#VRML_SIM V8.5 utf8
WorldInfo {
  basicTimeStep 16
}
Viewpoint {
  orientation 0.4303894 0.81909647 0.37927028 4.382532
  position -4.1120344 7.5634384 1.654022
}
Background {
  skyColor [
    1 1 1
  ]
}
Solid {
  children [
    CircleArena {
      radius 7
      subdivision 100
    }
  ]
}
DirectionalLight {
  direction 0 -1 0
}
DEF Robot1 Khepera3 {
  translation 0.2828 0 0
  rotation 0 1 0 -1.57
  name "robot1"
  controller "RobotCtrl1"
  synchronization FALSE
  turretSlot [
    InertialUnit {
      name "inertial unit1"
    }
    GPS {
      name "gps1"
    }
    Emitter {
      name "emitter1"
      channel 1
    }
    Receiver {
      name "receiver1"
      channel 1
    }
  ]
}
DEF Robot2 Khepera3 {
  translation 0 0 0.2828
  rotation 0.00027401198 0.99999992 0.00027379398 -1.57
  controller "RobotCtrl2"
  synchronization FALSE
  turretSlot [
    InertialUnit {
      name "inertial unit2"
    }
    GPS {
      name "gps2"
    }
    Emitter {
      name "emitter2"
      channel 2
    }
    Receiver {
      name "receiver2"
      channel 2
    }
  ]
}
DEF Robot3 Khepera3 {
  translation 0 0 -0.2828
  rotation 0 1 0 -1.57
  controller "RobotCtrl3"
  turretSlot [
    InertialUnit {
      name "inertial unit3"
    }
    GPS {
      name "gps3"
    }
    Emitter {
      name "emitter3"
      channel 3
    }
    Receiver {
      translation 0 0 0.8
      name "receiver3"
      channel 3
    }
  ]
}
DEF Robot4 Khepera3 {
  translation -0.2828 0 0
  rotation 0 1 0 -1.57
  controller "RobotCtrl4"
  turretSlot [
    InertialUnit {
      name "inertial unit4"
    }
    GPS {
      name "gps4"
    }
    Receiver {
      name "receiver4"
      channel 4
    }
    Emitter {
      name "emitter4"
      channel 4
    }
  ]
}
Solid {
  children [
    Ball {
      translation 0.9 0 1.65
      radius 0.1
    }
  ]
}
Solid {
  children [
    CardboardBox {
      translation -0.7 0.2 4
      size 0.2 0.2 0.2
    }
  ]
}
