#VRML_SIM R2022b utf8 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/CircleArena.proto" WorldInfo { } Viewpoint { orientation -0.33185733874619844 -0.09874274160469809 0.9381474178937331 3.686018050088086 position 1.700313773507203 1.0549607538959629 1.4846240848267684 follow "my_robot" } TexturedBackground { } TexturedBackgroundLight { } CircleArena { } Robot { children [ HingeJoint { jointParameters HingeJointParameters { axis 0 1 0 anchor 0 0 0.025 } device [ RotationalMotor { name "left wheel motor" } ] endPoint Solid { translation 0 0.045 0.025 children [ DEF WHEEL Transform { rotation 1 0 0 1.5707996938995747 children [ Shape { appearance PBRAppearance { baseColor 1 0 0 roughness 1 metalness 0 } geometry Cylinder { height 0.01 radius 0.025 } } ] } ] name "left wheel" boundingObject USE WHEEL physics Physics { } } } HingeJoint { jointParameters HingeJointParameters { axis 0 1 0 anchor 0 0 0.025 } device [ RotationalMotor { name "right wheel motor" } ] endPoint Solid { translation 0 -0.045 0.025 children [ USE WHEEL ] name "right wheel" boundingObject USE WHEEL physics Physics { } } } Transform { translation 0 0 0.0415 children [ Shape { appearance PBRAppearance { baseColor 0 0 1 roughness 1 metalness 0 } geometry DEF BODY Cylinder { height 0.08 radius 0.045 } } ] } DistanceSensor { translation 0.042 0.02 0.063 rotation 0 0 1 0.5236003061004253 children [ DEF SENSOR Transform { rotation 0 1 0 1.5708 children [ Shape { appearance PBRAppearance { baseColor 1 1 0 roughness 1 metalness 0 } geometry Cylinder { height 0.004 radius 0.008 } } ] } ] name "ds0" lookupTable [ 0 1020 0 0.05 1020 0 0.15 0 0 ] numberOfRays 2 aperture 1 } DistanceSensor { translation 0.042 -0.02 0.063 rotation 0 0 1 -0.5235996938995747 children [ USE SENSOR ] name "ds1" lookupTable [ 0 1020 0 0.05 1020 0 0.15 0 0 ] numberOfRays 2 aperture 1 } ] boundingObject Transform { translation 0 0 0.0415 children [ USE BODY ] } physics Physics { } controller "" name "my_robot" }