#VRML_SIM V5.0 utf8
#000000
#!mainWindow: 0 0 0.4 0.6


WorldInfo {
  info [
    "RobotLab Final Maze"
    "Daniel Stamate"
    "Date: 15 May 2006"
  ]
  title "RobotLab Final Maze"
}
Viewpoint {
  orientation 0.6 0.8 0.2 5.3
  position -3.9 2.7 3.5
}
Background {
  skyColor [
    0.435294 0.4 0.317647
  ]
}
PointLight {
  ambientIntensity 0.5
  attenuation 0.7 0.7 0.7
  intensity 2
  location 1.2 2 1
}
PointLight {
  ambientIntensity 0.5
  attenuation 0.7 0.7 0.7
  intensity 2
  location -1.2 2 0.2
}
PointLight {
  ambientIntensity 0.5
  attenuation 0.7 0.7 0.7
  location 0 2 -1
}
DEF GROUND Solid {
  children [
    DEF GREEN1 Transform {
      translation -2.62 0 -1.35
      scale 1.5 1 1.5
      children [
        Shape {
          appearance DEF GREEN_APPEARANCE Appearance {
            material Material {
              diffuseColor 1 1 1
              shininess 0.5
              specularColor 0 0.501961 0
            }
            texture ImageTexture {
              url [
                "soccer/soccer_quarter.png"
              ]
            }
          }
          geometry IndexedFaceSet {
            coord Coordinate {
              point [
                0 0 0.9
                1.75 0 0.9
                1.75 0 0
                0 0 0
              ]
            }
            texCoord TextureCoordinate {
              point [
                0 0
                1 0
                1 1
                0 1
              ]
            }
            coordIndex [
              0, 1, 2, 3, -1
            ]
            texCoordIndex [
              0, 1, 2, 3
            ]
          }
        }
      ]
    }
    DEF GREEN2 Transform {
      translation -2.62 0 0
      scale 1.5 1 1.5
      children [
        Shape {
          appearance USE GREEN_APPEARANCE
          geometry IndexedFaceSet {
            coord Coordinate {
              point [
                0 0 0.9
                1.75 0 0.9
                1.75 0 0
                0 0 0
              ]
            }
            texCoord TextureCoordinate {
              point [
                0 1
                1 1
                1 0
                0 0
              ]
            }
            coordIndex [
              0, 1, 2, 3, -1
            ]
            texCoordIndex [
              0, 1, 2, 3
            ]
          }
        }
      ]
    }
    DEF GREEN3 Transform {
      translation 2.62 0 0
      scale 1.5 1 1.5
      rotation 0 1 0 3.14159
      children [
        Shape {
          appearance USE GREEN_APPEARANCE
          geometry IndexedFaceSet {
            coord Coordinate {
              point [
                0 0 0.9
                1.75 0 0.9
                1.75 0 0
                0 0 0
              ]
            }
            texCoord TextureCoordinate {
              point [
                0 1
                1 1
                1 0
                0 0
              ]
            }
            coordIndex [
              0, 1, 2, 3, -1
            ]
            texCoordIndex [
              0, 1, 2, 3
            ]
          }
        }
      ]
    }
    DEF GREEN4 Transform {
      translation 2.62 0 1.35
      scale 1.5 1 1.5
      rotation 0 1 0 3.14159
      children [
        Shape {
          appearance USE GREEN_APPEARANCE
          geometry IndexedFaceSet {
            coord Coordinate {
              point [
                0 0 0.9
                1.75 0 0.9
                1.75 0 0
                0 0 0
              ]
            }
            texCoord TextureCoordinate {
              point [
                0 0
                1 0
                1 1
                0 1
              ]
            }
            coordIndex [
              0, 1, 2, 3, -1
            ]
            texCoordIndex [
              0, 1, 2, 3
            ]
          }
        }
      ]
    }
  ]
  name "ground"
  boundingObject IndexedFaceSet {
    coord Coordinate {
      point [
        2 0 1
        2 0 -1
        -2 0 -1
        -2 0 1
      ]
    }
    coordIndex [
      0, 1, 2, 3
    ]
  }
  locked TRUE
}
DEF FRAME Solid {
  locked TRUE
}
DEF BLUE_GOAL Solid {
translation 0.85 0 0
  children [
    DEF BLUE_ROOF Transform {
      translation 1.625 0.305 0
      children [
        Shape {
          appearance DEF BLUE_APPEARANCE Appearance {
            material Material {
              diffuseColor 0 0 1
              emissiveColor 0 0 0.313726
            }
          }
          geometry DEF GOAL_ROOF_GEOMETRY Box {
            size 0.25 0.01 0.61
          }
        }
      ]
    }
    DEF BLUE_BACK Transform {
      translation 1.75 0.15 0
      children [
        Shape {
          appearance USE BLUE_APPEARANCE
          geometry DEF GOAL_BACK_GEOMETRY Box {
            size 0.02 0.3 0.6
          }
        }
      ]
    }
    DEF BLUE_LEFT Transform {
      translation 1.625 0.15 0.3
      rotation 0 1 0 1.57
      children [
        Shape {
          appearance USE BLUE_APPEARANCE
          geometry DEF GOAL_SIDE_GEOMETRY Box {
            size 0.02 0.3 0.25
          }
        }
      ]
    }
    DEF BLUE_RIGHT Transform {
      translation 1.625 0.15 -0.3
      rotation 0 1 0 1.57
      children [
        Shape {
          appearance USE BLUE_APPEARANCE
          geometry USE GOAL_SIDE_GEOMETRY
        }
      ]
    }
  ]
  boundingObject Group {
    children [
      USE BLUE_RIGHT
      USE BLUE_LEFT
      USE BLUE_BACK
      USE BLUE_ROOF
    ]
  }
  locked TRUE
}
DEF YELLOW_GOAL Solid {
translation -0.85 0 0
  children [
    DEF YELLOW_ROOF Transform {
      translation -1.625 0.305 0
      children [
        Shape {
          appearance DEF YELLOW_APPEARANCE Appearance {
            material Material {
              diffuseColor 1 1 0
              emissiveColor 0.313726 0.313726 0
            }
          }
          geometry USE GOAL_ROOF_GEOMETRY
        }
      ]
    }
    DEF YELLOW_BACK Transform {
      translation -1.75 0.15 0
      children [
        Shape {
          appearance USE YELLOW_APPEARANCE
          geometry USE GOAL_BACK_GEOMETRY
        }
      ]
    }
    DEF YELLOW_LEFT_SIDE Transform {
      translation -1.62 0.15 -0.3
      rotation 0 1 0 1.57
      children [
        Shape {
          appearance USE YELLOW_APPEARANCE
          geometry USE GOAL_SIDE_GEOMETRY
        }
      ]
    }
    DEF YELLOW_RIGHT_SIDE Transform {
      translation -1.62 0.15 0.3
      rotation 0 1 0 1.57
      children [
        Shape {
          appearance USE YELLOW_APPEARANCE
          geometry USE GOAL_SIDE_GEOMETRY
        }
      ]
    }
  ]
  boundingObject Group {
    children [
      USE YELLOW_RIGHT_SIDE
      USE YELLOW_LEFT_SIDE
      USE YELLOW_BACK
      USE YELLOW_ROOF
    ]
  }
  locked TRUE
}

DEF LONG_INCLINATION_MINUS Solid {
  translation 0 0.17 -1.35
  rotation 1 0 0 0
  children [
    Shape {
      appearance DEF INCLINATION_MATERIAL Appearance {
        material Material {
          diffuseColor 0.7 0.7 0.7
          emissiveColor 0.7 0.7 0.7
        }
      }
      geometry DEF LONG_INCLINATION_BOX Box {
        size 5.2 0.35 0.05
      }
    }
  ]
  boundingObject USE LONG_INCLINATION_BOX
}
DEF LONG_INCLINATION_PLUS Solid {
  translation 0 0.17 1.35
  rotation 1 0 0 0
  children [
    Shape {
      appearance USE INCLINATION_MATERIAL
      geometry USE LONG_INCLINATION_BOX
    }
  ]
  boundingObject USE LONG_INCLINATION_BOX
}
DEF SHORT_INCLINATION_YELLOW_RIGHT Solid {
  translation -2.38 0.17 -0.82
  rotation 0 0 1 0
  children [
    Shape {
      appearance USE INCLINATION_MATERIAL
      geometry DEF SHORT_INCLINATION_BOX Box {
        size 0.05 0.35 1.02
      }
    }
  ]
  boundingObject USE SHORT_INCLINATION_BOX
}
DEF SHORT_INCLINATION_YELLOW_LEFT Solid {
  translation -2.38 0.17 0.82
  rotation 0 0 1 0
  children [
    Shape {
      appearance USE INCLINATION_MATERIAL
      geometry USE SHORT_INCLINATION_BOX
    }
  ]
  boundingObject USE SHORT_INCLINATION_BOX
}
DEF SHORT_INCLINATION_BLUE_RIGHT Solid {
  translation 2.38 0.17 -0.82
  rotation 0 0 1 0
  children [
    Shape {
      appearance USE INCLINATION_MATERIAL
      geometry USE SHORT_INCLINATION_BOX
    }
  ]
  boundingObject USE SHORT_INCLINATION_BOX
}
DEF SHORT_INCLINATION_BLUE_LEFT Solid {
  translation 2.38 0.17 0.82
  rotation 0 0 1 0
  children [
    Shape {
      appearance USE INCLINATION_MATERIAL
      geometry USE SHORT_INCLINATION_BOX
    }
  ]
  boundingObject USE SHORT_INCLINATION_BOX
}
DEF BALL Solid {
  translation 1 0.03 -0.5
  children [
    DEF BALL_SHAPE Shape {
      appearance Appearance {
        material Material {
          ambientIntensity 0.7
          diffuseColor 1 0.0705882 0.403922
          shininess 0.5
          specularColor 1 0 0
        }
      }
      geometry Sphere {
        radius 0.04
      }
    }
  ]
  boundingObject USE BALL_SHAPE
  physics Physics {
    density -1
    mass 0.5
    bounce 0
    bounceVelocity 0
    coulombFriction 900000000000000000000000000000000
    forceDependentSlip 500000
    centerOfMass 0 0 0
    orientation 0 1 1 1
  }
}
DEF WALL_A Solid {
  translation 0 0.07 -0.5
  rotation 1 0 0 0
  children [
    Shape {
      appearance DEF WALL_A_MATERIAL Appearance {
        material Material {
          diffuseColor 0 0 0
        }
      }
      geometry DEF WALL_A_BOX Box {
        size 0.05 0.15 1
      }
    }	
  ]
  boundingObject USE WALL_A_BOX
}
DEF WALL_B Solid {
  translation -1.4 0.07 0.48
  rotation 1 0 0 0
  children [
    Shape {
      appearance DEF WALL_B_MATERIAL Appearance {
        material Material {
          diffuseColor 0 0 0
        }
      }
      geometry DEF WALL_B_BOX Box {
        size 0.05 0.15 0.75
      }
    }
  ]
  boundingObject USE WALL_B_BOX
}
DEF LANDMARKS Group {
  children [
    DEF BLUE_LEFT_BOTTOM Transform {
      translation 2.5 0.4 1.25
      children [
        DEF BLUE_CYLINDER Shape {
          appearance USE BLUE_APPEARANCE
          geometry Cylinder {
            height 0.05
            radius 0.02
          }
        }
      ]
    }
    DEF BLUE_LEFT_TOP Transform {
      translation 2.5 0.45 1.25
      children [
        DEF GREEN_CYLINDER Shape {
          appearance USE GREEN_APPEARANCE
          geometry Cylinder {
            height 0.05
            radius 0.02
          }
        }
      ]
    }
    DEF BLUE_LEFT_TRUNC Transform {
      translation 2.5 0.2 1.25
      children [
        DEF TRUNC Shape {
          appearance Appearance {
            material Material {
              diffuseColor 1 1 1
            }
          }
          geometry Box {
            size 0.01 0.4 0.01
          }
        }
      ]
    }
    DEF BLUE_RIGHT_BOTTOM Transform {
      translation 2.5 0.4 -1.25
      children [
        USE GREEN_CYLINDER
      ]
    }
    DEF BLUE_RIGHT_TOP Transform {
      translation 2.5 0.45 -1.25
      children [
        USE BLUE_CYLINDER
      ]
    }
    DEF BLUE_RIGHT_TRUNC Transform {
      translation 2.5 0.2 -1.25
      children [
        DEF TRUNC Shape {
          appearance Appearance {
            material Material {
              diffuseColor 1 1 1
            }
          }
          geometry Box {
            size 0.01 0.4 0.01
          }
        }
      ]
    }
    DEF YELLOW_LEFT_BOTTOM Transform {
      translation -2.5 0.4 -1.25
      children [
        USE GREEN_CYLINDER
      ]
    }
    DEF YELLOW_LEFT_TOP Transform {
      translation -2.5 0.45 -1.25
      children [
        DEF YELLOW_CYLINDER Shape {
          appearance USE YELLOW_APPEARANCE
          geometry Cylinder {
            height 0.05
            radius 0.02
          }
        }
      ]
    }
    DEF YELLOW_LEFT_TRUNC Transform {
      translation -2.5 0.2 -1.25
      children [
        USE TRUNC
      ]
    }
    DEF YELLOW_RIGHT_BOTTOM Transform {
      translation -2.5 0.4 1.25
      children [
        USE YELLOW_CYLINDER
      ]
    }
    DEF YELLOW_RIGHT_TOP Transform {
      translation -2.5 0.45 1.25
      children [
        USE GREEN_CYLINDER
      ]
    }
    DEF YELLOW_RIGHT_TRUNC Transform {
      translation -2.5 0.2 1.25
      children [
        USE TRUNC
      ]
    }
    DEF MIDDLE_BOTTOM_PLUS Transform {
      translation 0 0.4 1.35
      children [
        USE YELLOW_CYLINDER
      ]
    }
    DEF MIDDLE_TOP_PLUS Transform {
      translation 0 0.45 1.35
      children [
        USE BLUE_CYLINDER
      ]
    }
    DEF MIDDLE_TRUNC_PLUS Transform {
      translation 0 0.2 1.35
      children [
        USE TRUNC
      ]
    }
    DEF MIDDLE_BOTTOM_MINUS Transform {
      translation 0 0.4 -1.35
      children [
        USE BLUE_CYLINDER
      ]
    }
    DEF MIDDLE_TOP_MINUS Transform {
      translation 0 0.45 -1.35
      children [
        USE YELLOW_CYLINDER
      ]
    }
    DEF MIDDLE_TRUNC_MINUS Transform {
      translation 0 0.2 -1.35
      children [
        USE TRUNC
      ]
    }
  ]
}
DEF ERS7 CustomRobot {
  translation 2 0.15 0
  children [
    DEF __BACK Solid {
      children [
        DEF __BackFrontLightCOLOR LED {
          name "PRM:/lu-LED3:lu"
          color [
            0 0 1
          ]
        }
        DEF __BackFrontLightWHITE LED {
          name "PRM:/lv-LED3:lv"
          color [
            1 1 1
          ]
        }
        DEF __BackMiddleLightCOLOR LED {
          name "PRM:/lw-LED3:lw"
          color [
            1 1 0
          ]
        }
        DEF __BackMiddleLightWHITE LED {
          name "PRM:/lx-LED3:lx"
          color [
            1 1 1
          ]
        }
        DEF __BackRearLightCOLOR LED {
          name "PRM:/ly-LED3:ly"
        }
        DEF __BackRearLightWHITE LED {
          name "PRM:/lz-LED3:lz"
          color [
            1 1 1
          ]
        }
      ]
    }
    DEF BODY Group {
      children [
        DEF BODY_MAIN Shape {
          appearance DEF AIBO_SILVER_APPEARANCE Appearance {
            material Material {
              ambientIntensity 1
              diffuseColor 1 1 1
              shininess 10
              specularColor 0.5 0.5 0.5
            }
          }
          geometry IndexedFaceSet {
            coord Coordinate {
              point [
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        DEF BODY_CHEST_SPOT Shape {
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              shininess 1
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        DEF BODY_BELLY Shape {
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              diffuseColor 0 0 0
              shininess 10
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    DEF CHEST_DISTANCE_SENSOR DistanceSensor {
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      rotation 0 0.866025 -0.5 1.57
      name "PRM:/p1-Sensor:p1"
      description "Chest distance sensor"
      lookupTable [
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    }
    DEF NECK_TILT Servo {
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      rotation 1 0 0 0
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