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liboncilla-webots/webots-data/worlds/Oncilla.wbt
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Oncilla.wbt
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#VRML_SIM V6.0 utf8
WorldInfo {
info [
"Model of the Cheetah Robot"
"Author: Initial Model by A. Tuleu"
"Biologically Inspired Robotics Group (BIRG)"
"Ecole Polytechnique Federale de Lausanne (EPFL)"
"Date: May 2010"
]
title "Amarsi-Quadrupedal"
physics "liboncilla-webots-plugin"
basicTimeStep 2
displayRefresh 20
contactProperties [
ContactProperties {
}
]
}
Viewpoint {
orientation 0.0909879 -0.985027 -0.146431 4.30929
position 0.433626 0.223428 -0.151347
}
Background {
skyColor [
0.4 0.7 1
]
}
DirectionalLight {
direction -0.3333 -0.3333 -0.333
intensity 1.2
}
SpotLight {
ambientIntensity 0.2
attenuation 0.85 0 0
beamWidth 0.2
cutOffAngle 1.6
direction -0.333333 -0.333333 0.333333
intensity 0.6
location 10 10 -10
}
DEF GROUND Solid {
translation 0 -0.1 0
rotation 0 0 1 0
children [
DEF SLOPE_FORM Shape {
appearance DEF ELEMENT_MATERIAL Appearance {
material Material {
diffuseColor 0.498039 0.498039 0.498039
}
texture ImageTexture {
url [
"texture_grid.png"
]
}
textureTransform TextureTransform {
scale 10 10
}
}
geometry Box {
size 80 0.2 80
}
}
]
boundingObject USE SLOPE_FORM
locked TRUE
}
DEF ONCILLA Supervisor {
translation 0 0.19 0
rotation 0 -1 0 0
children [
DEF SHAPES Group {
children [
DEF FR4_PLATE Shape {
appearance DEF FR4 Appearance {
material Material {
diffuseColor 0.760784 0.8 0.180392
}
}
geometry Box {
size 0.265 0.002 0.08
}
}
DEF LFK_SERVO_SHAPE Transform {
translation 0.0485 0.011 -0.035
rotation 0 1 0 -1.5708
children [
DEF SERVO_2 Group {
children [
Transform {
translation -0.01 0 0
children [
Shape {
appearance DEF BLACK_PLASTIC Appearance {
material Material {
diffuseColor 0.223529 0.223529 0.223529
}
}
geometry Box {
size 0.02 0.02 0.04
}
}
]
}
Transform {
translation 0.005 0 0
children [
Shape {
appearance DEF ORANGE_PLASTIC Appearance {
material Material {
diffuseColor 0.854902 0.584314 0.0588235
}
}
geometry Box {
size 0.01 0.02 0.04
}
}
]
}
Transform {
translation 0.015 0 0
children [
Shape {
appearance DEF BLACK_PLASTIC Appearance {
material Material {
diffuseColor 0.223529 0.223529 0.223529
}
}
geometry Box {
size 0.01 0.02 0.04
}
}
]
}
]
}
]
}
DEF RFK_SERVO_SHAPE Transform {
translation 0.0485 0.011 0.035
rotation 0 1 0 1.5708
children [
USE SERVO_2
]
}
DEF LHK_SERVO_SHAPE Transform {
translation -0.0485 0.011 -0.035
rotation 0 1 0 -1.5708
children [
USE SERVO_2
]
}
DEF RHK_SERVO_SHAPE Transform {
translation -0.0485 0.011 0.035
rotation 0 1 0 1.5708
children [
USE SERVO_2
]
}
DEF LHH_SERVO_SHAPE Transform {
translation -0.1045 -0.011 -0.02
rotation 0 1 0 -1.5708
children [
DEF SERVO_3 Group {
children [
Transform {
translation -0.01 0 0
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Box {
size 0.02 0.02 0.056
}
}
]
}
Transform {
translation 0.005 0 0
children [
Shape {
appearance DEF VIOLET_PLASTIC Appearance {
material Material {
diffuseColor 0.447059 0.0352941 0.572549
}
}
geometry Box {
size 0.01 0.02 0.056
}
}
]
}
Transform {
translation 0.015 0 0
children [
Shape {
appearance DEF BLACK_PLASTIC Appearance {
material Material {
diffuseColor 0.223529 0.223529 0.223529
}
}
geometry Box {
size 0.01 0.02 0.056
}
}
]
}
]
}
]
}
DEF RHH_SERVO_SHAPE Transform {
translation -0.1045 -0.011 0.02
rotation 0 1 0 1.5708
children [
DEF SERVO_3 Group {
children [
Transform {
translation -0.01 0 0
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Box {
size 0.02 0.02 0.056
}
}
]
}
Transform {
translation 0.005 0 0
children [
Shape {
appearance DEF VIOLET_PLASTIC Appearance {
material Material {
diffuseColor 0.447059 0.0352941 0.572549
}
}
geometry Box {
size 0.01 0.02 0.056
}
}
]
}
Transform {
translation 0.015 0 0
children [
Shape {
appearance DEF BLACK_PLASTIC Appearance {
material Material {
diffuseColor 0.223529 0.223529 0.223529
}
}
geometry Box {
size 0.01 0.02 0.056
}
}
]
}
]
}
]
}
DEF LFH_SERVO_SHAPE Transform {
translation 0.1045 -0.011 -0.02
children [
DEF SERVO_1 Group {
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Box {
size 0.056 0.02 0.04
}
}
]
}
]
}
DEF RFH_SERVO_SHAPE Transform {
translation 0.1045 -0.011 0.02
children [
USE SERVO_1
]
}
DEF ANTENNA Transform {
translation -0.069 -0.017 -0.013
rotation -0.57735 -0.57735 -0.57735 2.0944
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Box {
size 0.01 0.007 0.01
}
}
Transform {
translation -0.02 0.0405 0
rotation 0 0 1 -0
children [
Group {
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Cylinder {
height 0.08
radius 0.005
}
}
Transform {
translation 0 0.055 0
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Cone {
bottomRadius 0.005
height 0.04
}
}
]
}
Transform {
translation 0 0.065 0
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Capsule {
height 0.06
radius 0.003
}
}
]
}
]
}
]
}
Transform {
translation -0.01 0 0
rotation 0 0 1 1.5708
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Cylinder {
height 0.01
radius 0.005
}
}
]
}
]
}
DEF RB110 Transform {
translation 0 0.026 0
children [
Transform {
translation 0 -0.029 0
rotation 0 0 1 3.14159
children [
Shape {
appearance DEF ELECTRONIC_BOARD Appearance {
}
geometry Box {
size 0.096 0.001 0.072
}
}
Transform {
translation 0.003 0.007 0.031
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Box {
size 0.06 0.014 0.006
}
}
]
}
Transform {
translation 0 0.013 0.008
children [
Shape {
appearance USE ELECTRONIC_BOARD
geometry Box {
size 0.06 0.001 0.04
}
}
]
}
]
}
]
}
DEF BELLY_SHIELD Transform {
translation 0 -0.024 0
children [
Shape {
appearance DEF CARBON Appearance {
material Material {
diffuseColor 0.215686 0.215686 0.215686
}
}
geometry Box {
size 0.16 0.002 0.07
}
}
]
}
]
}
DEF LEFT_FORE_L_0 Servo {
translation 0.0946 -0.011 -0.049
rotation 1 0 0 0
children [
DEF LEFT_FORE_L_1 Servo {
rotation 0 0 1 0.303332
children [
DEF FORE_L_1_GROUP Group {
children [
DEF FORE_L_1_LINK Transform {
translation 0 -0.021 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.01 0.042 0.0032
}
}
]
}
DEF FORE_L_1_HEAD Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Cylinder {
height 0.00325
radius 0.011
}
}
]
}
DEF FORE_L_1_BOTTOM Transform {
translation 0 -0.042 0
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.005
}
}
]
}
]
}
DEF LEFT_L_1_MECH Group {
children [
Transform {
translation 0 0 -0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Cylinder {
height 0.01
radius 0.011
}
}
]
}
Transform {
translation 0 0 0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.01
radius 0.004
}
}
]
}
]
}
DEF LEFT_FORE_L_2 Servo {
translation 0 -0.042 0.0035
rotation 0 0 1 -0.729722
children [
DEF FORE_L_2_GROUP Group {
children [
DEF FORE_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
DEF FORE_L_2_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
DEF FORE_L_2_BOTTOM Transform {
translation 0 -0.0676 0
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
]
}
]
name "LEFT_FORE_L_2"
boundingObject DEF FORE_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
physics DEF FORE_L_2_PHYSICS Physics {
density -1
mass 0.0138
centerOfMass 0 -0.0338 0
}
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.2788
minStop -1.4888
maxStop 0.01
dampingConstant 0.001
}
DEF LEFT_FORE_P_1 Servo {
translation 0 -0.03 0.0035
rotation 0 0 1 -0.729722
children [
DEF FORE_L_2_GROUP Group {
children [
DEF FORE_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
DEF FORE_L_2_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
DEF FORE_L_2_BOTTOM Transform {
translation 0 -0.0676 0
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
]
}
DEF LEFT_P_1_PIN Transform {
translation 0 -0.06 -0.01
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.025
radius 0.0015
}
}
]
}
DEF LEFT_FORE_L_3 Servo {
translation 0 -0.0676 -0.0064
rotation 0 0 1 -0.841074
children [
DEF FORE_L_3_GROUP Group {
children [
DEF FORE_L_3_LINK Transform {
translation 0.0318 0 0
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Box {
size 0.0636 0.007 0.0064
}
}
]
}
DEF FORE_L_3_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.006405
radius 0.0035
}
}
]
}
]
}
DEF LEFT_FORE_FOOT Solid {
translation 0.0636 0 0
rotation 1 0 0 1.5708
children [
DEF FOOT_SPHERE Shape {
appearance DEF WHITE_PLASTIC Appearance {
material Material {
}
}
geometry Cylinder {
height 0.015
radius 0.012
}
}
]
boundingObject USE FOOT_SPHERE
physics DEF FOOT_PHYSICS Physics {
density -1
mass 0.0087
}
}
]
name "LEFT_FORE_L_3"
boundingObject DEF FORE_L_3_LINK Transform {
translation 0.0318 0 0
children [
Shape {
appearance USE METAL
geometry Box {
size 0.0636 0.007 0.0064
}
}
]
}
physics DEF FORE_L_3_PHYSICS Physics {
density -1
mass 0.0089
centerOfMass 0.0318 0 0
}
maxVelocity 120
maxForce 0
controlP 50
maxPosition 1.98
minStop -0.01
maxStop 2
dampingConstant 0.001
}
]
name "LEFT_FORE_P_2"
boundingObject USE FORE_L_2_LINK
physics DEF FORE_L_2_PHYSICS Physics {
density -1
mass 0.0138
centerOfMass 0 -0.0338 0
}
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.98
minStop -2
maxStop 0.01
dampingConstant 0.001
}
DEF LEFT_FORE_D_1 Servo {
translation 0 -0.03 -0.0035
rotation 0 0 1 -0.625586
children [
DEF FORE_D_1_GROUP Group {
children [
DEF FORE_D_1_LINK Transform {
translation 0 -0.015 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.03 0.003
}
}
]
}
DEF FORE_D_1_TOP Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
DEF LEFT_FORE_D_2 Servo {
translation 0 -0.03 -0.0045
rotation 1 0 0 -1.5708
children [
DEF FORE_D_2_GROUP Group {
children [
DEF FORE_D_2_LINK Transform {
translation 0 0 -0.035
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.025 0.003
}
}
]
}
DEF FORE_D_2_PISTON Transform {
translation 0 0 -0.01125
rotation 1 0 0 1.5708
children [
Shape {
geometry Cylinder {
height 0.0225
radius 0.004
}
}
]
}
DEF FORE_D_2_BOTTOM Transform {
translation 0 0 -0.0475
rotation 1 0 0 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
]
name "LEFT_FORE_D_2"
boundingObject DEF FORE_D_2_LINK Transform {
translation 0 0 -0.035
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.025 0.003
}
}
]
}
physics DEF FORE_D_2_PHYSICS Physics {
}
type "linear"
maxForce 0
controlP 100
maxPosition 0.023
minStop -0.001
maxStop 0.03
}
]
name "LEFT_FORE_D_1"
boundingObject DEF FORE_D_1_LINK Transform {
translation 0 -0.015 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.03 0.003
}
}
]
}
physics DEF FORE_D1_PHYSICS Physics {
}
maxForce 0
dampingConstant 0.001
}
]
name "LEFT_FORE_L_1"
boundingObject DEF FORE_L_1_LINK Transform {
translation 0 -0.021 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.01 0.042 0.0032
}
}
]
}
physics DEF FORE_L_1_PHYSICS Physics {
density -1
mass 0.0091
centerOfMass 0 -0.021 0
}
maxVelocity 120
maxForce 200
controlP 50
minPosition -0.785398
maxPosition 0.785398
minStop -0.79
maxStop 0.79
}
]
name "LEFT_FORE_L_0"
boundingObject DEF LEFT_L_0_BOUND Transform {
translation 0 0 0.0055
children [
Box {
size 0.01 0.01 0.005
}
]
}
physics DEF L_O_PHYSICS Physics {
density -1
mass 0.01
}
minPosition -0.3
maxPosition 0.3
minStop -0.301
maxStop 0.301
}
DEF RIGHT_FORE_L_0 Servo {
translation 0.0946 -0.011 0.049
rotation -1 0 0 0
children [
DEF RIGHT_FORE_L_1 Servo {
rotation 0 0 1 0.303332
children [
DEF FORE_L_1_GROUP Group {
children [
DEF FORE_L_1_LINK Transform {
translation 0 -0.021 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.01 0.042 0.0032
}
}
]
}
DEF FORE_L_1_HEAD Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Cylinder {
height 0.00325
radius 0.011
}
}
]
}
DEF FORE_L_1_BOTTOM Transform {
translation 0 -0.042 0
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.005
}
}
]
}
]
}
DEF RIGHT_L_1_MECH Group {
children [
Transform {
translation 0 0 0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Cylinder {
height 0.01
radius 0.011
}
}
]
}
Transform {
translation 0 0 -0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.01
radius 0.004
}
}
]
}
]
}
DEF RIGHT_FORE_L_2 Servo {
translation 0 -0.042 -0.0035
rotation 0 0 1 -0.729722
children [
DEF FORE_L_2_GROUP Group {
children [
DEF FORE_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
DEF FORE_L_2_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
DEF FORE_L_2_BOTTOM Transform {
translation 0 -0.0676 0
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
]
}
]
name "RIGHT_FORE_L_2"
boundingObject DEF FORE_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
physics DEF FORE_L_2_PHYSICS Physics {
density -1
mass 0.0138
centerOfMass 0 -0.0338 0
}
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.2788
minStop -1.4888
maxStop 0.01
dampingConstant 0.001
}
DEF RIGHT_FORE_P_1 Servo {
translation 0 -0.03 -0.0035
rotation 0 0 1 -0.729722
children [
USE FORE_L_2_GROUP
DEF RIGHT_P_1_PIN Transform {
translation 0 -0.06 0.01
rotation 1 0 0 1.5708
children [
Shape {
appearance USE METAL
geometry Cylinder {
height 0.025
radius 0.0015
}
}
]
}
DEF RIGHT_FORE_L_3 Servo {
translation 0 -0.0676 0.0064
rotation 0 0 1 -0.841074
children [
DEF FORE_L_3_GROUP Group {
children [
DEF FORE_L_3_LINK Transform {
translation 0.0318 0 0
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Box {
size 0.0636 0.007 0.0064
}
}
]
}
DEF FORE_L_3_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.006405
radius 0.0035
}
}
]
}
]
}
DEF RIGHT_FORE_FOOT Solid {
translation 0.0636 0 0
rotation 1 0 0 1.5708
children [
DEF FOOT_SPHERE Shape {
appearance DEF WHITE_PLASTIC Appearance {
material Material {
}
}
geometry Cylinder {
height 0.015
radius 0.012
}
}
]
boundingObject USE FOOT_SPHERE
physics DEF FOOT_PHYSICS Physics {
density -1
mass 0.0087
}
}
]
name "RIGHT_FORE_L_3"
boundingObject DEF FORE_L_3_LINK Transform {
translation 0.0318 0 0
children [
Shape {
appearance USE METAL
geometry Box {
size 0.0636 0.007 0.0064
}
}
]
}
physics DEF FORE_L_3_PHYSICS Physics {
density -1
mass 0.0089
centerOfMass 0.0318 0 0
}
maxVelocity 120
maxForce 0
controlP 50
maxPosition 1.98
minStop -0.01
maxStop 2
dampingConstant 0.001
}
]
name "RIGHT_FORE_P_1"
boundingObject USE FORE_L_2_LINK
physics USE FORE_L_2_PHYSICS
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.98
minStop -2
maxStop 0.01
dampingConstant 0.001
}
DEF RIGHT_FORE_D_1 Servo {
translation 0 -0.03 0.0035
rotation 0 0 1 -0.625586
children [
DEF FORE_D_1_GROUP Group {
children [
DEF FORE_D_1_LINK Transform {
translation 0 -0.015 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.03 0.003
}
}
]
}
DEF FORE_D_1_TOP Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
DEF RIGHT_FORE_D_2 Servo {
translation 0 -0.03 0.0045
rotation 1 0 0 -1.5708
children [
DEF FORE_D_2_GROUP Group {
children [
DEF FORE_D_2_LINK Transform {
translation 0 0 -0.035
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.025 0.003
}
}
]
}
DEF FORE_D_2_PISTON Transform {
translation 0 0 -0.01125
rotation 1 0 0 1.5708
children [
Shape {
geometry Cylinder {
height 0.0225
radius 0.004
}
}
]
}
DEF FORE_D_2_BOTTOM Transform {
translation 0 0 -0.0475
rotation 1 0 0 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
]
name "RIGHT_FORE_D_2"
boundingObject DEF FORE_D_2_LINK Transform {
translation 0 0 -0.035
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.025 0.003
}
}
]
}
physics DEF FORE_D_2_PHYSICS Physics {
}
type "linear"
maxForce 0
controlP 100
maxPosition 0.023
minStop -0.001
maxStop 0.03
}
]
name "RIGHT_FORE_D_1"
boundingObject DEF FORE_D_1_LINK Transform {
translation 0 -0.015 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.03 0.003
}
}
]
}
physics DEF FORE_D1_PHYSICS Physics {
}
maxForce 0
dampingConstant 0.001
}
]
name "RIGHT_FORE_L_1"
boundingObject DEF FORE_L_1_LINK Transform {
translation 0 -0.021 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.01 0.042 0.0032
}
}
]
}
physics DEF FORE_L_1_PHYSICS Physics {
density -1
mass 0.0091
centerOfMass 0 -0.021 0
}
maxVelocity 120
maxForce 200
controlP 50
minPosition -0.785398
maxPosition 0.785398
minStop -0.79
maxStop 0.79
}
]
name "RIGHT_FORE_L_0"
boundingObject DEF RIGHT_L_0_BOUND Transform {
translation 0 0 -0.0055
children [
Box {
size 0.01 0.01 0.005
}
]
}
physics USE L_O_PHYSICS
minPosition -0.3
maxPosition 0.3
minStop -0.301
maxStop 0.301
}
DEF LEFT_HIND_L_0 Servo {
translation -0.1145 -0.011 -0.049
rotation 1 0 0 0
children [
DEF LEFT_HIND_L_1 Servo {
rotation 0 0 1 0.309386
children [
DEF HIND_L_1_GROUP Group {
children [
DEF HIND_L_1 Transform {
translation 0 -0.0318 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.01 0.0636 0.0032
}
}
]
}
DEF HIND_L_1_HEAD Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Cylinder {
height 0.00333334
radius 0.011
}
}
]
}
DEF HIND_L_1_BOTTOM Transform {
translation 0 -0.0636 0
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.005
}
}
]
}
]
}
DEF LEFT_L_1_MECH Group {
children [
Transform {
translation 0 0 -0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Cylinder {
height 0.01
radius 0.011
}
}
]
}
Transform {
translation 0 0 0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.01
radius 0.004
}
}
]
}
]
}
DEF LEFT_HIND_L_2 Servo {
translation 0 -0.0636 0.0035
rotation 0 0 1 -0.729722
children [
DEF HIND_L_2_GROUP Group {
children [
DEF HIND_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
DEF HIND_L_2_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
DEF HIND_L_2_BOTTOM Transform {
translation 0 -0.0676 0
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
]
}
]
name "LEFT_HIND_L_2"
boundingObject USE HIND_L_2_LINK
physics DEF HIND_L_2_PHYSICS Physics {
density -1
mass 0.0138
centerOfMass 0 -0.0338 0
}
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.2788
minStop -1.4888
maxStop 0.01
dampingConstant 0.001
}
DEF LEFT_HIND_P_1 Servo {
translation 0 -0.0516 0.0035
rotation 0 0 1 -0.729722
children [
USE HIND_L_2_GROUP
DEF LEFT_P_1_PIN Transform {
translation 0 -0.06 -0.01
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.025
radius 0.0015
}
}
]
}
DEF LEFT_HIND_L_3 Servo {
translation 0 -0.0676 -0.0064
rotation 0 0 1 -0.841074
children [
DEF HIND_L_3_GROUP Group {
children [
DEF HIND_L_3 Transform {
translation 0.0195 0 0
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Box {
size 0.039 0.007 0.0064
}
}
]
}
DEF HIND_L_3_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.006405
radius 0.0035
}
}
]
}
]
}
DEF LEFT_HIND_FOOT Solid {
translation 0.039 0 0
rotation 1 0 0 1.5708
children [
DEF FOOT_SPHERE Shape {
appearance DEF WHITE_PLASTIC Appearance {
material Material {
}
}
geometry Cylinder {
height 0.015
radius 0.012
}
}
]
boundingObject USE FOOT_SPHERE
physics DEF FOOT_PHYSICS Physics {
density -1
mass 0.0087
}
}
]
name "LEFT_HIND_L_3"
boundingObject USE HIND_L_3
physics DEF HIND_L_3_PHYSICS Physics {
density -1
mass 0.0055
centerOfMass 0.0195 0 0
}
maxVelocity 120
maxForce 0
controlP 50
maxPosition 1.98
minStop -0.01
maxStop 2
dampingConstant 0.001
}
]
name "LEFT_HIND_P_1"
boundingObject USE HIND_L_2_LINK
physics USE HIND_L_2_PHYSICS
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.98
minStop -2
maxStop 0.01
dampingConstant 0.001
}
DEF LEFT_HIND_D_1 Servo {
translation 0 -0.0516 -0.0035
rotation 0 0 1 -0.625586
children [
DEF HIND_D_1_GROUP Group {
children [
DEF HIND_D_1_LINK Transform {
translation 0 -0.015 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.03 0.003
}
}
]
}
DEF HIND_D_1_TOP Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
DEF LEFT_HIND_D_2 Servo {
translation 0 -0.03 -0.0045
rotation 1 0 0 -1.5708
children [
DEF HIND_D_2_GROUP Group {
children [
DEF HIND_D_2_LINK Transform {
translation 0 0 -0.035
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.025 0.003
}
}
]
}
DEF HIND_D_2_PISTON Transform {
translation 0 0 -0.01125
rotation 1 0 0 1.5708
children [
Shape {
geometry Cylinder {
height 0.0225
radius 0.004
}
}
]
}
DEF HIND_D_2_BOTTOM Transform {
translation 0 0 -0.0475
rotation 1 0 0 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
]
name "LEFT_HIND_D_2"
boundingObject USE HIND_D_2_LINK
physics DEF HIND_D_2_PHYSICS Physics {
}
type "linear"
maxForce 0
controlP 100
maxPosition 0.023
minStop -0.001
maxStop 0.03
}
]
name "LEFT_HIND_D_1"
boundingObject USE HIND_D_1_LINK
physics DEF HIND_D1_PHYSICS Physics {
}
maxForce 0
dampingConstant 0.001
}
]
name "LEFT_HIND_L_1"
boundingObject USE HIND_L_1
physics DEF HIND_L_1_PHYSICS Physics {
density -1
mass 0.0126
centerOfMass 0 -0.0318 0
}
maxVelocity 120
maxForce 3
controlP 50
minPosition -0.785398
maxPosition 0.785398
minStop -0.79
maxStop 0.79
}
]
name "LEFT_HIND_L_0"
boundingObject USE LEFT_L_0_BOUND
physics USE L_O_PHYSICS
minPosition -0.3
maxPosition 0.3
minStop -0.301
maxStop 0.301
}
DEF RIGHT_HIND_L_0 Servo {
translation -0.1145 -0.011 0.048
rotation -1 0 0 0
children [
DEF RIGHT_HIND_L_1 Servo {
rotation 0 0 1 0.309386
children [
DEF HIND_L_1_GROUP Group {
children [
DEF HIND_L_1 Transform {
translation 0 -0.0318 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.01 0.0636 0.0032
}
}
]
}
DEF HIND_L_1_HEAD Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Cylinder {
height 0.00333334
radius 0.011
}
}
]
}
DEF HIND_L_1_BOTTOM Transform {
translation 0 -0.0636 0
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Cylinder {
height 0.00325
radius 0.005
}
}
]
}
]
}
DEF RIGHT_L_1_MECH Group {
children [
Transform {
translation 0 0 0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance USE BLACK_PLASTIC
geometry Cylinder {
height 0.01
radius 0.011
}
}
]
}
Transform {
translation 0 0 -0.0066
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.01
radius 0.004
}
}
]
}
]
}
DEF RIGHT_HIND_L_2 Servo {
translation 0 -0.0636 -0.0035
rotation 0 0 1 -0.729722
children [
DEF HIND_L_2_GROUP Group {
children [
DEF HIND_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
DEF HIND_L_2_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
DEF HIND_L_2_BOTTOM Transform {
translation 0 -0.0676 0
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
]
}
]
name "RIGHT_HIND_L_2"
boundingObject DEF HIND_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
physics DEF HIND_L_2_PHYSICS Physics {
density -1
mass 0.0138
centerOfMass 0 -0.0338 0
}
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.2788
minStop -1.4888
maxStop 0.01
dampingConstant 0.001
}
DEF RIGHT_HIND_P_1 Servo {
translation 0 -0.0516 -0.0035
rotation 0 0 1 -0.729722
children [
DEF RIGHT_P_1_PIN Transform {
translation 0 -0.06 0.01
rotation 1 0 0 1.5708
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.025
radius 0.0015
}
}
]
}
DEF HIND_L_2_GROUP Group {
children [
DEF HIND_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
DEF HIND_L_2_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
DEF HIND_L_2_BOTTOM Transform {
translation 0 -0.0676 0
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.00325
radius 0.004
}
}
]
}
]
}
DEF RIGHT_HIND_L_3 Servo {
translation 0 -0.0676 0.0064
rotation 0 0 1 -0.841074
children [
DEF HIND_L_3_GROUP Group {
children [
DEF HIND_L_3 Transform {
translation 0.0195 0 0
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Box {
size 0.039 0.007 0.0064
}
}
]
}
DEF HIND_L_3_TOP Transform {
rotation 1 0 0 1.57079
children [
DEF FOOT_CYL_END Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Cylinder {
height 0.006405
radius 0.0035
}
}
]
}
]
}
DEF RIGHT_HIND_FOOT Solid {
translation 0.039 0 0
rotation 1 0 0 1.5708
children [
DEF FOOT_SPHERE Shape {
appearance DEF WHITE_PLASTIC Appearance {
material Material {
}
}
geometry Cylinder {
height 0.015
radius 0.012
}
}
]
boundingObject DEF FOOT_SPHERE Shape {
appearance DEF WHITE_PLASTIC Appearance {
material Material {
}
}
geometry Cylinder {
height 0.015
radius 0.012
}
}
physics DEF FOOT_PHYSICS Physics {
density -1
mass 0.0087
}
}
]
name "RIGHT_HIND_L_3"
boundingObject DEF HIND_L_3 Transform {
translation 0.0195 0 0
children [
Shape {
appearance DEF METAL Appearance {
material Material {
ambientIntensity 0.1
diffuseColor 0.501961 0.501961 0.501961
specularColor 1 1 1
}
}
geometry Box {
size 0.039 0.007 0.0064
}
}
]
}
physics DEF HIND_L_3_PHYSICS Physics {
density -1
mass 0.0055
centerOfMass 0.0195 0 0
}
maxVelocity 120
maxForce 0
controlP 50
maxPosition 1.98
minStop -0.01
maxStop 2
dampingConstant 0.001
}
]
name "RIGHT_HIND_P_1"
boundingObject DEF HIND_L_2_LINK Transform {
translation 0 -0.0338 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.0676 0.0032
}
}
]
}
physics DEF HIND_L_2_PHYSICS Physics {
density -1
mass 0.0138
centerOfMass 0 -0.0338 0
}
maxVelocity 100
maxForce 0
controlP 50
minPosition -1.98
minStop -2
maxStop 0.01
dampingConstant 0.001
}
DEF RIGHT_HIND_D_1 Servo {
translation 0 -0.0516 0.0035
rotation 0 0 1 -0.625586
children [
DEF HIND_D_1_GROUP Group {
children [
DEF HIND_D_1_LINK Transform {
translation 0 -0.015 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.03 0.003
}
}
]
}
DEF HIND_D_1_TOP Transform {
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
DEF RIGHT_HIND_D_2 Servo {
translation 0 -0.03 0.0045
rotation 1 0 0 -1.5708
children [
DEF HIND_D_2_GROUP Group {
children [
DEF HIND_D_2_LINK Transform {
translation 0 0 -0.035
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.025 0.003
}
}
]
}
DEF HIND_D_2_PISTON Transform {
translation 0 0 -0.01125
rotation 1 0 0 1.5708
children [
Shape {
geometry Cylinder {
height 0.0225
radius 0.004
}
}
]
}
DEF HIND_D_2_BOTTOM Transform {
translation 0 0 -0.0475
rotation 1 0 0 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Cylinder {
height 0.0029
radius 0.004
}
}
]
}
]
}
]
name "RIGHT_HIND_D_2"
boundingObject DEF HIND_D_2_LINK Transform {
translation 0 0 -0.035
rotation 1 0 0 1.5708
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.025 0.003
}
}
]
}
physics DEF HIND_D_2_PHYSICS Physics {
}
type "linear"
maxForce 0
controlP 100
maxPosition 0.023
minStop -0.001
maxStop 0.03
}
]
name "RIGHT_HIND_D_1"
boundingObject DEF HIND_D_1_LINK Transform {
translation 0 -0.015 0
children [
Shape {
appearance USE GREEN_PLASTIC_APP
geometry Box {
size 0.008 0.03 0.003
}
}
]
}
physics DEF HIND_D1_PHYSICS Physics {
}
maxForce 0
dampingConstant 0.001
}
]
name "RIGHT_HIND_L_1"
boundingObject DEF HIND_L_1 Transform {
translation 0 -0.0318 0
children [
Shape {
appearance DEF GREEN_PLASTIC_APP Appearance {
material Material {
diffuseColor 0.752941 0.862745 0.505882
}
}
geometry Box {
size 0.01 0.0636 0.0032
}
}
]
}
physics DEF HIND_L_1_PHYSICS Physics {
density -1
mass 0.0126
centerOfMass 0 -0.0318 0
}
maxVelocity 120
maxForce 200
controlP 50
minPosition -0.785398
maxPosition 0.785398
minStop -0.79
maxStop 0.79
}
]
name "RIGHT_HIND_L_0"
boundingObject USE RIGHT_L_0_BOUND
physics USE L_O_PHYSICS
minPosition -0.3
maxPosition 0.3
minStop -0.301
maxStop 0.301
}
Emitter {
}
Receiver {
}
Accelerometer {
}
Gyro {
}
]
boundingObject Transform {
translation 0 -0.003 0
children [
Box {
size 0.265 0.048 0.08
}
]
}
physics DEF MAIN_BODY_PHYSICS Physics {
density -1
mass 0.909
centerOfMass -0.003 0.00447 0
inertiaMatrix [
0.000673, 0.00344, 0.0032, -0.000216, 5.21e-07, 0.00235
]
}
controller "development_controller"
}
DEF STAND Solid {
translation 0 -0.095 0
children [
Shape {
geometry DEF LANDING_BOX Box {
size 0.33 0.13 0.06
}
}
]
boundingObject USE LANDING_BOX
locked TRUE
}
DEF RAMP Solid {
translation 10000.2 -2 0
rotation 0 0 1 0
children [
DEF RAMP_FORM Transform {
translation 20 -0.1 0
children [
Shape {
appearance USE ELEMENT_MATERIAL
geometry Box {
size 40 0.2 40
}
}
]
}
]
boundingObject USE RAMP_FORM
locked TRUE
}
DEF PODIUM Solid {
translation 10000.2 -3 0
rotation 0 0 1 0
children [
DEF PODIUM_FORM Transform {
translation -20 -0.1 0
children [
Shape {
appearance USE ELEMENT_MATERIAL
geometry Box {
size 40 0.2 40
}
}
]
}
]
boundingObject USE PODIUM_FORM
locked TRUE
}
DEF HEIGHTMAP Solid {
translation -10000.1 -4 0
children [
DEF HEIGHT_FORM Transform {
translation 0 0 -4
children [
Shape {
appearance Appearance {
material Material {
diffuseColor 0 0.313726 0.0352941
transparency 0.2
}
}
geometry IndexedFaceSet {
coord Coordinate {
point [
0 0.0493995 0
0 0.010867 0.4
0 0.0348661 0.8
0 0.0360187 1.2
0 0.0339673 1.6
0 0.0306461 2
0 0.0298018 2.4
0 0.0219838 2.8
0 0.0326766 3.2
0 0.043216 3.6
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518, -1, 497, 498, 518, -1, 498, 519, 518, -1,
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509, 510, 530, -1, 510, 531, 530, -1, 510, 532,
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564, -1, 544, 566, 565, -1, 544, 545, 566, -1,
546, 568, 567, -1, 546, 547, 568, -1, 547, 548,
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570, -1, 550, 572, 571, -1, 550, 551, 572, -1,
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561, 562, 582, -1, 562, 583, 582, -1, 562, 584,
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610, -1, 590, 611, 610, -1, 590, 612, 611, -1,
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612, -1, 592, 614, 613, -1, 592, 593, 614, -1,
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620, -1, 600, 621, 620, -1, 600, 622, 621, -1,
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636, -1, 616, 637, 636, -1, 616, 638, 637, -1,
616, 617, 638, -1, 617, 618, 638, -1, 618, 639,
638, -1, 618, 640, 639, -1, 618, 619, 640, -1,
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641, -1, 620, 621, 642, -1, 621, 622, 642, -1,
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644, -1, 623, 624, 644, -1, 624, 645, 644, -1,
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646, -1, 626, 647, 646, -1, 626, 648, 647, -1,
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648, -1, 628, 650, 649, -1, 628, 629, 650, -1
]
}
}
]
}
]
boundingObject USE HEIGHT_FORM
}
DEF SLOPE Solid {
translation 10000 -5 0
rotation 0 0 1 0
children [
DEF SLOPE_FORM Shape {
appearance USE ELEMENT_MATERIAL
geometry Box {
size 40 0.2 40
}
}
]
boundingObject USE SLOPE_FORM
locked TRUE
}
DEF STEP_FRONT Solid {
translation 10000.2 -6 0
rotation 0 0 1 0
children [
DEF RAMP_FORM Transform {
translation 20 -0.1 0
children [
Shape {
appearance DEF ELEMENT_MATERIAL Appearance {
material Material {
diffuseColor 0.498039 0.498039 0.498039
}
texture ImageTexture {
url [
"texture_grid.png"
]
}
}
geometry Box {
size 40 0.2 40
}
}
]
}
]
boundingObject USE RAMP_FORM
locked TRUE
}
DEF STEP_BACK Solid {
translation 10000.2 -7 0
rotation 0 0 1 0
children [
DEF PODIUM_FORM Transform {
translation -20 -0.1 0
children [
Shape {
appearance USE ELEMENT_MATERIAL
geometry Box {
size 40 0.2 40
}
}
]
}
]
boundingObject USE PODIUM_FORM
locked TRUE
}
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