#VRML_SIM R2020a utf8 WorldInfo { basicTimeStep 16 } Viewpoint { orientation -1 0 0 0.85 position -0.08 1.2000000000000002 1.02 } TexturedBackground { } TexturedBackgroundLight { } DEF WALLTILES Group { children [ DEF TILE worldTile { xPos 0 zPos 0 floor TRUE topWall TRUE rightWall FALSE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal TRUE notch "" notchRotation 0 start FALSE trap FALSE checkpoint TRUE swamp FALSE width 6 height 6 id "0" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 0 zPos 1 floor FALSE topWall TRUE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE notch "" notchRotation 0 start FALSE trap TRUE checkpoint FALSE swamp FALSE width 6 height 6 id "1" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 0 zPos 2 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "2" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 0 zPos 3 floor TRUE topWall FALSE rightWall FALSE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner TRUE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "3" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 0 zPos 4 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "4" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 0 zPos 5 floor TRUE topWall FALSE rightWall FALSE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner TRUE topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal TRUE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "5" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 0 floor TRUE topWall TRUE rightWall FALSE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner TRUE bottomRightCorner FALSE topRightCorner FALSE topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "6" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 1 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "7" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 2 floor TRUE topWall FALSE rightWall TRUE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "8" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 3 floor TRUE topWall TRUE rightWall TRUE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "9" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 4 floor TRUE topWall FALSE rightWall FALSE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "10" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 5 floor TRUE topWall TRUE rightWall TRUE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint TRUE swamp FALSE width 6 height 6 id "11" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 0 floor TRUE topWall TRUE rightWall TRUE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "12" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 1 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "13" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 2 floor TRUE topWall FALSE rightWall FALSE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner TRUE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "14" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 3 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "15" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 4 floor TRUE topWall FALSE rightWall FALSE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner TRUE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "16" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 5 floor TRUE topWall TRUE rightWall FALSE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint TRUE swamp FALSE width 6 height 6 id "17" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 0 floor TRUE topWall TRUE rightWall FALSE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "18" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 1 floor TRUE topWall FALSE rightWall FALSE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "19" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 2 floor TRUE topWall FALSE rightWall FALSE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "20" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 3 floor TRUE topWall TRUE rightWall FALSE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "21" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 4 floor TRUE topWall TRUE rightWall FALSE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "22" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 5 floor TRUE topWall TRUE rightWall FALSE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "23" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 0 floor TRUE topWall TRUE rightWall FALSE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "24" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 1 floor FALSE topWall TRUE rightWall TRUE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap TRUE checkpoint FALSE swamp FALSE width 6 height 6 id "25" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 2 floor TRUE topWall FALSE rightWall TRUE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "26" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 3 floor TRUE topWall TRUE rightWall FALSE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "27" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 4 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "28" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 5 floor TRUE topWall FALSE rightWall TRUE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "29" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 0 floor TRUE topWall TRUE rightWall TRUE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner TRUE bottomRightCorner FALSE topRightCorner FALSE topExternal TRUE rightExternal TRUE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "30" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 1 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "31" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 2 floor TRUE topWall FALSE rightWall TRUE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint TRUE swamp FALSE width 6 height 6 id "32" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 3 floor TRUE topWall TRUE rightWall TRUE bottomWall FALSE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "33" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 4 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "34" xScale 0.4 yScale 0.4 zScale 0.4 } DEF START_TILE worldTile { xPos 5 zPos 5 floor TRUE topWall FALSE rightWall TRUE bottomWall TRUE leftWall TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal TRUE bottomExternal TRUE leftExternal FALSE notch "" notchRotation 0 start TRUE trap FALSE checkpoint FALSE swamp FALSE width 6 height 6 id "35" xScale 0.4 yScale 0.4 zScale 0.4 } ] } DEF CHECKPOINTBOUNDS Group { children [ DEF boundary Group { children [ DEF checkpoint0min Transform { translation -0.42 -0.03 -0.42 } DEF checkpoint0max Transform { translation -0.3 -0.03 -0.3 } ] } DEF boundary Group { children [ DEF checkpoint1min Transform { translation -0.3 -0.03 0.1800000000000001 } DEF checkpoint1max Transform { translation -0.18 -0.03 0.3000000000000001 } ] } DEF boundary Group { children [ DEF checkpoint2min Transform { translation -0.18 -0.03 0.1800000000000001 } DEF checkpoint2max Transform { translation -0.06 -0.03 0.3000000000000001 } ] } DEF boundary Group { children [ DEF checkpoint3min Transform { translation 0.1800000000000001 -0.03 -0.18 } DEF checkpoint3max Transform { translation 0.3000000000000001 -0.03 -0.06 } ] } ] } DEF TRAPBOUNDS Group { children [ DEF boundary Group { children [ DEF trap0min Transform { translation -0.42 -0.03 -0.3 } DEF trap0max Transform { translation -0.3 -0.03 -0.18 } ] } DEF boundary Group { children [ DEF trap1min Transform { translation 0.06 -0.03 -0.3 } DEF trap1max Transform { translation 0.18 -0.03 -0.18 } ] } ] } DEF STARTBOUNDS Group { children [ DEF boundary Group { children [ DEF start0min Transform { translation 0.1800000000000001 -0.03 0.1800000000000001 } DEF start0max Transform { translation 0.3000000000000001 -0.03 0.3000000000000001 } ] } ] } DEF SWAMPBOUNDS Group { children [ ] } DEF OBSTACLES Group { children [ ] } DEF HUMANGROUP Group { children [ Victim { translation -0.305 0 0.104 rotation 0 1 0 1.57 name "Victim0" type "harmed" scoreWorth 10 } Victim { translation -0.295 0 -0.08399999999999999 rotation 0 1 0 -1.57 name "Victim1" type "stable" scoreWorth 10 } HeatVictim { translation -0.106 0 -0.4144 rotation 0 1 0 3.14 name "HeatVictim2" scoreWorth 10 } HeatVictim { translation -0.003 0 0.2944000000000001 rotation 0 1 0 0 name "HeatVictim3" scoreWorth 10 } Victim { translation 0.08399999999999999 0 -0.06499999999999999 rotation 0 1 0 0 name "Victim4" type "stable" scoreWorth 10 } Victim { translation 0.2950000000000001 0 -0.348 rotation 0 1 0 1.57 name "Victim5" type "harmed" scoreWorth 10 } Victim { translation 0.2950000000000001 0 -0.037 rotation 0 1 0 1.57 name "Victim6" type "unharmed" scoreWorth 10 } ] } DEF MAINSUPERVISOR Robot { children [ Receiver { channel 1 } ] supervisor TRUE controller "MainSupervisor" window "MainSupervisorWindow" showWindow TRUE }