4wheels1.wbt

DrAungWinHtut

May 28th, 2025

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#VRML_SIM R2025a utf8
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto"
WorldInfo {
}
Viewpoint {
orientation 0.07987357375373524 -0.10424624051044758 -0.9913389599704254 4.967162579952054
position -0.1355848939873358 -0.7054274144021473 0.2015211425405409
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
floorSize 2 2
}
Solid {
translation 0.21 0 0
children [
Shape {
appearance PBRAppearance {
baseColor 0 0 0
roughness 1
metalness 0
}
geometry Box {
size 0.05 0.05 0.05
}
}
]
}
DEF Robot Robot {
translation -6.009278448241306e-05 0.02005605151113183 0.020634987421419324
rotation 0.13121761188466757 -0.0005927504440141294 -0.9913534117448712 3.873043426496412e-05
children [
DEF SolidBody Solid {
translation -2.855527945213741e-14 6.938893903907228e-18 -0.0007249040012106758
rotation 0 0 -1 6.408428074369474e-07
children [
DEF Left_Back_Joint HingeJoint {
jointParameters DEF Left_Back_Joint HingeJointParameters {
position -2.3871655094803524e-08
axis 0 1 0
anchor -0.05 0.05 0
}
device [
RotationalMotor {
name "motor_left_back"
}
]
endPoint Solid {
translation -0.05000000000000002 0.05 6.063894724883258e-10
rotation 0.9999999999999196 -3.3863989185341237e-07 2.1511559365139866e-07 1.570000003442234
children [
DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
]
name "solid2(3)"
boundingObject DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
physics Physics {
}
}
}
DEF Right_Back_Joint HingeJoint {
jointParameters DEF Right_Back_Joint HingeJointParameters {
position -1.3708306093926636e-08
axis 0 1 0
anchor -0.05 -0.05 0
}
device [
RotationalMotor {
name "motor_right_back"
}
]
endPoint Solid {
translation -0.05 -0.05 -1.0989830969372583e-10
rotation 0.9999999999999224 -3.3355418454286464e-07 2.1003393776393883e-07 1.5699999964904536
children [
DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
]
name "solid2(2)"
boundingObject DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
physics Physics {
}
}
}
DEF Right_Front_Joint HingeJoint {
jointParameters DEF Right_Front_Joint HingeJointParameters {
position -2.4635991639223045e-08
axis 0 1 0
anchor 0.05 0.05 0
}
device [
RotationalMotor {
name "motor_right_front"
}
]
endPoint Solid {
translation 0.04999999999999999 0.05 6.16379873032281e-10
rotation 0.9999999999999527 1.46934204554187e-07 -2.700719703756882e-07 1.5699999991142959
children [
DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
]
name "solid2(1)"
boundingObject DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
physics Physics {
}
}
}
DEF Left_Front_Joint HingeJoint {
jointParameters DEF Left_Front_Joint HingeJointParameters {
axis 0 1 0
anchor 0.05 -0.05 0
}
device [
RotationalMotor {
name "motor_left_front"
}
]
endPoint Solid {
translation 0.05 -0.05 6.163806434157709e-10
rotation 0.9999999999999473 1.5926197332664142e-07 -2.823899364351547e-07 1.5700000008854709
children [
DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
]
name "solid2"
boundingObject DEF wheel Shape {
appearance PBRAppearance {
baseColor 1 0 0
roughness 1
metalness 0
}
geometry Cylinder {
height 0.01
radius 0.02
}
}
physics Physics {
}
}
}
DEF Body Shape {
appearance PBRAppearance {
baseColor 0.145098 0.145098 0.145098
roughness 1
metalness 0
}
geometry Box {
size 0.2 0.1 0.01
}
}
]
name "Body"
boundingObject USE Body
physics Physics {
}
}
]
boundingObject USE Body
physics Physics {
}
controller "4wheel1controller"
}

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