
      ]
      name "right wheel"
      boundingObject USE WHEEL
      physics USE WHEEL_PHYSICS
      joint Joint {
      }
    }
    DistanceSensor {
      translation -0.02 0.08 -0.042
      rotation 0 1 0 1.57
      children [
        DEF INFRARED Transform {
          rotation 0 0 1 1.57
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 1 1 0
                }
              }
              geometry Cylinder {
                height 0.004
                radius 0.008
              }
            }
          ]
        }
      ]
      name "ir0"
      lookupTable [
        0 1024 0
        0.05 1024 0
        0.15 0 0
      ]
    }
    DistanceSensor {
      translation 0.02 0.08 -0.042
      rotation 0 1 0 1.57
      children [
        USE INFRARED
      ]
      name "ir1"
      lookupTable [
        0 1024 0
        0.05 1024 0
        0.15 0 0
      ]
    }
    Camera {
      translation 0 0.1 -0.026
      children [
        Transform {
          rotation 1 0 0 1.57
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 0.501961 0.501961 0.752941
                }
              }
              geometry Cylinder {
                height 0.03
                radius 0.01
              }
            }
          ]
        }
      ]
      name "camera"
    }
    Receiver {
      translation 0 0.1 0.02
      children [
        DEF ANTENA Shape {
          appearance Appearance {
            material Material {
              diffuseColor 0 0 1
            }
          }
          geometry Cylinder {
            height 0.1
            radius 0.002
          }
        }
      ]
      name "ircom"
      channel 1
    }
  ]
  name "receiver"
  boundingObject Transform {
    translation 0 0.05 -0.002
    children [
      Box {
        size 0.1 0.1 0.084
      }
    ]
  }
  physics Physics {
    density 100
  }
  controller "c_roboTOR_IV_receiver"
  axleLength 0.09
  wheelRadius 0.025
}
Supervisor {
  children [
    Emitter {
      name "ircom"
      channel 1
    }
  ]
  name "super"
  controller "c_roboTOR_IV_SUPER"
}
