Object Rocognition Robot.wbt

#VRML_SIM R2021b utf8
WorldInfo {
  coordinateSystem "NUE"
}
Viewpoint {
  orientation -0.011104058594161794 -0.8720526768387517 -0.48928603975701696 3.102016375911871
  position 1.001303835365406 2.479266029324371 -0.4638899709179828
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
  translation 0 -0.06 -0.02
  floorSize 3 3
  floorTileSize 2 2
  wallThickness 0.08
  wallHeight 0.15
}
Robot {
  translation 0.729505653533007 -0.00769638944187939 0.8767978359274896
  rotation 3.5649234009746114e-05 0.999999992024075 -0.00012116510272242925 1.4856679561326946
  scale 1.2 1.2 1.2
  children [
    GPS {
      translation 0 0.02 0
      children [
        DEF GPS Shape {
          appearance PBRAppearance {
            metalness 0
          }
          geometry Cylinder {
            height 0.02
            radius 0.04
          }
        }
      ]
      boundingObject USE GPS
      physics Physics {
      }
    }
    Camera {
      translation 1.73472e-18 0.01 0.1
      rotation 0 1 0 -3.141592653589793
      children [
        DEF camera Shape {
          appearance PBRAppearance {
            metalness 0
          }
          geometry Sphere {
            radius 0.015
            subdivision 5
          }
        }
      ]
      boundingObject USE camera
      physics Physics {
      }
      recognitionColors [
        1 0 0.0156863
      ]
      fieldOfView 1
      width 640
      height 640
      recognition Recognition {
        frameThickness 3
      }
    }
    DEF DS_left DistanceSensor {
      translation 0.03 -1.73472e-18 0.1
      rotation 0 1 0 -1.1391003061004252
      children [
        DEF DS_left Shape {
          appearance PBRAppearance {
            baseColor 1 1 0
            metalness 0
          }
          geometry Box {
            size 0.01 0.01 0.01
          }
        }
      ]
      name "DS_left"
      boundingObject USE DS_left
      physics Physics {
      }
    }
    DEF DS_right DistanceSensor {
      translation -0.03 -1.73472e-18 0.1
      rotation 0 1 0 -2.0553996938995747
      children [
        DEF DS_left Shape {
          appearance PBRAppearance {
            baseColor 1 1 0
            metalness 0
          }
          geometry Box {
            size 0.01 0.01 0.01
          }
        }
      ]
      name "DS_right"
      boundingObject USE DS_left
      physics Physics {
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position 7912.697299125259
        anchor 0.06 -0.014 0.05
      }
      device [
        RotationalMotor {
          name "wheel1"
        }
      ]
      endPoint Solid {
        translation 0.06002042002561396 -0.013997762684862193 0.049991354487788145
        rotation -0.6419786471423388 0.6425029687884871 -0.41839377589929905 3.933815990609764
        children [
          DEF Wheel1 Shape {
            appearance PBRAppearance {
              baseColor 0.705882 0.196078 0.156863
              metalness 0
            }
            geometry Cylinder {
              height 0.03
              radius 0.03
            }
          }
        ]
        boundingObject USE Wheel1
        physics Physics {
        }
        linearVelocity 0.03587435097075407 -7.446669314267251e-07 0.0030588478801495253
        angularVelocity 0.08503995567599443 -3.5674161470322144e-05 -0.9964379757801112
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position 5181.315891678185
        anchor -0.06 -0.014 0.05
      }
      device [
        RotationalMotor {
          name "wheel2"
        }
      ]
      endPoint Solid {
        translation -0.060005998527928504 -0.014013879408960794 0.04998867796085051
        rotation -0.6825902448988946 0.6828647393935074 0.2603196213540272 2.6330991854820582
        children [
          DEF Wheel2 Shape {
            appearance PBRAppearance {
              baseColor 0.705882 0.196078 0.156863
              metalness 0
            }
            geometry Cylinder {
              height 0.03
              radius 0.03
            }
          }
        ]
        name "solid(1)"
        boundingObject USE Wheel2
        physics Physics {
        }
        linearVelocity 0.035863449902663984 6.460763148028973e-07 0.0030579164298267336
        angularVelocity 0.08503989444767908 -3.554499287044878e-05 -0.9964371921948852
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position 7912.697407541736
        anchor 0.06 -0.014 -0.05
      }
      device [
        RotationalMotor {
          name "wheel3"
        }
      ]
      endPoint Solid {
        translation 0.060005585978100934 -0.013996687572436634 -0.05000332798459703
        rotation -0.6419919567216695 0.6425164031080836 -0.4183527210879985 3.9337461747144644
        children [
          DEF Wheel3 Shape {
            appearance PBRAppearance {
              baseColor 0.705882 0.196078 0.156863
              metalness 0
            }
            geometry Cylinder {
              height 0.03
              radius 0.03
            }
          }
        ]
        name "solid(2)"
        boundingObject USE Wheel3
        physics Physics {
        }
        linearVelocity 0.03587689816509468 1.0652431824353724e-07 0.003064689896399697
        angularVelocity 0.08504000795171181 -3.562011574096233e-05 -0.9964381897047951
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        position 5181.315781313061
        anchor -0.06 -0.014 -0.05
      }
      device [
        RotationalMotor {
          name "wheel4"
        }
      ]
      endPoint Solid {
        translation -0.06002007710047584 -0.014007138769151956 -0.05000457257721341
        rotation -0.6825982029147939 0.6828721376219429 0.2602793442383241 2.6331738719467066
        children [
          DEF Wheel4 Shape {
            appearance PBRAppearance {
              baseColor 0.705882 0.196078 0.156863
              metalness 0
            }
            geometry Cylinder {
              height 0.03
              radius 0.03
            }
          }
        ]
        name "solid(3)"
        boundingObject USE Wheel4
        physics Physics {
        }
        linearVelocity 0.035872335496275914 -1.80238528462669e-08 0.003064299333833887
        angularVelocity 0.0850399855687488 -3.5490892781873726e-05 -0.9964378615625451
      }
    }
    DEF Body Shape {
      appearance PBRAppearance {
        baseColor 0.0509804 0.027451 0.290196
        metalness 0
        textureTransform TextureTransform {
        }
      }
      geometry Box {
        size 0.1 0.05 0.2
      }
    }
  ]
  boundingObject USE Body
  physics Physics {
  }
  recognitionColors [
    1 0 0
  ]
  controller "object_detection"
  linearVelocity 0.03587781538476954 -8.370399126634215e-06 0.0030620253118903997
  angularVelocity 1.3504603872372273e-05 5.275107749180165e-05 -5.9114559453251293e-05
}
Can {
  translation -0.15675536571198806 0.0010607660743499495 0.6234225159024805
  rotation 1.233629187403092e-16 -1 3.2539290193653765e-17 1.623972540627489
  name "can(8)"
  mass 0.1
}
Can {
  translation 0.21919729580660946 0.001060766074349951 -1.1849331279554516
  rotation 1.0560622459492996e-16 -1 2.570313442026831e-16 0.16849722338122247
  name "can(6)"
  mass 0.1
}
Can {
  translation 0.8613146281088042 0.001060766074349946 1.1116291365428799
  rotation 2.808261419955141e-16 1 -5.165849620644426e-17 0.39519550821867394
  name "can(5)"
  mass 0.1
}
Can {
  translation -0.5161643889011339 0.0010607660743499484 1.0916165244699498
  rotation 1.569563121395493e-15 -1 4.715637067874767e-16 0.12284803021485162
  name "can(2)"
  mass 0.1
}
Can {
  translation -1.3550915636680811 0.0010607660743499514 -0.7079330131941027
  rotation 9.626548391974969e-17 1 3.8145096701941065e-17 0.458814061361731
  name "can(9)"
  mass 0.1
}
Can {
  translation 1.0658851349479215 0.0008645963384112701 -0.13762970170178584
  rotation -7.730401905072939e-17 1 -6.403606409342204e-17 1.1309521347774985
  name "can(4)"
  mass 0.6
}
Can {
  translation 0.48417966651557187 0.0010607660743499536 -0.6022579484794827
  rotation 1.0564398815713902e-16 1 -2.0850922378974116e-16 1.1234390553504736
  name "can(1)"
  mass 0.1
}
Can {
  translation -0.5599873290077957 0.0010607660743499545 0.3341011855894044
  rotation -4.185351680990922e-17 -1 6.224141322736609e-17 1.1006461580264435
  name "can(7)"
  mass 0.1
}
OilBarrel {
  translation -1.3082951682568957 0.014334411150936593 0.6189106961670086
  rotation 2.3903232551512104e-13 1 9.910049492003544e-14 0.0004155729547934458
  name "oil barrel(10)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation 1.3286195594316275 0.014334411150936666 -0.39509088743784565
  rotation 6.726537626955373e-17 1 -1.1255511947558123e-16 0.28961214489044473
  name "oil barrel(9)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation 1.160033578709813 0.0143344111509366 0.9838547392767782
  rotation 1.579898559868842e-15 0.9999999999999999 2.366452848859187e-16 0.05555280217579415
  name "oil barrel(7)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation -1.0681398069302566 0.014334411150936593 1.088593073345224
  rotation 7.090536874497113e-16 1 -3.643159670384211e-16 0.13658320879307692
  name "oil barrel(6)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation 0.9369675581710591 0.014334411150936593 -1.3307269597255782
  rotation 1.699564369583404e-16 -1 1.5043633485649362e-15 0.02769780050226868
  name "oil barrel(5)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation -8.195324358166065e-05 0.014334411150936591 1.2832637696389348
  rotation -8.138363952848305e-13 -1 3.3970262247683163e-12 1.0518841059281704e-05
  name "oil barrel(1)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation -1.1755895151821134 0.014334411150936597 4.249597671952552e-07
  rotation -6.2520969481755e-12 1 4.65516352765811e-12 2.915961467757644e-06
  name "oil barrel(2)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation 0.20971500246335115 0.014334411150936621 -0.02901405852915604
  rotation -0.3561870265686673 5.648253939357634e-17 0.9344146842297437 3.141592653589793
  name "oil barrel(4)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation 0.09308701501796354 0.01433441115093659 0.630639487726509
  rotation 1.9132593452586402e-15 -1 -1.511432849165563e-15 0.04980060690610787
  name "oil barrel(8)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation 0.12086131005667969 0.014334261324076935 -0.8753351751916237
  rotation -7.380205457683492e-07 0.9999999999865438 -5.134960889470015e-06 0.2607735514577335
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation -0.314452329304829 0.014334411150936591 -1.2197590399170126
  rotation 4.8175219746880276e-14 1 -3.3813826417221284e-14 0.0002793392384844651
  name "oil barrel(3)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
OilBarrel {
  translation -0.9810800811118267 0.014334411150936591 -1.219370000002033
  rotation 9.679081773890311e-15 1 3.0757906167181475e-13 0.00020331610949316775
  name "oil barrel(11)"
  height 0.15
  radius 0.06
  physics Physics {
  }
}
FifaSoccerBall {
  translation 1.3505632875139413 0.05182517546928719 1.0702887978258497
  rotation -0.16594226463908748 0.9640794589229981 0.20739807542306207 2.8282784177708953
}
FifaSoccerBall {
  hidden linearVelocity_0 -0.0017863001632876605 -6.558088802588447e-17 0.00015500659103796189
  hidden angularVelocity_0 0.0013778363647818834 0.015612854418459502 0.015878223673668094
  translation -0.6713198336551187 0.051825072000000014 -0.1294212899168139
  rotation -0.48582230709945967 0.3865171530029242 0.7839522793889129 0.7296627453451763
  name "fifa soccer ball(1)"
}
FifaSoccerBall {
  translation 1.2775490139902692 0.05182517546928719 0.8572307331365209
  rotation 0.030785655445081165 0.7205488276355827 0.692720456181138 1.9893441559944516
  name "fifa soccer ball(2)"
}
FifaSoccerBall {
  translation -0.449828111684808 0.05182517546928719 1.3066167394920578
  rotation 0.3178865633983572 0.9471938410361062 0.04209465897296199 -2.850587892524989
  name "fifa soccer ball(3)"
}