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benchmark_empty_large_apartment.wbt
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#VRML_SIM R2023b utf8
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Wall.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Marble.proto"
EXTERNPROTO "../protos/Custom_iRobot_Create.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/CeilingLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto"
WorldInfo {
}
Viewpoint {
orientation -0.5773502691896258 0.5773502691896258 0.5773502691896258 2.0944
position 2.4274798882604807 0.4168076629526771 38.98888408684026
}
TexturedBackground {
}
Wall {
translation -7.375 0 0
name "wall01"
size 0.25 9.5 2.4
appearance DEF WALL_APPEARANCE Marble {
}
}
Wall {
translation 7.375 0 0
name "wall02"
size 0.25 9.5 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation 0 -4.875 0
rotation 0 0 1 1.5708
name "wall03"
size 0.25 15 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation 0 4.875 0
rotation 0 0 1 1.5708
name "wall04"
size 0.25 15 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation -2.875 -3.25 0
rotation 0 0 1 3.141592653589793
name "wall05"
size 0.25 3 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation -2.875 3.25 0
rotation 0 0 1 3.141592653589793
name "wall06"
size 0.25 3 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation 1.625 3.25 0
rotation 0 0 1 3.141592653589793
name "wall07"
size 0.25 3 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation 1.625 -3.25 0
rotation 0 0 1 3.141592653589793
name "wall08"
size 0.25 3 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation -6.5 -1.625 0
rotation 0 0 -1 -1.5707953071795862
name "wall09"
size 0.25 1.5 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation -6.5 1.625 0
rotation 0 0 -1 -1.5707953071795862
name "wall10"
size 0.25 1.5 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation -2.75 1.625 0
rotation 0 0 -1 -1.5707953071795862
name "wall11"
size 0.25 3 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation -2.75 -1.625 0
rotation 0 0 -1 -1.5707953071795862
name "wall12"
size 0.25 3 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation 1 -1.625 0
rotation 0 0 -1 -1.5707953071795862
name "wall13"
size 0.25 1.5 2.4
appearance USE WALL_APPEARANCE
}
Wall {
translation 1 1.625 0
rotation 0 0 -1 -1.5707953071795862
name "wall14"
size 0.25 1.5 2.4
appearance USE WALL_APPEARANCE
}
CeilingLight {
translation -0.55 3.3 2.4
name "ceilinglight01"
pointLightIntensity 4
}
CeilingLight {
translation -0.55 -3.3 2.4
name "ceilinglight02"
pointLightIntensity 4
}
CeilingLight {
translation -5 -3.3 2.4
name "ceilinglight03"
pointLightIntensity 4
}
CeilingLight {
translation -5 3.3 2.4
name "ceilinglight04"
pointLightIntensity 4
}
CeilingLight {
translation 4.5 3 2.4
name "ceilinglight05"
pointLightIntensity 4
}
CeilingLight {
translation 4.5 -3 2.4
name "ceilinglight06"
pointLightIntensity 4
}
Robot {
children [
Shape {
appearance Parquetry {
textureTransform TextureTransform {
scale 10.5 7
}
}
geometry Plane {
size 15 10
}
}
Display {
translation 0 0 0.01
children [
Shape {
appearance PBRAppearance {
baseColorMap ImageTexture {
url [
"https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/irobot/create/controllers/ground/dust.jpg"
]
}
transparency 0.9
roughness 0.5
metalness 0
}
geometry Plane {
size 14.9 9.9
}
}
]
name "large_ground_display"
width 768
height 512
}
]
name "large_ground"
boundingObject Plane {
size 14.9 9.9
}
locked TRUE
controller "large_ground"
supervisor TRUE
}
DEF CUSTOM_ROOMBA Custom_iRobot_Create {
translation 2 4.5 0.044
}
DEF SUPERVISOR Robot {
translation 60 40 0.25
controller "supervisor_ros"
supervisor TRUE
}