#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 TRUE bottomWall FALSE 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 TRUE topWall FALSE rightWall FALSE 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 "1" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 0 zPos 2 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 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 FALSE topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE notch "" notchRotation 0 start FALSE trap FALSE checkpoint FALSE swamp TRUE 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 START_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 TRUE 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 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 "6" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 1 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 "7" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 1 zPos 2 floor TRUE topWall TRUE 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 "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 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 "11" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 0 floor TRUE topWall TRUE rightWall FALSE 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 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 "13" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 2 zPos 2 floor TRUE topWall TRUE 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 FALSE 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 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 TRUE 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 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 "18" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 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 "19" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 2 floor TRUE topWall FALSE rightWall TRUE bottomWall TRUE leftWall FALSE topLeftCorner TRUE 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 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 "22" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 3 zPos 5 floor TRUE topWall FALSE 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 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 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 "24" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 1 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 "25" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 2 floor TRUE topWall TRUE 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 "26" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 3 floor TRUE topWall FALSE rightWall TRUE bottomWall FALSE leftWall FALSE topLeftCorner TRUE bottomLeftCorner TRUE 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 FALSE bottomWall FALSE leftWall TRUE 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 "28" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 4 zPos 5 floor TRUE topWall FALSE 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 "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 TRUE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal TRUE rightExternal TRUE bottomExternal FALSE leftExternal FALSE notch "" notchRotation 0 start FALSE trap FALSE checkpoint TRUE 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 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 "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 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 "32" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 3 floor FALSE topWall TRUE rightWall FALSE bottomWall TRUE leftWall TRUE topLeftCorner TRUE bottomLeftCorner TRUE bottomRightCorner TRUE 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 "33" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 4 floor TRUE topWall TRUE rightWall TRUE bottomWall TRUE 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 TRUE swamp FALSE width 6 height 6 id "34" xScale 0.4 yScale 0.4 zScale 0.4 } DEF TILE worldTile { xPos 5 zPos 5 floor FALSE topWall TRUE rightWall TRUE bottomWall TRUE leftWall FALSE topLeftCorner FALSE bottomLeftCorner FALSE bottomRightCorner FALSE topRightCorner FALSE topExternal FALSE rightExternal TRUE bottomExternal TRUE leftExternal FALSE notch "" notchRotation 0 start FALSE trap TRUE 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 0.1800000000000001 -0.03 -0.42 } DEF checkpoint1max Transform { translation 0.3000000000000001 -0.03 -0.3 } ] } DEF boundary Group { children [ DEF checkpoint2min Transform { translation 0.1800000000000001 -0.03 0.06 } DEF checkpoint2max Transform { translation 0.3000000000000001 -0.03 0.18 } ] } ] } DEF TRAPBOUNDS Group { children [ DEF boundary Group { children [ DEF trap0min Transform { translation 0.1800000000000001 -0.03 0.1800000000000001 } DEF trap0max Transform { translation 0.3000000000000001 -0.03 0.3000000000000001 } ] } ] } DEF STARTBOUNDS Group { children [ DEF boundary Group { children [ DEF start0min Transform { translation -0.42 -0.03 0.1800000000000001 } DEF start0max Transform { translation -0.3 -0.03 0.3000000000000001 } ] } ] } DEF SWAMPBOUNDS Group { children [ DEF boundary Group { children [ DEF swamp0min Transform { translation -0.42 -0.03 -0.06 } DEF swamp0max Transform { translation -0.3 -0.03 0.06 } ] } DEF boundary Group { children [ DEF swamp1min Transform { translation -0.18 -0.03 0.1800000000000001 } DEF swamp1max Transform { translation -0.06 -0.03 0.3000000000000001 } ] } ] } DEF OBSTACLES Group { children [ DEF OBSTACLE0 Solid { translation -0.14089 0 -0.13363 rotation 0 1 0 1.325 children [ Shape { appearance Appearance { material Material { diffuseColor 0.45 0.45 0.45 } } geometry DEF OBSTACLEBOX0 Box { size 0.03167065788653726 0.06 0.045302714983384035 } } ] name "obstacle0" boundingObject USE OBSTACLEBOX0 recognitionColors [ 0.45 0.45 0.45 ] } ] } DEF HUMANGROUP Group { children [ Victim { translation -0.415 0 -0.27999999999999997 rotation 0 1 0 -1.57 name "Victim0" type "unharmed" scoreWorth 10 } Victim { translation -0.273 0 -0.06499999999999999 rotation 0 1 0 0 name "Victim1" type "stable" scoreWorth 30 } Victim { translation -0.175 0 -0.27799999999999997 rotation 0 1 0 -1.57 name "Victim2" type "stable" scoreWorth 30 } Victim { translation -0.175 0 -0.007 rotation 0 1 0 -1.57 name "Victim3" type "harmed" scoreWorth 30 } Victim { translation 0.013000000000000001 0 -0.06499999999999999 rotation 0 1 0 0 name "Victim4" type "harmed" scoreWorth 30 } HeatVictim { translation 0.025 0 -0.054400000000000004 rotation 0 1 0 3.14 name "HeatVictim5" scoreWorth 30 } HeatVictim { translation 0.023 0 0.2944000000000001 rotation 0 1 0 0 name "HeatVictim6" scoreWorth 10 } Victim { translation 0.2950000000000001 0 -0.119 rotation 0 1 0 1.57 name "Victim7" type "unharmed" scoreWorth 10 } ] } DEF MAINSUPERVISOR Robot { children [ Receiver { channel 1 } ] supervisor TRUE controller "MainSupervisor" window "MainSupervisorWindow" showWindow TRUE }