#VRML_SIM R2021a utf8 WorldInfo { basicTimeStep 16 coordinateSystem "NUE" } DEF Viewpoint 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 1 rightWall 0 bottomWall 0 leftWall 1 topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal TRUE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "0" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 0 zPos 1 floor TRUE topWall 0 rightWall 0 bottomWall 5 leftWall 3 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "1" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 0 zPos 2 floor FALSE topWall 0 rightWall 0 bottomWall 0 leftWall 2 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE start FALSE trap TRUE checkpoint FALSE swamp FALSE width 8 height 6 id "2" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 0 zPos 3 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 1 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "3" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 0 zPos 4 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 1 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal TRUE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "4" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF START_TILE worldTile { xPos 0 zPos 5 floor TRUE topWall 0 rightWall 0 bottomWall 5 leftWall 3 topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal TRUE start TRUE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "5" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 1 zPos 0 floor TRUE topWall 1 rightWall 0 bottomWall 0 leftWall 0 topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "6" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 1 zPos 1 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "7" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 1 zPos 2 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "8" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 1 zPos 3 floor TRUE topWall 0 rightWall 0 bottomWall 3 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "9" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 1 zPos 4 floor TRUE topWall 0 rightWall 2 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "10" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 1 zPos 5 floor TRUE topWall 0 rightWall 0 bottomWall 1 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "11" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 2 zPos 0 floor TRUE topWall 1 rightWall 0 bottomWall 0 leftWall 0 topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "12" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 2 zPos 1 floor FALSE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap TRUE checkpoint FALSE swamp FALSE width 8 height 6 id "13" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 2 zPos 2 floor TRUE topWall 0 rightWall 0 bottomWall 1 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "14" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 2 zPos 3 floor TRUE topWall 0 rightWall 0 bottomWall 2 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "15" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 2 zPos 4 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "16" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 2 zPos 5 floor TRUE topWall 0 rightWall 0 bottomWall 1 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "17" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 3 zPos 0 floor FALSE topWall 1 rightWall 0 bottomWall 0 leftWall 0 topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap TRUE checkpoint FALSE swamp FALSE width 8 height 6 id "18" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 3 zPos 1 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint TRUE swamp FALSE width 8 height 6 id "19" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 3 zPos 2 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "20" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 3 zPos 3 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "21" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 3 zPos 4 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "22" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 3 zPos 5 floor TRUE topWall 0 rightWall 0 bottomWall 1 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp TRUE width 8 height 6 id "23" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 4 zPos 0 floor TRUE topWall 1 rightWall 0 bottomWall 0 leftWall 0 topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "24" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 4 zPos 1 floor TRUE topWall 0 rightWall 3 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "25" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 4 zPos 2 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "26" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 4 zPos 3 floor TRUE topWall 0 rightWall 1 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "27" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 4 zPos 4 floor TRUE topWall 0 rightWall 1 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "28" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 4 zPos 5 floor TRUE topWall 0 rightWall 0 bottomWall 1 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "29" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 5 zPos 0 floor TRUE topWall 1 rightWall 0 bottomWall 0 leftWall 0 topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "30" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 5 zPos 1 floor TRUE topWall 0 rightWall 0 bottomWall 5 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "31" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 5 zPos 2 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "32" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 5 zPos 3 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "33" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 5 zPos 4 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "34" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 5 zPos 5 floor TRUE topWall 0 rightWall 0 bottomWall 1 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "35" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 6 zPos 0 floor TRUE topWall 1 rightWall 0 bottomWall 0 leftWall 0 topExternal TRUE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "36" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 6 zPos 1 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "37" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 6 zPos 2 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "38" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 6 zPos 3 floor FALSE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap TRUE checkpoint FALSE swamp FALSE width 8 height 6 id "39" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 6 zPos 4 floor TRUE topWall 0 rightWall 0 bottomWall 0 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "40" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 6 zPos 5 floor FALSE topWall 0 rightWall 0 bottomWall 1 leftWall 0 topExternal FALSE rightExternal FALSE bottomExternal TRUE leftExternal FALSE start FALSE trap TRUE checkpoint FALSE swamp FALSE width 8 height 6 id "41" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 7 zPos 0 floor TRUE topWall 3 rightWall 2 bottomWall 0 leftWall 0 topExternal TRUE rightExternal TRUE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "42" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 7 zPos 1 floor TRUE topWall 0 rightWall 1 bottomWall 0 leftWall 0 topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "43" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 7 zPos 2 floor TRUE topWall 0 rightWall 1 bottomWall 0 leftWall 0 topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "44" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 7 zPos 3 floor FALSE topWall 0 rightWall 1 bottomWall 0 leftWall 0 topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE start FALSE trap TRUE checkpoint FALSE swamp FALSE width 8 height 6 id "45" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 7 zPos 4 floor TRUE topWall 0 rightWall 1 bottomWall 0 leftWall 0 topExternal FALSE rightExternal TRUE bottomExternal FALSE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "46" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } DEF TILE worldTile { xPos 7 zPos 5 floor TRUE topWall 0 rightWall 3 bottomWall 3 leftWall 0 topExternal FALSE rightExternal TRUE bottomExternal TRUE leftExternal FALSE start FALSE trap FALSE checkpoint FALSE swamp FALSE width 8 height 6 id "47" xScale 0.4 yScale 0.4 zScale 0.4 tileColor 0.635 0.635 0.635 room 1 } ] } DEF CHECKPOINTBOUNDS Group { children [ DEF boundary Group { children [ DEF checkpoint0min Transform { translation -0.18 -0.03 -0.3 } DEF checkpoint0max Transform { translation -0.06 -0.03 -0.18 } ] } ] } DEF TRAPBOUNDS Group { children [ DEF boundary Group { children [ DEF trap0min Transform { translation -0.54 -0.03 -0.18 } DEF trap0max Transform { translation -0.42 -0.03 -0.06 } ] } DEF boundary Group { children [ DEF trap1min Transform { translation -0.3 -0.03 -0.3 } DEF trap1max Transform { translation -0.18 -0.03 -0.18 } ] } DEF boundary Group { children [ DEF trap2min Transform { translation -0.18 -0.03 -0.42 } DEF trap2max Transform { translation -0.06 -0.03 -0.3 } ] } DEF boundary Group { children [ DEF trap3min Transform { translation 0.18 -0.03 -0.06 } DEF trap3max Transform { translation 0.3 -0.03 0.06 } ] } DEF boundary Group { children [ DEF trap4min Transform { translation 0.18 -0.03 0.1800000000000001 } DEF trap4max Transform { translation 0.3 -0.03 0.3000000000000001 } ] } DEF boundary Group { children [ DEF trap5min Transform { translation 0.3000000000000001 -0.03 -0.06 } DEF trap5max Transform { translation 0.4200000000000001 -0.03 0.06 } ] } ] } DEF STARTBOUNDS Group { children [ DEF boundary Group { children [ DEF start0min Transform { translation -0.54 -0.03 0.1800000000000001 } DEF start0max Transform { translation -0.42 -0.03 0.3000000000000001 } ] } ] } DEF SWAMPBOUNDS Group { children [ DEF boundary Group { children [ DEF swamp0min Transform { translation -0.18 -0.03 0.1800000000000001 } DEF swamp0max Transform { translation -0.06 -0.03 0.3000000000000001 } ] } ] } DEF OBSTACLES Group { children [ ] } DEF HUMANGROUP Group { children [ Victim { translation -0.488 0 -0.185 rotation 0 1 0 0 name "Victim0" type "unharmed" scoreWorth 5 } Victim { translation -0.215 0 -0.05500000000000001 rotation 0 1 0 3.14 name "Victim1" type "harmed" scoreWorth 15 } Victim { translation 0.007 0 -0.415 rotation 0 1 0 3.14 name "Victim2" type "stable" scoreWorth 5 } Victim { translation 0.05500000000000001 0 0.121 rotation 0 1 0 1.57 name "Victim3" type "unharmed" scoreWorth 15 } Victim { translation 0.0650000000000001 0 -0.23399999999999999 rotation 0 1 0 -1.57 name "Victim4" type "harmed" scoreWorth 15 } Victim { translation 0.4150000000000001 0 0.2060000000000001 rotation 0 1 0 1.57 name "Victim5" type "stable" scoreWorth 5 } ] } DEF HAZARDGROUP Group { children [ ] } DEF MAINSUPERVISOR Robot { children [ Receiver { channel 1 } Emitter { channel 1 } ] supervisor TRUE controller "MainSupervisor" customData "480" window "MainSupervisorWindow" showWindow TRUE }