#VRML_SIM R2021a utf8
WorldInfo {
  basicTimeStep 16
  coordinateSystem "NUE"
}
Viewpoint {
  orientation -0.5826005034436419 -0.5689314550412352 -0.5804254067939117 2.1038509586384233
  position -2.9312330504807185 91.87390389427381 78.54012493312264
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
  translation 0 -0.05 50
  rotation 1 0 0 0
  floorSize 40 110
  floorTileSize 20 20
  wallThickness 0.5
  wallHeight 2
  wallAppearance BrushedAluminium {
    IBLStrength 15
  }
}
Robot {
  translation -13.01216924529826 0.14903723920929007 99.93855697807129
  rotation -6.182296082223161e-06 -0.9999999906060143 -0.00013692972821978858 -0.0023252775819534214
  children [
    InertialUnit {
      translation 0 0.2 0.5
      children [
        Shape {
          appearance Appearance {
            material Material {
              diffuseColor 0.14902 0.45098 1
            }
          }
          geometry Sphere {
            radius 0.1
          }
        }
      ]
      name "imu"
    }
    GPS {
      translation 0 0.2 0
      children [
        Solid {
          rotation 0 0 1 0
          children [
            Shape {
              appearance Appearance {
                material Material {
                  diffuseColor 0.929412 0.831373 0
                }
              }
              geometry Cone {
                bottomRadius 0.3
                height 0.4
              }
            }
          ]
        }
      ]
    }
    DEF BODY Shape {
      appearance PBRAppearance {
        baseColor 0.917647 0.145098 0.145098
        roughness 1
        metalness 0
      }
      geometry Box {
        size 1.9 0.2 1.5
      }
    }
    DEF WHEEL1 HingeJoint {
      jointParameters HingeJointParameters {
        position 3204.299167224161
        anchor 1 0 0.5
      }
      device [
        RotationalMotor {
          name "wheel1"
          maxVelocity 100
        }
      ]
      endPoint Solid {
        translation 1 0 0.5
        rotation -0.2652016981846079 0.2649898331356455 0.9270644247379699 1.6456546469574749
        children [
          DEF WHEEL Shape {
            appearance PBRAppearance {
              baseColor 0.305882 0.898039 0.25098
              roughness 1
              metalness 0
            }
            geometry Cylinder {
              height 0.1
              radius 0.2
              subdivision 24
            }
          }
        ]
        boundingObject USE WHEEL
        physics Physics {
          density 1
          mass 1
        }
        linearVelocity 3.73385483755766e-12 1.1181072565517522e-15 -1.6571927848411335e-11
        angularVelocity -1.7802546558163615e-10 7.552989963818089e-12 4.099932308338187e-13
      }
    }
    DEF WHEEL2 HingeJoint {
      jointParameters HingeJointParameters {
        position 4132.026885342275
        anchor -1 0 0.5
      }
      device [
        RotationalMotor {
          name "wheel2"
          maxVelocity 100
        }
      ]
      endPoint Solid {
        translation -1 0 0.5
        rotation 0.26493925666909174 -0.2649545168758917 0.9271495533422275 1.6463574026937842
        children [
          USE WHEEL
        ]
        name "solid(1)"
        boundingObject USE WHEEL
        physics Physics {
          density 1
          mass 1
        }
        linearVelocity 3.7478026304332435e-12 4.908641046033565e-16 -2.24580791292885e-12
        angularVelocity -8.874715231745456e-13 7.554383793851529e-12 4.4311065738747374e-15
      }
    }
    DEF WHEEL3 HingeJoint {
      jointParameters HingeJointParameters {
        position 3209.9289865389387
        anchor 1 0 -0.5
      }
      device [
        RotationalMotor {
          name "wheel3"
          maxVelocity 100
        }
      ]
      endPoint Solid {
        translation 1 0 -0.5
        rotation 0.6530883534797477 -0.6530877448269917 0.38334318841725423 2.409475869772187
        children [
          USE WHEEL
        ]
        name "solid(2)"
        boundingObject USE WHEEL
        physics Physics {
          density 1
          mass 1
        }
        linearVelocity -3.8317841996533795e-12 -4.719133131317983e-16 -1.643376735377655e-11
        angularVelocity -6.062885574014809e-12 7.553152218081688e-12 1.8138928304137572e-14
      }
    }
    DEF WHEEL4 HingeJoint {
      jointParameters HingeJointParameters {
        position 4130.300712701317
        anchor -1 0 -0.5
      }
      device [
        RotationalMotor {
          name "wheel4"
          maxVelocity 100
        }
      ]
      endPoint Solid {
        translation -1 0 -0.5
        rotation -0.4828161187218597 0.4828343281979345 0.7305885346869387 1.8796771949779125
        children [
          USE WHEEL
        ]
        name "solid(3)"
        boundingObject USE WHEEL
        physics Physics {
          density 1
          mass 1
        }
        linearVelocity -3.736471420626607e-12 -7.103275163254803e-16 -1.8432971633423352e-12
        angularVelocity -5.769639445896213e-13 7.555853023268881e-12 1.6416134434231503e-15
      }
    }
  ]
  name "robot1"
  boundingObject USE BODY
  physics Physics {
    density 10
  }
  controller "four_controller"
  linearVelocity -3.2722624715515054e-14 5.784067182327832e-16 -9.30981743446901e-12
  angularVelocity -1.603332527255836e-15 7.554712457776498e-12 1.1607222508886257e-16
}
StraightRoadSegment {
  translation 0 0.001 0
  width 6
  lines [
    RoadLine {
      width 0.2
    }
  ]
  roadBorderHeight 0.3
  startingRoadBorderWidth 0.5
  endingRoadBorderWidth 0.5
  length 17
  appearance Asphalt {
    IBLStrength 10
  }
}
StraightRoadSegment {
  translation 0 0.001 23
  name "road(1)"
  width 6
  lines [
    RoadLine {
      width 0.2
    }
  ]
  roadBorderHeight 0.3
  startingRoadBorderWidth 0.5
  endingRoadBorderWidth 0.5
  length 33
  appearance Asphalt {
    IBLStrength 10
  }
}
StraightRoadSegment {
  translation -2 0.001 60
  rotation 0 1 0 -1.5707996938995747
  name "road(2)"
  width 6
  lines [
    RoadLine {
      width 0.2
    }
  ]
  roadBorderHeight 0.3
  startingRoadBorderWidth 0.5
  endingRoadBorderWidth 0.5
  length 7
  appearance Asphalt {
    IBLStrength 10
  }
}
StraightRoadSegment {
  translation -13 0.001 63
  name "road(4)"
  width 6
  lines [
    RoadLine {
      width 0.2
    }
  ]
  roadBorderHeight 0.3
  startingRoadBorderWidth 0.5
  endingRoadBorderWidth 0.5
  length 34
  appearance Asphalt {
    IBLStrength 10
  }
}
StraightRoadSegment {
  translation 0 0.001 63
  name "road(5)"
  width 6
  lines [
    RoadLine {
      width 0.2
    }
  ]
  roadBorderHeight 0.3
  startingRoadBorderWidth 0.5
  endingRoadBorderWidth 0.5
  length 34
  appearance Asphalt {
    IBLStrength 10
  }
}
StraightRoadSegment {
  translation -2 0.001 100
  rotation 0 1 0 -1.5707996938995747
  name "road(3)"
  width 6
  lines [
    RoadLine {
      width 0.2
    }
  ]
  roadBorderHeight 0.3
  startingRoadBorderWidth 0.5
  endingRoadBorderWidth 0.5
  length 7
  appearance Asphalt {
    IBLStrength 10
  }
}
StraightRoadSegment {
  translation 16 0.001 20
  rotation 0 1 0 -1.5707996938995747
  name "road(6)"
  width 6
  lines [
    RoadLine {
      width 0.2
    }
  ]
  roadBorderHeight 0.3
  startingRoadBorderWidth 0.5
  endingRoadBorderWidth 0.3
  length 12
  appearance Asphalt {
    IBLStrength 10
  }
}
RoadIntersection {
  translation 0 0.001 20
  rotation 0 1 0 0.7853996938995746
  roadsWidth 6
  startRoadsLength [
    3
  ]
  startRoadBorderHeight 0.3
  startRoadBorderWidth 0.5
}
RoadIntersection {
  translation 0 0.001 60
  rotation 0 1 0 0.7853996938995746
  name "road intersection(1)"
  roadsWidth 6
  startRoadsLength [
    3
  ]
  startRoadBorderHeight 0.3
  startRoadBorderWidth 0.5
}
RoadIntersection {
  translation 0 0.001 100
  rotation 0 1 0 0.7853996938995746
  name "road intersection(2)"
  roadsWidth 6
  startRoadsLength [
    3
  ]
  startRoadBorderHeight 0.3
  startRoadBorderWidth 0.5
}
RoadIntersection {
  translation -13 0.001 100
  rotation 0 1 0 0.7853996938995746
  name "road intersection(3)"
  roadsWidth 6
  startRoadsLength [
    3
  ]
  startRoadBorderHeight 0.3
  startRoadBorderWidth 0.5
}
RoadIntersection {
  translation -13 0.001 60
  rotation 0 1 0 0.7853996938995746
  name "road intersection(4)"
  roadsWidth 6
  startRoadsLength [
    3
  ]
  startRoadBorderHeight 0.3
  startRoadBorderWidth 0.5
}
RoadIntersection {
  translation 18 0.001 20
  rotation 0 1 0 0.7853996938995746
  name "road intersection(5)"
  roadsWidth 6
  startRoadsLength [
    1
  ]
  startRoadsLine [
    RoadLine {
      width 0.3
    }
  ]
  startRoadBorderHeight 0.3
  startRoadBorderWidth 0.5
}