diff --git a/controllers/my_controller/geheim.py b/controllers/my_controller/geheim.py
index e33ff068179e6b287e39aca9aed043e049b44c26..e1e2e41a901b8943b0e0b5da03229d1ec8d2da09 100644
--- a/controllers/my_controller/geheim.py
+++ b/controllers/my_controller/geheim.py
@@ -3,11 +3,8 @@
hier werden später die geheimen Zufallszahlen eingetragen.
Erzeugung: import random; print(random.randint(1,1e6))
"""
-print("INFO: Zufallszahlen sind nur für Probelauf")
-SEED_PROBELAUF_VERSUCH1 = 804662
-SEED_PROBELAUF_VERSUCH2 = 418062
+# SEED_PROBELAUF_VERSUCH1 = 804662
+# SEED_PROBELAUF_VERSUCH2 = 418062
-# SEED_LEVEL1_VERSUCH1 =
-# SEED_LEVEL1_VERSUCH2 =
-# SEED_LEVEL2_VERSUCH1 =
-# SEED_LEVEL2_VERSUCH2 =
\ No newline at end of file
+# SEED_WETTBEWERB[level 1 oder 2][versuch 1 oder 2]
+SEED_WETTBEWERB={1: {1: 88214, 2: 576637}, 2: {1: 99610, 2: 86419}}
diff --git a/controllers/my_controller/my_controller.py b/controllers/my_controller/my_controller.py
index b50176abdaac692f84af15a5c11e0879798f2a30..77c052977545d731863825f1e708c6a553619204 100644
--- a/controllers/my_controller/my_controller.py
+++ b/controllers/my_controller/my_controller.py
@@ -13,11 +13,12 @@ from studi.main import mechsys_controller
import geheim
keyboard = False # True: Fernsteuerung per Tastatur, False: Regler aktiv
-level = 1 # <--1 oder 2
+level = REPLACEME
+versuch = 1 # erster Versuch
# seed = False # Üben ohne Zufallsstörung
-seed = geheim.SEED_PROBELAUF_VERSUCH1
+seed = geheim.SEED_WETTBEWERB[level][versuch]
# seed = 23 # Startwert für Zufallsgenerator (irgendeine Zahl, wird im Wettbewerb zufällig gesetzt)
# (Die Beispiel-Lösung hat bei 23 Unglück, bei 2345 Glück)
ctrl = mechsys_controller(level)
-mechsys_main(ctrl, level, seed, keyboard)
\ No newline at end of file
+mechsys_main(ctrl, level, seed, keyboard)
diff --git a/textures/1_Level2_Wettkampf.png b/textures/1_Level2_Wettkampf.png
new file mode 100644
index 0000000000000000000000000000000000000000..57cb98eb73e5f7b7067ad4eaa544b0ad212c5df3
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diff --git a/textures/3_Level1_Wettkampf.png b/textures/3_Level1_Wettkampf.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d6f1ac2973b08d127514b9b6290d434b095a76e
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diff --git a/textures/3_Level2_Wettkampf.png b/textures/3_Level2_Wettkampf.png
new file mode 100644
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diff --git a/textures/4_Level2_Wettkampf.png b/textures/4_Level2_Wettkampf.png
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diff --git a/textures/5_Level2_Wettkampf.png b/textures/5_Level2_Wettkampf.png
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diff --git a/textures/6_Level2_Wettkampf.png b/textures/6_Level2_Wettkampf.png
new file mode 100644
index 0000000000000000000000000000000000000000..58c610e1b1f3b2f0ee19993b37c40137e03d657e
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diff --git a/worlds/.gitignore b/worlds/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
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index 8a42b63bb265dd497b2507ae1c796fb0c8d6e447..10691f5709243b0a78015fb6a59f63a9532ab12d 100644
--- a/worlds/.simulation-probelauf-level1.wbproj
+++ b/worlds/.simulation-probelauf-level1.wbproj
@@ -1,6 +1,6 @@
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sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
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-renderingDevicePerspectives: myBot:cameraFront;1;31.8;0;0
+renderingDevicePerspectives: myBot:cameraFront;1;32;0;0
x3dExport-shadowBias: 0
x3dExport-shadowMapSize: 2048
x3dExport-shadowRadius: 0
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index 42becf4230b84eca7abe6917918ece534df30f43..10691f5709243b0a78015fb6a59f63a9532ab12d 100644
--- a/worlds/.simulation-probelauf-level2.wbproj
+++ b/worlds/.simulation-probelauf-level2.wbproj
@@ -1,6 +1,6 @@
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sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
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-renderingDevicePerspectives: myBot:cameraFront;1;28.5333;0;0
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+renderingDevicePerspectives: myBot:cameraFront;1;32;0;0
x3dExport-shadowBias: 0
x3dExport-shadowMapSize: 2048
x3dExport-shadowRadius: 0
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..42becf4230b84eca7abe6917918ece534df30f43
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new file mode 100644
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diff --git a/worlds/.simulation-wettbewerb-level2-variante3.wbt b/worlds/.simulation-wettbewerb-level2-variante3.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..42becf4230b84eca7abe6917918ece534df30f43
--- /dev/null
+++ b/worlds/.simulation-wettbewerb-level2-variante3.wbt
@@ -0,0 +1,18 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000304000003c5fc0200000001fb0000001400540065007800740045006400690074006f00720100000017000003c5000000a200ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000476000003c500000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000118000005560100000006010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
+maximizedDockId: -1
+centralWidgetVisible: 1
+projectionMode: PERSPECTIVE
+renderingMode: PLAIN
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 2.01679
+textFiles: 2 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py"
+globalOptionalRendering: CameraFrustums::ContactPoints::DistanceSensorRays::AllBoundingObjects
+renderingDevicePerspectives: myBot:cameraFront;1;28.5333;0;0
+x3dExport-shadowBias: 0
+x3dExport-shadowMapSize: 2048
+x3dExport-shadowRadius: 0
diff --git a/worlds/.simulation-wettbewerb-level2-variante4.wbproj b/worlds/.simulation-wettbewerb-level2-variante4.wbproj
new file mode 100644
index 0000000000000000000000000000000000000000..10691f5709243b0a78015fb6a59f63a9532ab12d
--- /dev/null
+++ b/worlds/.simulation-wettbewerb-level2-variante4.wbproj
@@ -0,0 +1,17 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000239000002effc0200000001fb0000001400540065007800740045006400690074006f00720100000017000002ef000000a200ffffff0000000300000780000000d4fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000541000002ef00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000000000004700100000006010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
+maximizedDockId: -1
+centralWidgetVisible: 1
+projectionMode: PERSPECTIVE
+renderingMode: PLAIN
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 2.01679
+textFiles: 0 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py" "controllers/my_controller/geheim.py"
+renderingDevicePerspectives: myBot:cameraFront;1;32;0;0
+x3dExport-shadowBias: 0
+x3dExport-shadowMapSize: 2048
+x3dExport-shadowRadius: 0
diff --git a/worlds/.simulation-wettbewerb-level2-variante4.wbt b/worlds/.simulation-wettbewerb-level2-variante4.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..42becf4230b84eca7abe6917918ece534df30f43
--- /dev/null
+++ b/worlds/.simulation-wettbewerb-level2-variante4.wbt
@@ -0,0 +1,18 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000304000003c5fc0200000001fb0000001400540065007800740045006400690074006f00720100000017000003c5000000a200ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000476000003c500000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000118000005560100000006010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
+maximizedDockId: -1
+centralWidgetVisible: 1
+projectionMode: PERSPECTIVE
+renderingMode: PLAIN
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 2.01679
+textFiles: 2 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py"
+globalOptionalRendering: CameraFrustums::ContactPoints::DistanceSensorRays::AllBoundingObjects
+renderingDevicePerspectives: myBot:cameraFront;1;28.5333;0;0
+x3dExport-shadowBias: 0
+x3dExport-shadowMapSize: 2048
+x3dExport-shadowRadius: 0
diff --git a/worlds/.simulation-wettbewerb-level2-variante5.wbproj b/worlds/.simulation-wettbewerb-level2-variante5.wbproj
new file mode 100644
index 0000000000000000000000000000000000000000..10691f5709243b0a78015fb6a59f63a9532ab12d
--- /dev/null
+++ b/worlds/.simulation-wettbewerb-level2-variante5.wbproj
@@ -0,0 +1,17 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000239000002effc0200000001fb0000001400540065007800740045006400690074006f00720100000017000002ef000000a200ffffff0000000300000780000000d4fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000541000002ef00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000000000004700100000006010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
+maximizedDockId: -1
+centralWidgetVisible: 1
+projectionMode: PERSPECTIVE
+renderingMode: PLAIN
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 2.01679
+textFiles: 0 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py" "controllers/my_controller/geheim.py"
+renderingDevicePerspectives: myBot:cameraFront;1;32;0;0
+x3dExport-shadowBias: 0
+x3dExport-shadowMapSize: 2048
+x3dExport-shadowRadius: 0
diff --git a/worlds/.simulation-wettbewerb-level2-variante5.wbt b/worlds/.simulation-wettbewerb-level2-variante5.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..42becf4230b84eca7abe6917918ece534df30f43
--- /dev/null
+++ b/worlds/.simulation-wettbewerb-level2-variante5.wbt
@@ -0,0 +1,18 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000304000003c5fc0200000001fb0000001400540065007800740045006400690074006f00720100000017000003c5000000a200ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000476000003c500000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000118000005560100000006010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
+maximizedDockId: -1
+centralWidgetVisible: 1
+projectionMode: PERSPECTIVE
+renderingMode: PLAIN
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 2.01679
+textFiles: 2 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py"
+globalOptionalRendering: CameraFrustums::ContactPoints::DistanceSensorRays::AllBoundingObjects
+renderingDevicePerspectives: myBot:cameraFront;1;28.5333;0;0
+x3dExport-shadowBias: 0
+x3dExport-shadowMapSize: 2048
+x3dExport-shadowRadius: 0
diff --git a/worlds/.simulation-wettbewerb-level2-variante6.wbproj b/worlds/.simulation-wettbewerb-level2-variante6.wbproj
new file mode 100644
index 0000000000000000000000000000000000000000..10691f5709243b0a78015fb6a59f63a9532ab12d
--- /dev/null
+++ b/worlds/.simulation-wettbewerb-level2-variante6.wbproj
@@ -0,0 +1,17 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000239000002effc0200000001fb0000001400540065007800740045006400690074006f00720100000017000002ef000000a200ffffff0000000300000780000000d4fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000541000002ef00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000000000004700100000006010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
+maximizedDockId: -1
+centralWidgetVisible: 1
+projectionMode: PERSPECTIVE
+renderingMode: PLAIN
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 2.01679
+textFiles: 0 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py" "controllers/my_controller/geheim.py"
+renderingDevicePerspectives: myBot:cameraFront;1;32;0;0
+x3dExport-shadowBias: 0
+x3dExport-shadowMapSize: 2048
+x3dExport-shadowRadius: 0
diff --git a/worlds/.simulation-wettbewerb-level2-variante6.wbt b/worlds/.simulation-wettbewerb-level2-variante6.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..42becf4230b84eca7abe6917918ece534df30f43
--- /dev/null
+++ b/worlds/.simulation-wettbewerb-level2-variante6.wbt
@@ -0,0 +1,18 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000304000003c5fc0200000001fb0000001400540065007800740045006400690074006f00720100000017000003c5000000a200ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000476000003c500000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000118000005560100000006010000000101
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
+minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
+maximizedDockId: -1
+centralWidgetVisible: 1
+projectionMode: PERSPECTIVE
+renderingMode: PLAIN
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 2.01679
+textFiles: 2 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py"
+globalOptionalRendering: CameraFrustums::ContactPoints::DistanceSensorRays::AllBoundingObjects
+renderingDevicePerspectives: myBot:cameraFront;1;28.5333;0;0
+x3dExport-shadowBias: 0
+x3dExport-shadowMapSize: 2048
+x3dExport-shadowRadius: 0
diff --git a/worlds/.simulation.wbproj b/worlds/.simulation.wbproj
index 42becf4230b84eca7abe6917918ece534df30f43..10691f5709243b0a78015fb6a59f63a9532ab12d 100644
--- a/worlds/.simulation.wbproj
+++ b/worlds/.simulation.wbproj
@@ -1,6 +1,6 @@
Webots Project File version R2020a
-perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000304000003c5fc0200000001fb0000001400540065007800740045006400690074006f00720100000017000003c5000000a200ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000476000003c500000001000000020000000100000008fc00000000
-simulationViewPerspectives: 000000ff000000010000000200000118000005560100000006010000000101
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000239000002effc0200000001fb0000001400540065007800740045006400690074006f00720100000017000002ef000000a200ffffff0000000300000780000000d4fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000541000002ef00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000000000004700100000006010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
minimizedPerspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034dfc0200000002fb0000001400540065007800740045006400690074006f007201000000170000034d000000a200fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001b5000001af0000001800ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000006560000034d00000001000000020000000100000008fc00000000
maximizedDockId: -1
@@ -10,9 +10,8 @@ renderingMode: PLAIN
selectionDisabled: 0
viewpointLocked: 0
orthographicViewHeight: 2.01679
-textFiles: 2 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py"
-globalOptionalRendering: CameraFrustums::ContactPoints::DistanceSensorRays::AllBoundingObjects
-renderingDevicePerspectives: myBot:cameraFront;1;28.5333;0;0
+textFiles: 0 "controllers/my_controller/my_controller.py" "controllers/my_controller/mechsys_lib.py" "controllers/my_controller/studi/main.py" "controllers/my_controller/geheim.py"
+renderingDevicePerspectives: myBot:cameraFront;1;32;0;0
x3dExport-shadowBias: 0
x3dExport-shadowMapSize: 2048
x3dExport-shadowRadius: 0
diff --git a/worlds/simulation-wettbewerb-erzeuge-vorlangen.sh b/worlds/simulation-wettbewerb-erzeuge-vorlangen.sh
new file mode 100644
index 0000000000000000000000000000000000000000..6a781c7062a28b93e8164234e3494c861f55ad08
--- /dev/null
+++ b/worlds/simulation-wettbewerb-erzeuge-vorlangen.sh
@@ -0,0 +1,8 @@
+for l in 1 2; do
+ for i in `seq 1 6`; do
+ cp simulation-wettbewerb-referenz.wbt simulation-wettbewerb-level${l}-variante${i}.wbt;
+ sed -i s%../textures/spielfeld.png%../textures/${i}_Level${l}_Wettkampf.png% simulation-wettbewerb-level${l}-variante${i}.wbt
+ webots simulation-wettbewerb-level${l}-variante${i}.wbt
+ cp .simulation.wbproj .simulation-wettbewerb-level${l}-variante${i}.wbt;
+ done;
+done
diff --git a/worlds/simulation-wettbewerb-level1-variante3.wbt b/worlds/simulation-wettbewerb-level1-variante3.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..3769224ae27b5f0147b2fb7cd7c59ab435562977
--- /dev/null
+++ b/worlds/simulation-wettbewerb-level1-variante3.wbt
@@ -0,0 +1,1046 @@
+#VRML_SIM R2020a utf8
+WorldInfo {
+ contactProperties [
+ ContactProperties {
+ material2 "roboter"
+ coulombFriction [
+ 2
+ ]
+ }
+ ContactProperties {
+ material1 "boden"
+ material2 "roboter"
+ coulombFriction [
+ 0.01
+ ]
+ rollSound ""
+ slideSound ""
+ }
+ ContactProperties {
+ }
+ ContactProperties {
+ material2 "boden"
+ coulombFriction [
+ 2
+ ]
+ }
+ ]
+}
+Viewpoint {
+ orientation 0.9984225774225822 -0.0030604615422853013 0.05606238014922399 5.128808979160914
+ position -2.4203227020675064 6.438816426047065 1.0891002175059525
+ follow "myBot"
+}
+TexturedBackground {
+ skyColor [
+ 1 1 1
+ ]
+}
+DirectionalLight {
+ direction 0 -1 0
+ intensity 1.5
+}
+TexturedBackgroundLight {
+ luminosity 0.5
+ castShadows FALSE
+}
+RectangleArena {
+ translation 0.35 0 0.03
+ contactMaterial "boden"
+ floorSize 8.7 5.8
+ floorTileSize 8.7 5.8
+ floorAppearance PBRAppearance {
+ baseColorMap ImageTexture {
+ url [
+ "../textures/3_Level1_Wettkampf.png"
+ ]
+ repeatS FALSE
+ repeatT FALSE
+ }
+ roughness 1
+ metalness 0
+ }
+ wallHeight 0.05
+}
+ziel {
+ translation 2.34 0 -2.37
+ name "Ziel fuer Werkstueck(4)"
+}
+ziel {
+ translation 0.1 0 1.03
+ name "Ziel fuer Werkstueck(3)"
+}
+Robot {
+ translation -3.00445 0.086436 -1.93304
+ rotation 0.9999674317272567 0.0047687176853651436 -0.006511130196179311 -1.5708563241940612
+ children [
+ Connector {
+ translation -0.16412 -0.116593 0.05
+ rotation 0 0 -1 1.309
+ name "connector2"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 -0.01 0.05
+ rotation 0 0 1 -1.5707953071795862
+ name "connector1"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 0.11 0.05
+ rotation 0 0 1 -1.8325953071795862
+ name "connector0"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ DistanceSensor {
+ translation 0.29 0 -0.03
+ children [
+ DEF SENSOR Transform {
+ translation -0.01 7.96327e-06 0
+ rotation 0 0 1 1.57
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.975691 0.981481 0.0252992
+ roughness 1
+ metalness 0
+ }
+ geometry Cylinder {
+ height 0.02
+ radius 0.008
+ }
+ castShadows FALSE
+ isPickable FALSE
+ }
+ ]
+ }
+ ]
+ name "distance"
+ lookupTable [
+ 0 0 0
+ 0.5 0.5 0.1
+ ]
+ type "laser"
+ aperture 0.01
+ }
+ Camera {
+ translation 0.27 -1.52555e-07 0.00292878
+ rotation -0.3574041489310547 0.3574041489310547 0.8628583595548791 -1.7177753071795863
+ name "cameraFront"
+ fieldOfView 1.9
+ width 30
+ height 1
+ }
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.05 0.05 0.05
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF YBBodyCoord Coordinate {
+ point [
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+ }
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+ }
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+ roughness 0.4
+ metalness 0
+ }
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+ ]
+ creaseAngle 0.7
+ }
+ }
+ ]
+ }
+ HingeJoint {
+ jointParameters HingeJointParameters {
+ position 1.8015365943519771e-06
+ axis 0 -1 0
+ anchor 0 0 0.155
+ }
+ device [
+ RotationalMotor {
+ name "arm3"
+ maxVelocity 1.5708
+ minPosition -2.63545
+ maxPosition 2.54818
+ maxTorque 6
+ }
+ PositionSensor {
+ name "arm3sensor"
+ }
+ ]
+ endPoint Solid {
+ translation 0 0 0.155
+ rotation 0 -1 0 1.801500470603457e-06
+ children [
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 1 0.4 0
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF Arm3Coord Coordinate {
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+ ]
+ creaseAngle 1
+ }
+ }
+ ]
+ name "plate"
+ physics Physics {
+ density -1
+ mass 0.5
+ centerOfMass [
+ 0 0 0.05
+ ]
+ inertiaMatrix [
+ 0.004 0.004 0.004
+ 0 0 0
+ ]
+ }
+ }
+ ]
+ name "myBot"
+ model "Mein Roboter"
+ description "der beste der Welt"
+ contactMaterial "roboter"
+ boundingObject Group {
+ children [
+ DEF workaround Transform {
+ translation -0.15 0 -0.025
+ children [
+ Box {
+ size 0.25 0.33 0.15
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.34 0.34 0.09
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.56 0.23 0.09
+ }
+ ]
+ }
+ ]
+ }
+ physics Physics {
+ density -1
+ mass 22
+ centerOfMass [
+ 0 0 -0.045
+ ]
+ inertiaMatrix [
+ 0.166204 0.418086 0.55459
+ 0 0 0
+ ]
+ }
+ controller "my_controller"
+ selfCollision TRUE
+}
+ziel {
+ translation -3.37 0 0.02
+}
+ziel {
+ translation 3.26 0 0.03
+ name "Ziel fuer Werkstueck(1)"
+}
+DEF SperreA1 sperre {
+ translation 1.01872 0 -1.9657
+ rotation 0 1 0 2.3562
+ name "Strassensperre(2)"
+ aktiv FALSE
+}
+DEF SperreA2 sperre {
+ translation 0.997339 1.58671e-08 -0.957342
+ rotation -9.58977e-09 1 3.97223e-09 2.35619
+}
+DEF SperreB1 sperre {
+ translation -2.97629 0 2.0312
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(1)"
+}
+DEF SperreB2 sperre {
+ translation -1.66103 0 1.02714
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(4)"
+ aktiv FALSE
+}
+DEF SperreC1 sperre {
+ translation 2.32976 0 1.02534
+ rotation 0 1 0 2.3562
+ name "Strassensperre(3)"
+}
+DEF SperreC2 sperre {
+ translation 3.64178 0 2.00282
+ rotation 0 1 0 -0.7853853071795864
+ name "Strassensperre(5)"
+ aktiv FALSE
+}
+DEF gruen Paket {
+ translation -3.19402 0.168753 -2.04411
+ rotation 0.005647286100649096 -0.999957226079311 -0.0073249007820445095 -1.310781185159774
+ color 0 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF gelb Paket {
+ translation -3.19382 0.159238 -1.92263
+ rotation -0.005645640623064085 0.9999682807183922 0.005618211375332778 1.5725715587727864
+ name "Paket(1)"
+ color 1 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF rot Paket {
+ translation -3.19402 0.168973 -1.81756
+ rotation -0.005677542111811391 0.9990801510885569 0.042504319973800865 0.2637786903671344
+ name "Paket(2)"
+ color 1 0 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF blau Paket {
+ translation -2.69 0.07 -2.23
+ name "Paket(3)"
+ color 0 1 1
+}
+Paket {
+ translation -3.26 0.07 -2.23
+ name "Paket(4)"
+ color 0.7 0.4 0.7
+}
diff --git a/worlds/simulation-wettbewerb-level2-variante1.wbt b/worlds/simulation-wettbewerb-level2-variante1.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..ecc8fb72581a2ba490190ff617a765891448c23d
--- /dev/null
+++ b/worlds/simulation-wettbewerb-level2-variante1.wbt
@@ -0,0 +1,1046 @@
+#VRML_SIM R2020a utf8
+WorldInfo {
+ contactProperties [
+ ContactProperties {
+ material2 "roboter"
+ coulombFriction [
+ 2
+ ]
+ }
+ ContactProperties {
+ material1 "boden"
+ material2 "roboter"
+ coulombFriction [
+ 0.01
+ ]
+ rollSound ""
+ slideSound ""
+ }
+ ContactProperties {
+ }
+ ContactProperties {
+ material2 "boden"
+ coulombFriction [
+ 2
+ ]
+ }
+ ]
+}
+Viewpoint {
+ orientation 0.9984225774225822 -0.0030604615422853013 0.05606238014922399 5.128808979160914
+ position -2.4203227020675064 6.438816426047065 1.0891002175059525
+ follow "myBot"
+}
+TexturedBackground {
+ skyColor [
+ 1 1 1
+ ]
+}
+DirectionalLight {
+ direction 0 -1 0
+ intensity 1.5
+}
+TexturedBackgroundLight {
+ luminosity 0.5
+ castShadows FALSE
+}
+RectangleArena {
+ translation 0.35 0 0.03
+ contactMaterial "boden"
+ floorSize 8.7 5.8
+ floorTileSize 8.7 5.8
+ floorAppearance PBRAppearance {
+ baseColorMap ImageTexture {
+ url [
+ "../textures/1_Level2_Wettkampf.png"
+ ]
+ repeatS FALSE
+ repeatT FALSE
+ }
+ roughness 1
+ metalness 0
+ }
+ wallHeight 0.05
+}
+ziel {
+ translation 2.34 0 -2.37
+ name "Ziel fuer Werkstueck(4)"
+}
+ziel {
+ translation 0.1 0 1.03
+ name "Ziel fuer Werkstueck(3)"
+}
+Robot {
+ translation -3.00445 0.086436 -1.93304
+ rotation 0.9999674317272567 0.0047687176853651436 -0.006511130196179311 -1.5708563241940612
+ children [
+ Connector {
+ translation -0.16412 -0.116593 0.05
+ rotation 0 0 -1 1.309
+ name "connector2"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 -0.01 0.05
+ rotation 0 0 1 -1.5707953071795862
+ name "connector1"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 0.11 0.05
+ rotation 0 0 1 -1.8325953071795862
+ name "connector0"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ DistanceSensor {
+ translation 0.29 0 -0.03
+ children [
+ DEF SENSOR Transform {
+ translation -0.01 7.96327e-06 0
+ rotation 0 0 1 1.57
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.975691 0.981481 0.0252992
+ roughness 1
+ metalness 0
+ }
+ geometry Cylinder {
+ height 0.02
+ radius 0.008
+ }
+ castShadows FALSE
+ isPickable FALSE
+ }
+ ]
+ }
+ ]
+ name "distance"
+ lookupTable [
+ 0 0 0
+ 0.5 0.5 0.1
+ ]
+ type "laser"
+ aperture 0.01
+ }
+ Camera {
+ translation 0.27 -1.52555e-07 0.00292878
+ rotation -0.3574041489310547 0.3574041489310547 0.8628583595548791 -1.7177753071795863
+ name "cameraFront"
+ fieldOfView 1.9
+ width 30
+ height 1
+ }
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.05 0.05 0.05
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF YBBodyCoord Coordinate {
+ point [
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+ ]
+ creaseAngle 1
+ }
+ }
+ ]
+ name "plate"
+ physics Physics {
+ density -1
+ mass 0.5
+ centerOfMass [
+ 0 0 0.05
+ ]
+ inertiaMatrix [
+ 0.004 0.004 0.004
+ 0 0 0
+ ]
+ }
+ }
+ ]
+ name "myBot"
+ model "Mein Roboter"
+ description "der beste der Welt"
+ contactMaterial "roboter"
+ boundingObject Group {
+ children [
+ DEF workaround Transform {
+ translation -0.15 0 -0.025
+ children [
+ Box {
+ size 0.25 0.33 0.15
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.34 0.34 0.09
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.56 0.23 0.09
+ }
+ ]
+ }
+ ]
+ }
+ physics Physics {
+ density -1
+ mass 22
+ centerOfMass [
+ 0 0 -0.045
+ ]
+ inertiaMatrix [
+ 0.166204 0.418086 0.55459
+ 0 0 0
+ ]
+ }
+ controller "my_controller"
+ selfCollision TRUE
+}
+ziel {
+ translation -3.37 0 0.02
+}
+ziel {
+ translation 3.26 0 0.03
+ name "Ziel fuer Werkstueck(1)"
+}
+DEF SperreA1 sperre {
+ translation 1.01872 0 -1.9657
+ rotation 0 1 0 2.3562
+ name "Strassensperre(2)"
+}
+DEF SperreA2 sperre {
+ translation 0.997339 1.58671e-08 -0.957342
+ rotation -9.58977e-09 1 3.97223e-09 2.35619
+ aktiv FALSE
+}
+DEF SperreB1 sperre {
+ translation -2.97629 0 2.0312
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(1)"
+ aktiv FALSE
+}
+DEF SperreB2 sperre {
+ translation -1.66103 0 1.02714
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(4)"
+}
+DEF SperreC1 sperre {
+ translation 2.32976 0 1.02534
+ rotation 0 1 0 2.3562
+ name "Strassensperre(3)"
+ aktiv FALSE
+}
+DEF SperreC2 sperre {
+ translation 3.64178 0 2.00282
+ rotation 0 1 0 -0.7853853071795864
+ name "Strassensperre(5)"
+}
+DEF gruen Paket {
+ translation -3.19402 0.168753 -2.04411
+ rotation 0.005647286100649096 -0.999957226079311 -0.0073249007820445095 -1.310781185159774
+ color 0 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF gelb Paket {
+ translation -3.19382 0.159238 -1.92263
+ rotation -0.005645640623064085 0.9999682807183922 0.005618211375332778 1.5725715587727864
+ name "Paket(1)"
+ color 1 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF rot Paket {
+ translation -3.19402 0.168973 -1.81756
+ rotation -0.005677542111811391 0.9990801510885569 0.042504319973800865 0.2637786903671344
+ name "Paket(2)"
+ color 1 0 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF blau Paket {
+ translation -2.69 0.07 -2.23
+ name "Paket(3)"
+ color 0 1 1
+}
+Paket {
+ translation -3.26 0.07 -2.23
+ name "Paket(4)"
+ color 0.7 0.4 0.7
+}
diff --git a/worlds/simulation-wettbewerb-level2-variante3.wbt b/worlds/simulation-wettbewerb-level2-variante3.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..105d6fbc723530a8a9d533673b5515f751f1f009
--- /dev/null
+++ b/worlds/simulation-wettbewerb-level2-variante3.wbt
@@ -0,0 +1,1046 @@
+#VRML_SIM R2020a utf8
+WorldInfo {
+ contactProperties [
+ ContactProperties {
+ material2 "roboter"
+ coulombFriction [
+ 2
+ ]
+ }
+ ContactProperties {
+ material1 "boden"
+ material2 "roboter"
+ coulombFriction [
+ 0.01
+ ]
+ rollSound ""
+ slideSound ""
+ }
+ ContactProperties {
+ }
+ ContactProperties {
+ material2 "boden"
+ coulombFriction [
+ 2
+ ]
+ }
+ ]
+}
+Viewpoint {
+ orientation 0.9984225774225822 -0.0030604615422853013 0.05606238014922399 5.128808979160914
+ position -2.4203227020675064 6.438816426047065 1.0891002175059525
+ follow "myBot"
+}
+TexturedBackground {
+ skyColor [
+ 1 1 1
+ ]
+}
+DirectionalLight {
+ direction 0 -1 0
+ intensity 1.5
+}
+TexturedBackgroundLight {
+ luminosity 0.5
+ castShadows FALSE
+}
+RectangleArena {
+ translation 0.35 0 0.03
+ contactMaterial "boden"
+ floorSize 8.7 5.8
+ floorTileSize 8.7 5.8
+ floorAppearance PBRAppearance {
+ baseColorMap ImageTexture {
+ url [
+ "../textures/3_Level2_Wettkampf.png"
+ ]
+ repeatS FALSE
+ repeatT FALSE
+ }
+ roughness 1
+ metalness 0
+ }
+ wallHeight 0.05
+}
+ziel {
+ translation 2.34 0 -2.37
+ name "Ziel fuer Werkstueck(4)"
+}
+ziel {
+ translation 0.1 0 1.03
+ name "Ziel fuer Werkstueck(3)"
+}
+Robot {
+ translation -3.00445 0.086436 -1.93304
+ rotation 0.9999674317272567 0.0047687176853651436 -0.006511130196179311 -1.5708563241940612
+ children [
+ Connector {
+ translation -0.16412 -0.116593 0.05
+ rotation 0 0 -1 1.309
+ name "connector2"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 -0.01 0.05
+ rotation 0 0 1 -1.5707953071795862
+ name "connector1"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 0.11 0.05
+ rotation 0 0 1 -1.8325953071795862
+ name "connector0"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ DistanceSensor {
+ translation 0.29 0 -0.03
+ children [
+ DEF SENSOR Transform {
+ translation -0.01 7.96327e-06 0
+ rotation 0 0 1 1.57
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.975691 0.981481 0.0252992
+ roughness 1
+ metalness 0
+ }
+ geometry Cylinder {
+ height 0.02
+ radius 0.008
+ }
+ castShadows FALSE
+ isPickable FALSE
+ }
+ ]
+ }
+ ]
+ name "distance"
+ lookupTable [
+ 0 0 0
+ 0.5 0.5 0.1
+ ]
+ type "laser"
+ aperture 0.01
+ }
+ Camera {
+ translation 0.27 -1.52555e-07 0.00292878
+ rotation -0.3574041489310547 0.3574041489310547 0.8628583595548791 -1.7177753071795863
+ name "cameraFront"
+ fieldOfView 1.9
+ width 30
+ height 1
+ }
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.05 0.05 0.05
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF YBBodyCoord Coordinate {
+ point [
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+ }
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+ }
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+ roughness 0.4
+ metalness 0
+ }
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+ ]
+ creaseAngle 0.7
+ }
+ }
+ ]
+ }
+ HingeJoint {
+ jointParameters HingeJointParameters {
+ position 1.8015365943519771e-06
+ axis 0 -1 0
+ anchor 0 0 0.155
+ }
+ device [
+ RotationalMotor {
+ name "arm3"
+ maxVelocity 1.5708
+ minPosition -2.63545
+ maxPosition 2.54818
+ maxTorque 6
+ }
+ PositionSensor {
+ name "arm3sensor"
+ }
+ ]
+ endPoint Solid {
+ translation 0 0 0.155
+ rotation 0 -1 0 1.801500470603457e-06
+ children [
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 1 0.4 0
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF Arm3Coord Coordinate {
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+ ]
+ creaseAngle 1
+ }
+ }
+ ]
+ name "plate"
+ physics Physics {
+ density -1
+ mass 0.5
+ centerOfMass [
+ 0 0 0.05
+ ]
+ inertiaMatrix [
+ 0.004 0.004 0.004
+ 0 0 0
+ ]
+ }
+ }
+ ]
+ name "myBot"
+ model "Mein Roboter"
+ description "der beste der Welt"
+ contactMaterial "roboter"
+ boundingObject Group {
+ children [
+ DEF workaround Transform {
+ translation -0.15 0 -0.025
+ children [
+ Box {
+ size 0.25 0.33 0.15
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.34 0.34 0.09
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.56 0.23 0.09
+ }
+ ]
+ }
+ ]
+ }
+ physics Physics {
+ density -1
+ mass 22
+ centerOfMass [
+ 0 0 -0.045
+ ]
+ inertiaMatrix [
+ 0.166204 0.418086 0.55459
+ 0 0 0
+ ]
+ }
+ controller "my_controller"
+ selfCollision TRUE
+}
+ziel {
+ translation -3.37 0 0.02
+}
+ziel {
+ translation 3.26 0 0.03
+ name "Ziel fuer Werkstueck(1)"
+}
+DEF SperreA1 sperre {
+ translation 1.01872 0 -1.9657
+ rotation 0 1 0 2.3562
+ name "Strassensperre(2)"
+ aktiv FALSE
+}
+DEF SperreA2 sperre {
+ translation 0.997339 1.58671e-08 -0.957342
+ rotation -9.58977e-09 1 3.97223e-09 2.35619
+}
+DEF SperreB1 sperre {
+ translation -2.97629 0 2.0312
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(1)"
+}
+DEF SperreB2 sperre {
+ translation -1.66103 0 1.02714
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(4)"
+ aktiv FALSE
+}
+DEF SperreC1 sperre {
+ translation 2.32976 0 1.02534
+ rotation 0 1 0 2.3562
+ name "Strassensperre(3)"
+ aktiv FALSE
+}
+DEF SperreC2 sperre {
+ translation 3.64178 0 2.00282
+ rotation 0 1 0 -0.7853853071795864
+ name "Strassensperre(5)"
+}
+DEF gruen Paket {
+ translation -3.19402 0.168753 -2.04411
+ rotation 0.005647286100649096 -0.999957226079311 -0.0073249007820445095 -1.310781185159774
+ color 0 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF gelb Paket {
+ translation -3.19382 0.159238 -1.92263
+ rotation -0.005645640623064085 0.9999682807183922 0.005618211375332778 1.5725715587727864
+ name "Paket(1)"
+ color 1 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF rot Paket {
+ translation -3.19402 0.168973 -1.81756
+ rotation -0.005677542111811391 0.9990801510885569 0.042504319973800865 0.2637786903671344
+ name "Paket(2)"
+ color 1 0 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF blau Paket {
+ translation -2.69 0.07 -2.23
+ name "Paket(3)"
+ color 0 1 1
+}
+Paket {
+ translation -3.26 0.07 -2.23
+ name "Paket(4)"
+ color 0.7 0.4 0.7
+}
diff --git a/worlds/simulation-wettbewerb-level2-variante4.wbt b/worlds/simulation-wettbewerb-level2-variante4.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..ce79f0483540537c7f3328d7b3df6bc2343149e8
--- /dev/null
+++ b/worlds/simulation-wettbewerb-level2-variante4.wbt
@@ -0,0 +1,1046 @@
+#VRML_SIM R2020a utf8
+WorldInfo {
+ contactProperties [
+ ContactProperties {
+ material2 "roboter"
+ coulombFriction [
+ 2
+ ]
+ }
+ ContactProperties {
+ material1 "boden"
+ material2 "roboter"
+ coulombFriction [
+ 0.01
+ ]
+ rollSound ""
+ slideSound ""
+ }
+ ContactProperties {
+ }
+ ContactProperties {
+ material2 "boden"
+ coulombFriction [
+ 2
+ ]
+ }
+ ]
+}
+Viewpoint {
+ orientation 0.9984225774225822 -0.0030604615422853013 0.05606238014922399 5.128808979160914
+ position -2.4203227020675064 6.438816426047065 1.0891002175059525
+ follow "myBot"
+}
+TexturedBackground {
+ skyColor [
+ 1 1 1
+ ]
+}
+DirectionalLight {
+ direction 0 -1 0
+ intensity 1.5
+}
+TexturedBackgroundLight {
+ luminosity 0.5
+ castShadows FALSE
+}
+RectangleArena {
+ translation 0.35 0 0.03
+ contactMaterial "boden"
+ floorSize 8.7 5.8
+ floorTileSize 8.7 5.8
+ floorAppearance PBRAppearance {
+ baseColorMap ImageTexture {
+ url [
+ "../textures/4_Level2_Wettkampf.png"
+ ]
+ repeatS FALSE
+ repeatT FALSE
+ }
+ roughness 1
+ metalness 0
+ }
+ wallHeight 0.05
+}
+ziel {
+ translation 2.34 0 -2.37
+ name "Ziel fuer Werkstueck(4)"
+}
+ziel {
+ translation 0.1 0 1.03
+ name "Ziel fuer Werkstueck(3)"
+}
+Robot {
+ translation -3.00445 0.086436 -1.93304
+ rotation 0.9999674317272567 0.0047687176853651436 -0.006511130196179311 -1.5708563241940612
+ children [
+ Connector {
+ translation -0.16412 -0.116593 0.05
+ rotation 0 0 -1 1.309
+ name "connector2"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 -0.01 0.05
+ rotation 0 0 1 -1.5707953071795862
+ name "connector1"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 0.11 0.05
+ rotation 0 0 1 -1.8325953071795862
+ name "connector0"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ DistanceSensor {
+ translation 0.29 0 -0.03
+ children [
+ DEF SENSOR Transform {
+ translation -0.01 7.96327e-06 0
+ rotation 0 0 1 1.57
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.975691 0.981481 0.0252992
+ roughness 1
+ metalness 0
+ }
+ geometry Cylinder {
+ height 0.02
+ radius 0.008
+ }
+ castShadows FALSE
+ isPickable FALSE
+ }
+ ]
+ }
+ ]
+ name "distance"
+ lookupTable [
+ 0 0 0
+ 0.5 0.5 0.1
+ ]
+ type "laser"
+ aperture 0.01
+ }
+ Camera {
+ translation 0.27 -1.52555e-07 0.00292878
+ rotation -0.3574041489310547 0.3574041489310547 0.8628583595548791 -1.7177753071795863
+ name "cameraFront"
+ fieldOfView 1.9
+ width 30
+ height 1
+ }
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.05 0.05 0.05
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF YBBodyCoord Coordinate {
+ point [
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+ ]
+ creaseAngle 1
+ }
+ }
+ ]
+ name "plate"
+ physics Physics {
+ density -1
+ mass 0.5
+ centerOfMass [
+ 0 0 0.05
+ ]
+ inertiaMatrix [
+ 0.004 0.004 0.004
+ 0 0 0
+ ]
+ }
+ }
+ ]
+ name "myBot"
+ model "Mein Roboter"
+ description "der beste der Welt"
+ contactMaterial "roboter"
+ boundingObject Group {
+ children [
+ DEF workaround Transform {
+ translation -0.15 0 -0.025
+ children [
+ Box {
+ size 0.25 0.33 0.15
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.34 0.34 0.09
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.56 0.23 0.09
+ }
+ ]
+ }
+ ]
+ }
+ physics Physics {
+ density -1
+ mass 22
+ centerOfMass [
+ 0 0 -0.045
+ ]
+ inertiaMatrix [
+ 0.166204 0.418086 0.55459
+ 0 0 0
+ ]
+ }
+ controller "my_controller"
+ selfCollision TRUE
+}
+ziel {
+ translation -3.37 0 0.02
+}
+ziel {
+ translation 3.26 0 0.03
+ name "Ziel fuer Werkstueck(1)"
+}
+DEF SperreA1 sperre {
+ translation 1.01872 0 -1.9657
+ rotation 0 1 0 2.3562
+ name "Strassensperre(2)"
+}
+DEF SperreA2 sperre {
+ translation 0.997339 1.58671e-08 -0.957342
+ rotation -9.58977e-09 1 3.97223e-09 2.35619
+ aktiv FALSE
+}
+DEF SperreB1 sperre {
+ translation -2.97629 0 2.0312
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(1)"
+ aktiv FALSE
+}
+DEF SperreB2 sperre {
+ translation -1.66103 0 1.02714
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(4)"
+}
+DEF SperreC1 sperre {
+ translation 2.32976 0 1.02534
+ rotation 0 1 0 2.3562
+ name "Strassensperre(3)"
+ aktiv FALSE
+}
+DEF SperreC2 sperre {
+ translation 3.64178 0 2.00282
+ rotation 0 1 0 -0.7853853071795864
+ name "Strassensperre(5)"
+}
+DEF gruen Paket {
+ translation -3.19402 0.168753 -2.04411
+ rotation 0.005647286100649096 -0.999957226079311 -0.0073249007820445095 -1.310781185159774
+ color 0 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF gelb Paket {
+ translation -3.19382 0.159238 -1.92263
+ rotation -0.005645640623064085 0.9999682807183922 0.005618211375332778 1.5725715587727864
+ name "Paket(1)"
+ color 1 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF rot Paket {
+ translation -3.19402 0.168973 -1.81756
+ rotation -0.005677542111811391 0.9990801510885569 0.042504319973800865 0.2637786903671344
+ name "Paket(2)"
+ color 1 0 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF blau Paket {
+ translation -2.69 0.07 -2.23
+ name "Paket(3)"
+ color 0 1 1
+}
+Paket {
+ translation -3.26 0.07 -2.23
+ name "Paket(4)"
+ color 0.7 0.4 0.7
+}
diff --git a/worlds/simulation-wettbewerb-level2-variante5-REAL.wbt b/worlds/simulation-wettbewerb-level2-variante5-REAL.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..3c869e49b665379fd7e65c0fd76df82720c6c861
--- /dev/null
+++ b/worlds/simulation-wettbewerb-level2-variante5-REAL.wbt
@@ -0,0 +1,1046 @@
+#VRML_SIM R2020a utf8
+WorldInfo {
+ contactProperties [
+ ContactProperties {
+ material2 "roboter"
+ coulombFriction [
+ 2
+ ]
+ }
+ ContactProperties {
+ material1 "boden"
+ material2 "roboter"
+ coulombFriction [
+ 0.01
+ ]
+ rollSound ""
+ slideSound ""
+ }
+ ContactProperties {
+ }
+ ContactProperties {
+ material2 "boden"
+ coulombFriction [
+ 2
+ ]
+ }
+ ]
+}
+Viewpoint {
+ orientation 0.9984225774225822 -0.0030604615422853013 0.05606238014922399 5.128808979160914
+ position -2.4203227020675064 6.438816426047065 1.0891002175059525
+ follow "myBot"
+}
+TexturedBackground {
+ skyColor [
+ 1 1 1
+ ]
+}
+DirectionalLight {
+ direction 0 -1 0
+ intensity 1.5
+}
+TexturedBackgroundLight {
+ luminosity 0.5
+ castShadows FALSE
+}
+RectangleArena {
+ translation 0.35 0 0.03
+ contactMaterial "boden"
+ floorSize 8.7 5.8
+ floorTileSize 8.7 5.8
+ floorAppearance PBRAppearance {
+ baseColorMap ImageTexture {
+ url [
+ "../textures/5_Level2_Wettkampf.png"
+ ]
+ repeatS FALSE
+ repeatT FALSE
+ }
+ roughness 1
+ metalness 0
+ }
+ wallHeight 0.05
+}
+ziel {
+ translation 2.34 0 -2.37
+ name "Ziel fuer Werkstueck(4)"
+}
+ziel {
+ translation 0.1 0 1.03
+ name "Ziel fuer Werkstueck(3)"
+}
+Robot {
+ translation -3.00445 0.086436 -1.93304
+ rotation 0.9999674317272567 0.0047687176853651436 -0.006511130196179311 -1.5708563241940612
+ children [
+ Connector {
+ translation -0.16412 -0.116593 0.05
+ rotation 0 0 -1 1.309
+ name "connector2"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 -0.01 0.05
+ rotation 0 0 1 -1.5707953071795862
+ name "connector1"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 0.11 0.05
+ rotation 0 0 1 -1.8325953071795862
+ name "connector0"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ DistanceSensor {
+ translation 0.29 0 -0.03
+ children [
+ DEF SENSOR Transform {
+ translation -0.01 7.96327e-06 0
+ rotation 0 0 1 1.57
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.975691 0.981481 0.0252992
+ roughness 1
+ metalness 0
+ }
+ geometry Cylinder {
+ height 0.02
+ radius 0.008
+ }
+ castShadows FALSE
+ isPickable FALSE
+ }
+ ]
+ }
+ ]
+ name "distance"
+ lookupTable [
+ 0 0 0
+ 0.5 0.5 0.1
+ ]
+ type "laser"
+ aperture 0.01
+ }
+ Camera {
+ translation 0.27 -1.52555e-07 0.00292878
+ rotation -0.3574041489310547 0.3574041489310547 0.8628583595548791 -1.7177753071795863
+ name "cameraFront"
+ fieldOfView 1.9
+ width 30
+ height 1
+ }
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.05 0.05 0.05
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF YBBodyCoord Coordinate {
+ point [
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+ }
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+ }
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+ roughness 0.4
+ metalness 0
+ }
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+ ]
+ creaseAngle 0.7
+ }
+ }
+ ]
+ }
+ HingeJoint {
+ jointParameters HingeJointParameters {
+ position 1.8015365943519771e-06
+ axis 0 -1 0
+ anchor 0 0 0.155
+ }
+ device [
+ RotationalMotor {
+ name "arm3"
+ maxVelocity 1.5708
+ minPosition -2.63545
+ maxPosition 2.54818
+ maxTorque 6
+ }
+ PositionSensor {
+ name "arm3sensor"
+ }
+ ]
+ endPoint Solid {
+ translation 0 0 0.155
+ rotation 0 -1 0 1.801500470603457e-06
+ children [
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 1 0.4 0
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF Arm3Coord Coordinate {
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+ ]
+ creaseAngle 1
+ }
+ }
+ ]
+ name "plate"
+ physics Physics {
+ density -1
+ mass 0.5
+ centerOfMass [
+ 0 0 0.05
+ ]
+ inertiaMatrix [
+ 0.004 0.004 0.004
+ 0 0 0
+ ]
+ }
+ }
+ ]
+ name "myBot"
+ model "Mein Roboter"
+ description "der beste der Welt"
+ contactMaterial "roboter"
+ boundingObject Group {
+ children [
+ DEF workaround Transform {
+ translation -0.15 0 -0.025
+ children [
+ Box {
+ size 0.25 0.33 0.15
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.34 0.34 0.09
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.56 0.23 0.09
+ }
+ ]
+ }
+ ]
+ }
+ physics Physics {
+ density -1
+ mass 22
+ centerOfMass [
+ 0 0 -0.045
+ ]
+ inertiaMatrix [
+ 0.166204 0.418086 0.55459
+ 0 0 0
+ ]
+ }
+ controller "my_controller"
+ selfCollision TRUE
+}
+ziel {
+ translation -3.37 0 0.02
+}
+ziel {
+ translation 3.26 0 0.03
+ name "Ziel fuer Werkstueck(1)"
+}
+DEF SperreA1 sperre {
+ translation 1.01872 0 -1.9657
+ rotation 0 1 0 2.3562
+ name "Strassensperre(2)"
+ aktiv FALSE
+}
+DEF SperreA2 sperre {
+ translation 0.997339 1.58671e-08 -0.957342
+ rotation -9.58977e-09 1 3.97223e-09 2.35619
+}
+DEF SperreB1 sperre {
+ translation -2.97629 0 2.0312
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(1)"
+}
+DEF SperreB2 sperre {
+ translation -1.66103 0 1.02714
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(4)"
+ aktiv FALSE
+}
+DEF SperreC1 sperre {
+ translation 2.32976 0 1.02534
+ rotation 0 1 0 2.3562
+ name "Strassensperre(3)"
+}
+DEF SperreC2 sperre {
+ translation 3.64178 0 2.00282
+ rotation 0 1 0 -0.7853853071795864
+ name "Strassensperre(5)"
+ aktiv FALSE
+}
+DEF gruen Paket {
+ translation -3.19402 0.168753 -2.04411
+ rotation 0.005647286100649096 -0.999957226079311 -0.0073249007820445095 -1.310781185159774
+ color 0 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF gelb Paket {
+ translation -3.19382 0.159238 -1.92263
+ rotation -0.005645640623064085 0.9999682807183922 0.005618211375332778 1.5725715587727864
+ name "Paket(1)"
+ color 1 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF rot Paket {
+ translation -3.19402 0.168973 -1.81756
+ rotation -0.005677542111811391 0.9990801510885569 0.042504319973800865 0.2637786903671344
+ name "Paket(2)"
+ color 1 0 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF blau Paket {
+ translation -2.69 0.07 -2.23
+ name "Paket(3)"
+ color 0 1 1
+}
+Paket {
+ translation -3.26 0.07 -2.23
+ name "Paket(4)"
+ color 0.7 0.4 0.7
+}
diff --git a/worlds/simulation-wettbewerb-level2-variante6.wbt b/worlds/simulation-wettbewerb-level2-variante6.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..8e78f29696710170b8943287d06ed0b4565003f2
--- /dev/null
+++ b/worlds/simulation-wettbewerb-level2-variante6.wbt
@@ -0,0 +1,1046 @@
+#VRML_SIM R2020a utf8
+WorldInfo {
+ contactProperties [
+ ContactProperties {
+ material2 "roboter"
+ coulombFriction [
+ 2
+ ]
+ }
+ ContactProperties {
+ material1 "boden"
+ material2 "roboter"
+ coulombFriction [
+ 0.01
+ ]
+ rollSound ""
+ slideSound ""
+ }
+ ContactProperties {
+ }
+ ContactProperties {
+ material2 "boden"
+ coulombFriction [
+ 2
+ ]
+ }
+ ]
+}
+Viewpoint {
+ orientation 0.9984225774225822 -0.0030604615422853013 0.05606238014922399 5.128808979160914
+ position -2.4203227020675064 6.438816426047065 1.0891002175059525
+ follow "myBot"
+}
+TexturedBackground {
+ skyColor [
+ 1 1 1
+ ]
+}
+DirectionalLight {
+ direction 0 -1 0
+ intensity 1.5
+}
+TexturedBackgroundLight {
+ luminosity 0.5
+ castShadows FALSE
+}
+RectangleArena {
+ translation 0.35 0 0.03
+ contactMaterial "boden"
+ floorSize 8.7 5.8
+ floorTileSize 8.7 5.8
+ floorAppearance PBRAppearance {
+ baseColorMap ImageTexture {
+ url [
+ "../textures/6_Level2_Wettkampf.png"
+ ]
+ repeatS FALSE
+ repeatT FALSE
+ }
+ roughness 1
+ metalness 0
+ }
+ wallHeight 0.05
+}
+ziel {
+ translation 2.34 0 -2.37
+ name "Ziel fuer Werkstueck(4)"
+}
+ziel {
+ translation 0.1 0 1.03
+ name "Ziel fuer Werkstueck(3)"
+}
+Robot {
+ translation -3.00445 0.086436 -1.93304
+ rotation 0.9999674317272567 0.0047687176853651436 -0.006511130196179311 -1.5708563241940612
+ children [
+ Connector {
+ translation -0.16412 -0.116593 0.05
+ rotation 0 0 -1 1.309
+ name "connector2"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 -0.01 0.05
+ rotation 0 0 1 -1.5707953071795862
+ name "connector1"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 0.11 0.05
+ rotation 0 0 1 -1.8325953071795862
+ name "connector0"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ DistanceSensor {
+ translation 0.29 0 -0.03
+ children [
+ DEF SENSOR Transform {
+ translation -0.01 7.96327e-06 0
+ rotation 0 0 1 1.57
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.975691 0.981481 0.0252992
+ roughness 1
+ metalness 0
+ }
+ geometry Cylinder {
+ height 0.02
+ radius 0.008
+ }
+ castShadows FALSE
+ isPickable FALSE
+ }
+ ]
+ }
+ ]
+ name "distance"
+ lookupTable [
+ 0 0 0
+ 0.5 0.5 0.1
+ ]
+ type "laser"
+ aperture 0.01
+ }
+ Camera {
+ translation 0.27 -1.52555e-07 0.00292878
+ rotation -0.3574041489310547 0.3574041489310547 0.8628583595548791 -1.7177753071795863
+ name "cameraFront"
+ fieldOfView 1.9
+ width 30
+ height 1
+ }
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.05 0.05 0.05
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF YBBodyCoord Coordinate {
+ point [
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+ ]
+ creaseAngle 1
+ }
+ }
+ ]
+ name "plate"
+ physics Physics {
+ density -1
+ mass 0.5
+ centerOfMass [
+ 0 0 0.05
+ ]
+ inertiaMatrix [
+ 0.004 0.004 0.004
+ 0 0 0
+ ]
+ }
+ }
+ ]
+ name "myBot"
+ model "Mein Roboter"
+ description "der beste der Welt"
+ contactMaterial "roboter"
+ boundingObject Group {
+ children [
+ DEF workaround Transform {
+ translation -0.15 0 -0.025
+ children [
+ Box {
+ size 0.25 0.33 0.15
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.34 0.34 0.09
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.56 0.23 0.09
+ }
+ ]
+ }
+ ]
+ }
+ physics Physics {
+ density -1
+ mass 22
+ centerOfMass [
+ 0 0 -0.045
+ ]
+ inertiaMatrix [
+ 0.166204 0.418086 0.55459
+ 0 0 0
+ ]
+ }
+ controller "my_controller"
+ selfCollision TRUE
+}
+ziel {
+ translation -3.37 0 0.02
+}
+ziel {
+ translation 3.26 0 0.03
+ name "Ziel fuer Werkstueck(1)"
+}
+DEF SperreA1 sperre {
+ translation 1.01872 0 -1.9657
+ rotation 0 1 0 2.3562
+ name "Strassensperre(2)"
+}
+DEF SperreA2 sperre {
+ translation 0.997339 1.58671e-08 -0.957342
+ rotation -9.58977e-09 1 3.97223e-09 2.35619
+ aktiv FALSE
+}
+DEF SperreB1 sperre {
+ translation -2.97629 0 2.0312
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(1)"
+}
+DEF SperreB2 sperre {
+ translation -1.66103 0 1.02714
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(4)"
+ aktiv FALSE
+}
+DEF SperreC1 sperre {
+ translation 2.32976 0 1.02534
+ rotation 0 1 0 2.3562
+ name "Strassensperre(3)"
+}
+DEF SperreC2 sperre {
+ translation 3.64178 0 2.00282
+ rotation 0 1 0 -0.7853853071795864
+ name "Strassensperre(5)"
+ aktiv FALSE
+}
+DEF gruen Paket {
+ translation -3.19402 0.168753 -2.04411
+ rotation 0.005647286100649096 -0.999957226079311 -0.0073249007820445095 -1.310781185159774
+ color 0 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF gelb Paket {
+ translation -3.19382 0.159238 -1.92263
+ rotation -0.005645640623064085 0.9999682807183922 0.005618211375332778 1.5725715587727864
+ name "Paket(1)"
+ color 1 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF rot Paket {
+ translation -3.19402 0.168973 -1.81756
+ rotation -0.005677542111811391 0.9990801510885569 0.042504319973800865 0.2637786903671344
+ name "Paket(2)"
+ color 1 0 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF blau Paket {
+ translation -2.69 0.07 -2.23
+ name "Paket(3)"
+ color 0 1 1
+}
+Paket {
+ translation -3.26 0.07 -2.23
+ name "Paket(4)"
+ color 0.7 0.4 0.7
+}
diff --git a/worlds/simulation-wettbewerb-referenz.wbt b/worlds/simulation-wettbewerb-referenz.wbt
new file mode 100644
index 0000000000000000000000000000000000000000..afe630ec54dac946582e5f8699fec635c54a7ac8
--- /dev/null
+++ b/worlds/simulation-wettbewerb-referenz.wbt
@@ -0,0 +1,1043 @@
+#VRML_SIM R2020a utf8
+WorldInfo {
+ contactProperties [
+ ContactProperties {
+ material2 "roboter"
+ coulombFriction [
+ 2
+ ]
+ }
+ ContactProperties {
+ material1 "boden"
+ material2 "roboter"
+ coulombFriction [
+ 0.01
+ ]
+ rollSound ""
+ slideSound ""
+ }
+ ContactProperties {
+ }
+ ContactProperties {
+ material2 "boden"
+ coulombFriction [
+ 2
+ ]
+ }
+ ]
+}
+Viewpoint {
+ orientation 0.9984225774225822 -0.0030604615422853013 0.05606238014922399 5.128808979160914
+ position -2.4203227020675064 6.438816426047065 1.0891002175059525
+ follow "myBot"
+}
+TexturedBackground {
+ skyColor [
+ 1 1 1
+ ]
+}
+DirectionalLight {
+ direction 0 -1 0
+ intensity 1.5
+}
+TexturedBackgroundLight {
+ luminosity 0.5
+ castShadows FALSE
+}
+RectangleArena {
+ translation 0.35 0 0.03
+ contactMaterial "boden"
+ floorSize 8.7 5.8
+ floorTileSize 8.7 5.8
+ floorAppearance PBRAppearance {
+ baseColorMap ImageTexture {
+ url [
+ "../textures/spielfeld.png"
+ ]
+ repeatS FALSE
+ repeatT FALSE
+ }
+ roughness 1
+ metalness 0
+ }
+ wallHeight 0.05
+}
+ziel {
+ translation 2.34 0 -2.37
+ name "Ziel fuer Werkstueck(4)"
+}
+ziel {
+ translation 0.1 0 1.03
+ name "Ziel fuer Werkstueck(3)"
+}
+Robot {
+ translation -3.00445 0.086436 -1.93304
+ rotation 0.9999674317272567 0.0047687176853651436 -0.006511130196179311 -1.5708563241940612
+ children [
+ Connector {
+ translation -0.16412 -0.116593 0.05
+ rotation 0 0 -1 1.309
+ name "connector2"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 -0.01 0.05
+ rotation 0 0 1 -1.5707953071795862
+ name "connector1"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ Connector {
+ translation -0.19 0.11 0.05
+ rotation 0 0 1 -1.8325953071795862
+ name "connector0"
+ isLocked TRUE
+ distanceTolerance 0.05
+ }
+ DistanceSensor {
+ translation 0.29 0 -0.03
+ children [
+ DEF SENSOR Transform {
+ translation -0.01 7.96327e-06 0
+ rotation 0 0 1 1.57
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.975691 0.981481 0.0252992
+ roughness 1
+ metalness 0
+ }
+ geometry Cylinder {
+ height 0.02
+ radius 0.008
+ }
+ castShadows FALSE
+ isPickable FALSE
+ }
+ ]
+ }
+ ]
+ name "distance"
+ lookupTable [
+ 0 0 0
+ 0.5 0.5 0.1
+ ]
+ type "laser"
+ aperture 0.01
+ }
+ Camera {
+ translation 0.27 -1.52555e-07 0.00292878
+ rotation -0.3574041489310547 0.3574041489310547 0.8628583595548791 -1.7177753071795863
+ name "cameraFront"
+ fieldOfView 1.9
+ width 30
+ height 1
+ }
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 0.05 0.05 0.05
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF YBBodyCoord Coordinate {
+ point [
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+ }
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+ }
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+ roughness 0.4
+ metalness 0
+ }
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+ ]
+ creaseAngle 0.7
+ }
+ }
+ ]
+ }
+ HingeJoint {
+ jointParameters HingeJointParameters {
+ position 1.8015365943519771e-06
+ axis 0 -1 0
+ anchor 0 0 0.155
+ }
+ device [
+ RotationalMotor {
+ name "arm3"
+ maxVelocity 1.5708
+ minPosition -2.63545
+ maxPosition 2.54818
+ maxTorque 6
+ }
+ PositionSensor {
+ name "arm3sensor"
+ }
+ ]
+ endPoint Solid {
+ translation 0 0 0.155
+ rotation 0 -1 0 1.801500470603457e-06
+ children [
+ Group {
+ children [
+ Shape {
+ appearance PBRAppearance {
+ baseColor 1 0.4 0
+ roughness 0.4
+ metalness 0
+ }
+ geometry IndexedFaceSet {
+ coord DEF Arm3Coord Coordinate {
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+ ]
+ creaseAngle 1
+ }
+ }
+ ]
+ name "plate"
+ physics Physics {
+ density -1
+ mass 0.5
+ centerOfMass [
+ 0 0 0.05
+ ]
+ inertiaMatrix [
+ 0.004 0.004 0.004
+ 0 0 0
+ ]
+ }
+ }
+ ]
+ name "myBot"
+ model "Mein Roboter"
+ description "der beste der Welt"
+ contactMaterial "roboter"
+ boundingObject Group {
+ children [
+ DEF workaround Transform {
+ translation -0.15 0 -0.025
+ children [
+ Box {
+ size 0.25 0.33 0.15
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.34 0.34 0.09
+ }
+ ]
+ }
+ Transform {
+ translation 0 0 -0.045
+ children [
+ Box {
+ size 0.56 0.23 0.09
+ }
+ ]
+ }
+ ]
+ }
+ physics Physics {
+ density -1
+ mass 22
+ centerOfMass [
+ 0 0 -0.045
+ ]
+ inertiaMatrix [
+ 0.166204 0.418086 0.55459
+ 0 0 0
+ ]
+ }
+ controller "my_controller"
+ selfCollision TRUE
+}
+ziel {
+ translation -3.37 0 0.02
+}
+ziel {
+ translation 3.26 0 0.03
+ name "Ziel fuer Werkstueck(1)"
+}
+DEF SperreA1 sperre {
+ translation 1.01872 0 -1.9657
+ rotation 0 1 0 2.3562
+ name "Strassensperre(2)"
+}
+DEF SperreA2 sperre {
+ translation 0.997339 1.58671e-08 -0.957342
+ rotation -9.58977e-09 1 3.97223e-09 2.35619
+}
+DEF SperreB1 sperre {
+ translation -2.97629 0 2.0312
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(1)"
+}
+DEF SperreB2 sperre {
+ translation -1.66103 0 1.02714
+ rotation 0 -1 0 -0.7854053071795866
+ name "Strassensperre(4)"
+}
+DEF SperreC1 sperre {
+ translation 2.32976 0 1.02534
+ rotation 0 1 0 2.3562
+ name "Strassensperre(3)"
+}
+DEF SperreC2 sperre {
+ translation 3.64178 0 2.00282
+ rotation 0 1 0 -0.7853853071795864
+ name "Strassensperre(5)"
+}
+DEF gruen Paket {
+ translation -3.19402 0.168753 -2.04411
+ rotation 0.005647286100649096 -0.999957226079311 -0.0073249007820445095 -1.310781185159774
+ color 0 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF gelb Paket {
+ translation -3.19382 0.159238 -1.92263
+ rotation -0.005645640623064085 0.9999682807183922 0.005618211375332778 1.5725715587727864
+ name "Paket(1)"
+ color 1 1 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF rot Paket {
+ translation -3.19402 0.168973 -1.81756
+ rotation -0.005677542111811391 0.9990801510885569 0.042504319973800865 0.2637786903671344
+ name "Paket(2)"
+ color 1 0 0
+ child [
+ Connector {
+ translation 0 -0.025 0
+ rotation 1 0 0 1.57079
+ }
+ ]
+}
+DEF blau Paket {
+ translation -2.69 0.07 -2.23
+ name "Paket(3)"
+ color 0 1 1
+}
+Paket {
+ translation -3.26 0.07 -2.23
+ name "Paket(4)"
+ color 0.7 0.4 0.7
+}