#VRML_SIM R2023b utf8
# Describe the functionality of your PROTO here.


PROTO three_omniwheel [
  field SFVec3f translation 0 0 0.0694759
  field SFRotation rotation 0 0 1 0
  field SFBool supervisor FALSE
  field SFString controller "omni_robot_test"
  field SFString wheel_1 "wheel1"
  field SFString wheel_2 "wheel2"
  field SFString wheel_3 "wheel3"
  
  field SFString enc_1 "pw1"
  field SFString enc_2 "pw2"
  field SFString enc_3 "pw3"
  
  field SFString imu "IMU"
  
]
{
DEF OMNI_WHEELS Robot {
  translation IS translation
  rotation IS rotation
  children [
    GPS {
    }
    InertialUnit {
      name IS imu
    }
    DEF SOLID1 Solid {
      children [
        DEF WHEEL1 HingeJoint {
          jointParameters HingeJointParameters {
            position 2.1643615637298633e-06
            anchor -0.1 0 0
          }
          device [
            RotationalMotor {
              name IS wheel_2
              maxVelocity 40
            }
            PositionSensor {
              name IS enc_2
            }
          ]
          endPoint Solid {
            translation -0.18800000000000022 0 0
            rotation 1 0 0 2.1643135136802424e-06
            children [
              DEF sr1 HingeJoint {
                jointParameters HingeJointParameters {
                  position 57.8185179862605
                  axis 0 1 0
                  anchor -0.02 0 0.05
                }
                endPoint Solid {
                  translation -0.02 0 0.05
                  rotation 0 -1 0 5.0133350855353624
                  children [
                    DEF r1 Pose {
                      rotation -1 0 0 1.5708
                      children [
                        DEF SMALL_WHEEL_SHAPE Shape {
                          appearance PBRAppearance {
                            baseColor 1 0.752941 0.796078
                            roughness 1
                            metalness 0
                          }
                          geometry Cylinder {
                            height 0.02
                            radius 0.01
                          }
                        }
                      ]
                    }
                  ]
                  name "sr1"
                  boundingObject USE r1
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr2 HingeJoint {
                jointParameters HingeJointParameters {
                  position -72.87950575726012
                  axis 0 -0.707107 0.707107
                  anchor -0.02 0.03535 0.03535
                }
                endPoint Solid {
                  translation -0.02 0.03535 0.03535
                  rotation 0 -0.7071067811865475 0.7071067811865475 2.5187179288949184
                  children [
                    DEF r2 Pose {
                      rotation -1 0 0 2.27
                      children [
                        USE SMALL_WHEEL_SHAPE
                      ]
                    }
                  ]
                  name "sr2"
                  boundingObject USE r2
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr3 HingeJoint {
                jointParameters HingeJointParameters {
                  position 254.08525159893895
                  axis 0 1 0
                  anchor -0.02 0 -0.05
                }
                endPoint Solid {
                  translation -0.02 0 -0.05
                  rotation 0 0.9999999999999999 0 2.757839311755494
                  children [
                    DEF r3 Pose {
                      rotation -1 0 0 1.5708
                      children [
                        USE SMALL_WHEEL_SHAPE
                      ]
                    }
                  ]
                  name "sr3"
                  boundingObject USE r3
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr4 HingeJoint {
                jointParameters HingeJointParameters {
                  position -91.5154893085253
                  axis 0 -0.707107 0.707107
                  anchor -0.02 -0.03535 -0.03535
                }
                endPoint Solid {
                  translation -0.02 -0.03535 -0.03535
                  rotation 0 0.7071067811865476 -0.7071067811865476 3.550895008011093
                  children [
                    DEF r4 Pose {
                      rotation -1 0 0 2.27
                      children [
                        USE SMALL_WHEEL_SHAPE
                      ]
                    }
                  ]
                  name "sr4"
                  boundingObject USE r4
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr5 HingeJoint {
                jointParameters HingeJointParameters {
                  position -57.77216958013899
                  axis 0 0 1
                  anchor -0.02 0.05 0
                }
                endPoint Solid {
                  translation -0.02 0.05 0
                  rotation 0 0 1 5.059683491656872
                  children [
                    DEF r5 Pose {
                      children [
                        USE SMALL_WHEEL_SHAPE
                      ]
                    }
                  ]
                  name "sr5"
                  boundingObject USE r5
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr6 HingeJoint {
                jointParameters HingeJointParameters {
                  position 29.313352597901943
                  axis 0 0 1
                  anchor -0.02 -0.05 0
                }
                endPoint Solid {
                  translation -0.02 -0.05 0
                  rotation 0 0 1 4.180611369183597
                  children [
                    DEF r6 Pose {
                      children [
                        USE SMALL_WHEEL_SHAPE
                      ]
                    }
                  ]
                  name "sr6"
                  boundingObject USE r6
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr7 HingeJoint {
                jointParameters HingeJointParameters {
                  position -30.271672667590778
                  axis 0 0.707107 0.707107
                  anchor -0.02 0.03535 -0.03535
                }
                endPoint Solid {
                  translation -0.02 0.03535 -0.03535
                  rotation 0 -0.7071067811865476 -0.7071067811865476 5.138931438872432
                  children [
                    DEF r7 Pose {
                      rotation -1 0 0 0.76
                      children [
                        USE SMALL_WHEEL_SHAPE
                      ]
                    }
                  ]
                  name "sr7"
                  boundingObject USE r7
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr8 HingeJoint {
                jointParameters HingeJointParameters {
                  position 43.759922240170496
                  axis 0 0.707107 0.707107
                  anchor -0.02 -0.03535 0.03535
                }
                endPoint Solid {
                  translation -0.02 -0.03535 0.03535
                  rotation 0 0.7071067811865475 0.7071067811865475 6.060810397092978
                  children [
                    DEF r8 Pose {
                      rotation -1 0 0 0.76
                      children [
                        USE SMALL_WHEEL_SHAPE
                      ]
                    }
                  ]
                  name "sr8"
                  boundingObject USE r8
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF WHEEL_TRANS Pose {
                translation -0.02 0 0
                rotation 0 -1 0 1.5708
                children [
                  DEF WHEEL_SHAPE Shape {
                    appearance PBRAppearance {
                      baseColor 0.678431 0.847059 0.901961
                      roughness 1
                      metalness 0
                    }
                    geometry Cylinder {
                      height 0.02
                      radius 0.05
                      subdivision 20
                    }
                  }
                ]
              }
            ]
            boundingObject Pose {
              translation -0.02 0 0
              rotation 0 -1 0 1.5708
              children [
                DEF wheel1 Shape {
                  appearance PBRAppearance {
                    baseColor 0.8 0.8 0.8
                    transparency 0.12999999523162842
                    roughness 1
                    metalness 0
                    emissiveColor 0 1 0
                  }
                  geometry Cylinder {
                    height 0.02
                    radius 0.05
                  }
                }
              ]
            }
            physics Physics {
            }
          }
        }
      ]
      name "wheel 1"
      boundingObject DEF DUMMY Sphere {
        radius 0.01
      }
      physics Physics {
      }
    }
    DEF SOLID2 Solid {
      rotation 0 0 1 2.09
      children [
        DEF WHEEL2 HingeJoint {
          jointParameters HingeJointParameters {
            position 2.147203700564652e-06
            anchor -0.1 0 0
          }
          device [
            RotationalMotor {
              name IS wheel_3
              maxVelocity 40
            }
            PositionSensor {
              name IS enc_3
            }
          ]
          endPoint Solid {
            translation -0.18800000000000022 0 0
            rotation -1 0 0 0.0024036627866462442
            children [
              DEF sr1 HingeJoint {
                jointParameters HingeJointParameters {
                  position 201.28591247298849
                  axis 0 1 0
                  anchor -0.02 0 0.05
                }
                endPoint Solid {
                  translation -0.02 0 0.05
                  rotation 0 1 0 0.22398264324171874
                  children [
                    USE r1
                  ]
                  name "sr1"
                  boundingObject USE r1
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr2 HingeJoint {
                jointParameters HingeJointParameters {
                  position -547.5899169781771
                  axis 0 -0.707107 0.707107
                  anchor -0.02 0.03535 0.03535
                }
                endPoint Solid {
                  translation -0.02 0.03535 0.03535
                  rotation 0 -0.7071067811865477 0.7071067811865477 5.330390053626466
                  children [
                    USE r2
                  ]
                  name "sr2"
                  boundingObject USE r2
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr3 HingeJoint {
                jointParameters HingeJointParameters {
                  position -206.92828017054742
                  axis 0 1 0
                  anchor -0.02 0 -0.05
                }
                endPoint Solid {
                  translation -0.02 0 -0.05
                  rotation 0 -1 0 5.866350340800657
                  children [
                    USE r3
                  ]
                  name "sr3"
                  boundingObject USE r3
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr4 HingeJoint {
                jointParameters HingeJointParameters {
                  position 420.37627206700927
                  axis 0 -0.707107 0.707107
                  anchor -0.02 -0.03535 -0.03535
                }
                endPoint Solid {
                  translation -0.02 -0.03535 -0.03535
                  rotation 0 -0.7071067811865476 0.7071067811865476 5.68604179315656
                  children [
                    USE r4
                  ]
                  name "sr4"
                  boundingObject USE r4
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr5 HingeJoint {
                jointParameters HingeJointParameters {
                  position -222.66482730239827
                  axis 0 0 1
                  anchor -0.02 0.05 0
                }
                endPoint Solid {
                  translation -0.02 0.05 0
                  rotation 0 0 1 3.529843756066848
                  children [
                    USE r5
                  ]
                  name "sr5"
                  boundingObject USE r5
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr6 HingeJoint {
                jointParameters HingeJointParameters {
                  position 512.1259858934077
                  axis 0 0 1
                  anchor -0.02 -0.05 0
                }
                endPoint Solid {
                  translation -0.02 -0.05 0
                  rotation 0 0 -1 3.0952092953184036
                  children [
                    USE r6
                  ]
                  name "sr6"
                  boundingObject USE r6
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr7 HingeJoint {
                jointParameters HingeJointParameters {
                  position -594.2001560064724
                  axis 0 0.707107 0.707107
                  anchor -0.02 0.03535 -0.03535
                }
                endPoint Solid {
                  translation -0.02 0.03535 -0.03535
                  rotation 0 -0.7071067811865476 -0.7071067811865476 3.580737131591283
                  children [
                    USE r7
                  ]
                  name "sr7"
                  boundingObject USE r7
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr8 HingeJoint {
                jointParameters HingeJointParameters {
                  position 368.1888428392369
                  axis 0 0.707107 0.707107
                  anchor -0.02 -0.03535 0.03535
                }
                endPoint Solid {
                  translation -0.02 -0.03535 0.03535
                  rotation 0 0.7071067811865475 0.7071067811865475 3.764095022820868
                  children [
                    USE r8
                  ]
                  name "sr8"
                  boundingObject USE r8
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              USE WHEEL_TRANS
            ]
            boundingObject Pose {
              translation -0.02 0 0
              rotation 0 -1 0 1.5708
              children [
                DEF wheel1 Shape {
                  appearance PBRAppearance {
                    baseColor 0.8 0.8 0.8
                    transparency 0.12999999523162842
                    roughness 1
                    metalness 0
                    emissiveColor 0 1 0
                  }
                  geometry Cylinder {
                    height 0.02
                    radius 0.05
                  }
                }
              ]
            }
            physics Physics {
            }
          }
        }
      ]
      name "wheel 2"
      boundingObject USE DUMMY
      physics Physics {
      }
    }
    DEF SOLID3 Solid {
      rotation 0 0 1 4.18
      children [
        DEF WHEEL3 HingeJoint {
          jointParameters HingeJointParameters {
            position 2.1651704619267438e-06
            anchor -0.1 0 0
          }
          device [
            PositionSensor {
              name IS enc_1
            }
            RotationalMotor {
              name IS wheel_1
              maxVelocity 40
            }
          ]
          endPoint Solid {
            translation -0.188 0 0
            rotation -1 0 0 0.003907274705380449
            children [
              DEF sr1 HingeJoint {
                jointParameters HingeJointParameters {
                  position 108.70539791483581
                  axis 0 1 0
                  anchor -0.02 0 0.05
                }
                endPoint Solid {
                  translation -0.02 0 0.05
                  rotation 0 -1 0 4.391937614396743
                  children [
                    USE r1
                  ]
                  name "sr1"
                  boundingObject USE r1
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr2 HingeJoint {
                jointParameters HingeJointParameters {
                  position -411.60744599975556
                  axis 0 -0.707107 0.707107
                  anchor -0.02 0.03535 0.03535
                }
                endPoint Solid {
                  translation -0.02 0.03535 0.03535
                  rotation 0 -0.7071067811865476 0.7071067811865476 3.0827842740971523
                  children [
                    USE r2
                  ]
                  name "sr2"
                  boundingObject USE r2
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr3 HingeJoint {
                jointParameters HingeJointParameters {
                  position -175.16445331775438
                  axis 0 1 0
                  anchor -0.02 0 -0.05
                }
                endPoint Solid {
                  translation -0.02 0 -0.05
                  rotation 0 1 0 0.7647352832740422
                  children [
                    USE r3
                  ]
                  name "sr3"
                  boundingObject USE r3
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr4 HingeJoint {
                jointParameters HingeJointParameters {
                  position 604.8094183337004
                  axis 0 -0.707107 0.707107
                  anchor -0.02 -0.03535 -0.03535
                }
                endPoint Solid {
                  translation -0.02 -0.03535 -0.03535
                  rotation 0 -0.7071067811865476 0.7071067811865476 1.6236288444600624
                  children [
                    USE r4
                  ]
                  name "sr4"
                  boundingObject USE r4
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr5 HingeJoint {
                jointParameters HingeJointParameters {
                  position -72.1547326648585
                  axis 0 0 1
                  anchor -0.02 0.05 0
                }
                endPoint Solid {
                  translation -0.02 0.05 0
                  rotation 0 0 0.9999999999999999 3.243491021296538
                  children [
                    USE r5
                  ]
                  name "sr5"
                  boundingObject USE r5
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr6 HingeJoint {
                jointParameters HingeJointParameters {
                  position 135.00475088700045
                  axis 0 0 1
                  anchor -0.02 -0.05 0
                }
                endPoint Solid {
                  translation -0.02 -0.05 0
                  rotation 0 0 -1 3.2253258709504475
                  children [
                    USE r6
                  ]
                  name "sr6"
                  boundingObject USE r6
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr7 HingeJoint {
                jointParameters HingeJointParameters {
                  position -236.81899650662353
                  axis 0 0.707107 0.707107
                  anchor -0.02 0.03535 -0.03535
                }
                endPoint Solid {
                  translation -0.02 0.03535 -0.03535
                  rotation 0 0.7071067811865476 0.7071067811865476 1.9420451662007516
                  children [
                    USE r7
                  ]
                  name "sr7"
                  boundingObject USE r7
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              DEF sr8 HingeJoint {
                jointParameters HingeJointParameters {
                  position 203.55589624475382
                  axis 0 0.707107 0.707107
                  anchor -0.02 -0.03535 0.03535
                }
                endPoint Solid {
                  translation -0.02 -0.03535 0.03535
                  rotation 0 0.7071067811865476 0.7071067811865476 2.4939664150070575
                  children [
                    USE r8
                  ]
                  name "sr8"
                  boundingObject USE r8
                  physics Physics {
                    density -1
                    mass 0.1
                  }
                }
              }
              USE WHEEL_TRANS
            ]
            boundingObject Pose {
              translation -0.02 0 0
              rotation 0 -1 0 1.5708
              children [
                DEF wheel1 Shape {
                  appearance PBRAppearance {
                    baseColor 0.8 0.8 0.8
                    transparency 0.12999999523162842
                    roughness 1
                    metalness 0
                    emissiveColor 0 1 0
                  }
                  geometry Cylinder {
                    height 0.02
                    radius 0.05
                  }
                }
              ]
            }
            physics Physics {
            }
          }
        }
      ]
      name "wheel 3"
      boundingObject USE DUMMY
      physics Physics {
      }
    }
    Camera {
      translation 0 0 2
      fieldOfView 0.5
      width 640
      height 480
      exposure 1.0
      projection "planar"
    }
    DEF BODY_TRANS Pose {
      translation 0 0 0.03
      children [
        Shape {
          appearance PBRAppearance {
            baseColor 0.564706 0.933333 0.564706
            roughness 1
            metalness 0
          }
          geometry Cylinder {
            height 0.15
            radius 0.18
            subdivision 18
          }
        }
      ]
    }
  ]
  boundingObject USE BODY_TRANS
  physics Physics {
  }
  recognitionColors [
    0 0 0
  ]
  controller IS controller
  supervisor IS supervisor
}


}