From c09a17adb49e97b4abdd37dc55cd51ee7308368b Mon Sep 17 00:00:00 2001
From: Maximilian Gaukler <max.gaukler@fau.de>
Date: Wed, 15 Jul 2020 18:28:00 +0200
Subject: [PATCH] =?UTF-8?q?Dateien=20f=C3=BCr=20echten=20Wettkampf?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 controllers/my_controller/geheim.py           |   11 +-
 controllers/my_controller/my_controller.py    |    7 +-
 textures/1_Level2_Wettkampf.png               |  Bin 0 -> 81301 bytes
 textures/3_Level1_Wettkampf.png               |  Bin 0 -> 80875 bytes
 textures/3_Level2_Wettkampf.png               |  Bin 0 -> 81432 bytes
 textures/4_Level2_Wettkampf.png               |  Bin 0 -> 81300 bytes
 textures/5_Level2_Wettkampf.png               |  Bin 0 -> 81048 bytes
 textures/6_Level2_Wettkampf.png               |  Bin 0 -> 80888 bytes
 worlds/.gitignore                             |    0
 worlds/.simulation-probelauf-level1.wbproj    |    7 +-
 worlds/.simulation-probelauf-level2.wbproj    |    9 +-
 ...ulation-wettbewerb-level1-variante1.wbproj |   17 +
 ...simulation-wettbewerb-level1-variante1.wbt |   18 +
 ...ulation-wettbewerb-level1-variante2.wbproj |   17 +
 ...simulation-wettbewerb-level1-variante2.wbt |   18 +
 ...ulation-wettbewerb-level1-variante3.wbproj |   17 +
 ...simulation-wettbewerb-level1-variante3.wbt |   18 +
 ...ulation-wettbewerb-level1-variante4.wbproj |   17 +
 ...simulation-wettbewerb-level1-variante4.wbt |   18 +
 ...ulation-wettbewerb-level1-variante5.wbproj |   17 +
 ...simulation-wettbewerb-level1-variante5.wbt |   18 +
 ...ulation-wettbewerb-level1-variante6.wbproj |   17 +
 ...simulation-wettbewerb-level1-variante6.wbt |   18 +
 ...ulation-wettbewerb-level2-variante1.wbproj |   17 +
 ...simulation-wettbewerb-level2-variante1.wbt |   18 +
 ...ulation-wettbewerb-level2-variante2.wbproj |   17 +
 ...simulation-wettbewerb-level2-variante2.wbt |   18 +
 ...ulation-wettbewerb-level2-variante3.wbproj |   17 +
 ...simulation-wettbewerb-level2-variante3.wbt |   18 +
 ...ulation-wettbewerb-level2-variante4.wbproj |   17 +
 ...simulation-wettbewerb-level2-variante4.wbt |   18 +
 ...ulation-wettbewerb-level2-variante5.wbproj |   17 +
 ...simulation-wettbewerb-level2-variante5.wbt |   18 +
 ...ulation-wettbewerb-level2-variante6.wbproj |   17 +
 ...simulation-wettbewerb-level2-variante6.wbt |   18 +
 worlds/.simulation.wbproj                     |    9 +-
 ...simulation-wettbewerb-erzeuge-vorlangen.sh |    8 +
 ...simulation-wettbewerb-level1-variante3.wbt | 1046 +++++++++++++++++
 ...simulation-wettbewerb-level2-variante1.wbt | 1046 +++++++++++++++++
 ...simulation-wettbewerb-level2-variante3.wbt | 1046 +++++++++++++++++
 ...simulation-wettbewerb-level2-variante4.wbt | 1046 +++++++++++++++++
 ...ation-wettbewerb-level2-variante5-REAL.wbt | 1046 +++++++++++++++++
 ...simulation-wettbewerb-level2-variante6.wbt | 1046 +++++++++++++++++
 worlds/simulation-wettbewerb-referenz.wbt     | 1043 ++++++++++++++++
 44 files changed, 7766 insertions(+), 24 deletions(-)
 create mode 100644 textures/1_Level2_Wettkampf.png
 create mode 100644 textures/3_Level1_Wettkampf.png
 create mode 100644 textures/3_Level2_Wettkampf.png
 create mode 100644 textures/4_Level2_Wettkampf.png
 create mode 100644 textures/5_Level2_Wettkampf.png
 create mode 100644 textures/6_Level2_Wettkampf.png
 create mode 100644 worlds/.gitignore
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante1.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante1.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante2.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante2.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante3.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante3.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante4.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante4.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante5.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante5.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante6.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level1-variante6.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante1.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante1.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante2.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante2.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante3.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante3.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante4.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante4.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante5.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante5.wbt
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante6.wbproj
 create mode 100644 worlds/.simulation-wettbewerb-level2-variante6.wbt
 create mode 100644 worlds/simulation-wettbewerb-erzeuge-vorlangen.sh
 create mode 100644 worlds/simulation-wettbewerb-level1-variante3.wbt
 create mode 100644 worlds/simulation-wettbewerb-level2-variante1.wbt
 create mode 100644 worlds/simulation-wettbewerb-level2-variante3.wbt
 create mode 100644 worlds/simulation-wettbewerb-level2-variante4.wbt
 create mode 100644 worlds/simulation-wettbewerb-level2-variante5-REAL.wbt
 create mode 100644 worlds/simulation-wettbewerb-level2-variante6.wbt
 create mode 100644 worlds/simulation-wettbewerb-referenz.wbt

diff --git a/controllers/my_controller/geheim.py b/controllers/my_controller/geheim.py
index e33ff06..e1e2e41 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 b50176a..77c0529 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
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diff --git a/worlds/.gitignore b/worlds/.gitignore
new file mode 100644
index 0000000..e69de29
diff --git a/worlds/.simulation-probelauf-level1.wbproj b/worlds/.simulation-probelauf-level1.wbproj
index 8a42b63..10691f5 100644
--- a/worlds/.simulation-probelauf-level1.wbproj
+++ b/worlds/.simulation-probelauf-level1.wbproj
@@ -1,6 +1,6 @@
 Webots Project File version R2020a
-perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000002a2000003c5fc0200000001fb0000001400540065007800740045006400690074006f00720100000017000003c5000000a200ffffff000000030000078000000076fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff000004d8000003c500000001000000020000000100000008fc00000000
-simulationViewPerspectives: 000000ff000000010000000200000118000003ba0100000006010000000101
+perspectives: 000000ff00000000fd0000000300000000000000d1000003c9fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000d10000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000239000002effc0200000001fb0000001400540065007800740045006400690074006f00720100000017000002ef000000a200ffffff0000000300000780000000d4fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000005400ffffff00000541000002ef00000001000000020000000100000008fc00000000
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 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
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index 42becf4..10691f5 100644
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+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 0000000..42becf4
--- /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 0000000..10691f5
--- /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 0000000..42becf4
--- /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 42becf4..10691f5 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 0000000..6a781c7
--- /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 0000000..3769224
--- /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 [
+                0 -0.0969356 0.0280764, 0 0.0969356 0.0280764, 0 -0.101141 0.0322164, 0 0.101141 0.0322164, 0 -0.118109 0.0290424, 0 0.118109 0.0290424, 0 -0.145355 -0.0113364, 0 0.145355 -0.0113364, 0 -0.152057 -0.0170496, 0 0.152057 -0.0170496, 0 -0.156651 -0.025026, 0 0.156651 -0.025026, 0 -0.158723 -0.0338028, 0 0.158723 -0.0338028, 0 -0.0982688 0.031554, 0 0.0982688 0.031554, 0 -0.12017 0.0278418, 0 0.12017 0.0278418, 0 -0.123939 -0.00502294, 0 0.123939 -0.00502294, 0 -0.125296 -0.00646505, 0 0.125296 -0.00646505, 0 -0.162844 -0.0896376, 0 0.162844 -0.0896376, 0 -0.123151 -0.00338764, 0 0.123151 -0.00338764, 0 -0.121067 0.0253164, 0 0.121067 0.0253164, 0 -0.137816 -0.00864545, 0 0.137816 -0.00864545, 0 -0.126302 -0.00714124, 0 0.126302 -0.00714124, -0.0625264 -0.159838 -0.0353898, -0.0625264 0.159838 -0.0353898, 0.0625264 -0.159838 -0.0353898, 0.0625264 0.159838 -0.0353898, -0.0471451 -0.117782 0.0279522, -0.0471451 0.117782 0.0279522, 0.0471451 -0.117782 0.0279522, 0.0471451 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+                      ]
+                      creaseAngle 1
+                    }
+                  }
+                  Shape {
+                    appearance DEF Gelenk1SchwarzAppearance PBRAppearance {
+                      baseColor 0.2 0.2 0.2
+                      roughness 0.6
+                      metalness 0
+                    }
+                    geometry IndexedFaceSet {
+                      coord USE Arm1Coord
+                      texCoord TextureCoordinate {
+                        point [
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+                        ]
+                      }
+                      coordIndex [
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+                      ]
+                      texCoordIndex [
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+                      ]
+                    }
+                  }
+                ]
+              }
+              HingeJoint {
+                jointParameters HingeJointParameters {
+                  position 0.016997679310160836
+                  axis 0 -1 0
+                  anchor 0.033 0 0.07
+                }
+                device [
+                  RotationalMotor {
+                    name "arm2"
+                    maxVelocity 1.5708
+                    minPosition -1.13446
+                    maxPosition 1.5708
+                    maxTorque 9.5
+                  }
+                  PositionSensor {
+                    name "arm2sensor"
+                  }
+                ]
+                endPoint Solid {
+                  translation 0.033 0 0.07
+                  rotation 0 -1 0 0.016997679310160548
+                  children [
+                    Group {
+                      children [
+                        Shape {
+                          appearance PBRAppearance {
+                            baseColor 1 0.4 0
+                            roughness 0.4
+                            metalness 0
+                          }
+                          geometry IndexedFaceSet {
+                            coord DEF Arm2Coord Coordinate {
+                              point [
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+                                        }
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+                                                ]
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+                                          name "finger1"
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+                                            mass 0.03
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+                                            ]
+                                            inertiaMatrix [
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+                                              0 0 8.29319e-07
+                                            ]
+                                          }
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+                                          axis 0 -1 0
+                                        }
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+                                          LinearMotor {
+                                            name "finger2"
+                                            minPosition -2.6844733975946373e-11
+                                            maxPosition 0.025
+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger2sensor"
+                                          }
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+                                                roughness 0.2
+                                                metalness 0
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+                                                ]
+                                                creaseAngle 0.5
+                                              }
+                                            }
+                                          ]
+                                          name "finger2"
+                                          boundingObject USE FINGER_BO
+                                          physics USE FINGER_PH
+                                        }
+                                      }
+                                    ]
+                                    boundingObject Transform {
+                                      translation 0 0 0.045
+                                      children [
+                                        Box {
+                                          size 0.025 0.07 0.09
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.251
+                                      centerOfMass [
+                                        0 0 0.045
+                                      ]
+                                      inertiaMatrix [
+                                        0.000271917 0.000182498 0.000115565
+                                        0 0 0
+                                      ]
+                                    }
+                                  }
+                                }
+                              ]
+                              boundingObject Group {
+                                children [
+                                  Transform {
+                                    translation 0 0 0.056
+                                    children [
+                                      Cylinder {
+                                        height 0.095
+                                        radius 0.024
+                                      }
+                                    ]
+                                  }
+                                  Transform {
+                                    translation 0 -0.024 0.003
+                                    children [
+                                      Cylinder {
+                                        height 0.047
+                                        radius 0.027
+                                      }
+                                    ]
+                                  }
+                                ]
+                              }
+                              physics Physics {
+                                density -1
+                                mass 0.877
+                                centerOfMass [
+                                  0 0 0.026
+                                ]
+                                inertiaMatrix [
+                                  0.00152517 0.00103897 0.000837339
+                                  0 0 -0.00015098
+                                ]
+                              }
+                            }
+                          }
+                        ]
+                        boundingObject Transform {
+                          translation 0 0.0225 0.065
+                          children [
+                            Box {
+                              size 0.06 0.045 0.19
+                            }
+                          ]
+                        }
+                        physics Physics {
+                          density -1
+                          mass 0.934
+                          centerOfMass [
+                            0 0.0225 0.065
+                          ]
+                          inertiaMatrix [
+                            0.0029674 0.00308998 0.000437812
+                            0 0 -5.99276e-20
+                          ]
+                        }
+                      }
+                    }
+                  ]
+                  boundingObject Transform {
+                    translation 0 -0.03 0.078
+                    children [
+                      Box {
+                        size 0.07 0.06 0.21
+                      }
+                    ]
+                  }
+                  physics Physics {
+                    density -1
+                    mass 1.155
+                    centerOfMass [
+                      0 -0.03 0.078
+                    ]
+                    inertiaMatrix [
+                      0.00459113 0.00471625 0.000818125
+                      0 0 1.56701e-20
+                    ]
+                  }
+                }
+              }
+            ]
+            boundingObject Transform {
+              translation 0.032 0.023 0.07
+              children [
+                Cylinder {
+                  height 0.046
+                  radius 0.036
+                }
+              ]
+            }
+            physics Physics {
+              density -1
+              mass 2.412
+              centerOfMass [
+                0.015 0.01 0.05
+              ]
+              inertiaMatrix [
+                0.00257923 0.00322484 0.0023115
+                -0.000533052 -0.00082008 -0.00062712
+              ]
+            }
+          }
+        }
+      ]
+      name "arm"
+      boundingObject Transform {
+        translation 0 0 0.04
+        rotation 1 0 0 1.5708
+        children [
+          Cylinder {
+            height 0.08
+            radius 0.078
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.845
+        centerOfMass [
+          0 0 0.04
+        ]
+        inertiaMatrix [
+          0.00173591 0.00173591 0.00257049
+          0 0 -3.06558e-09
+        ]
+      }
+    }
+    DEF WHEEL1 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 3079.8988511790367
+        axis 0 1 0
+        anchor 0.228 -0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel1"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel1sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 -0.158 -0.055
+        rotation 0 1 0 1.138050661039309
+        children [
+          Rad {
+          }
+        ]
+        name "wheel1"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF WHEEL2 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 391.53072715594226
+        axis 0 1 0
+        anchor 0.228 0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel2"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel2sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 0.158 -0.055
+        rotation 0 0.9999999999999999 0 1.9732381108078971
+        children [
+          Rad {
+          }
+        ]
+        name "wheel2"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF PLATE Solid {
+      translation -0.155 0 0
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.75 0.75 0.75
+            roughness 0.3
+          }
+          geometry IndexedFaceSet {
+            coord Coordinate {
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+            }
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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 0000000..ecc8fb7
--- /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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+                  anchor 0.033 0 0.07
+                }
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+                    name "arm2"
+                    maxVelocity 1.5708
+                    minPosition -1.13446
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+                  }
+                  PositionSensor {
+                    name "arm2sensor"
+                  }
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+                            roughness 0.4
+                            metalness 0
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance USE Gelenk1SchwarzAppearance
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
+                                  texCoord TextureCoordinate {
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.75 0.75 0.75
+                                  roughness 0.3
+                                }
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                            ]
+                          }
+                          HingeJoint {
+                            jointParameters HingeJointParameters {
+                              position 3.8180146582150794e-07
+                              axis 0 -1 0
+                              anchor 0 0 0.135
+                            }
+                            device [
+                              RotationalMotor {
+                                name "arm4"
+                                maxVelocity 1.5708
+                                minPosition -1.78024
+                                maxPosition 1.78024
+                                maxTorque 2
+                              }
+                              PositionSensor {
+                                name "arm4sensor"
+                              }
+                            ]
+                            endPoint Solid {
+                              translation 0 0 0.135
+                              rotation 0 -1 0 3.816559456248795e-07
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+                                        baseColor 1 0.4 0
+                                        roughness 0.4
+                                        metalness 0
+                                      }
+                                      geometry IndexedFaceSet {
+                                        coord DEF Arm4Coord Coordinate {
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+                                      SliderJoint {
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+                                          axis 0 1 0
+                                        }
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+                                          LinearMotor {
+                                            name "finger1"
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+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger1sensor"
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+                                                ]
+                                                creaseAngle 0.5
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+                                          name "finger1"
+                                          boundingObject DEF FINGER_BO Group {
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+                                                  }
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+                                          physics DEF FINGER_PH Physics {
+                                            density -1
+                                            mass 0.03
+                                            centerOfMass [
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+                                            ]
+                                            inertiaMatrix [
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+                                              0 0 8.29319e-07
+                                            ]
+                                          }
+                                        }
+                                      }
+                                      SliderJoint {
+                                        jointParameters JointParameters {
+                                          position 5.328543902475132e-06
+                                          axis 0 -1 0
+                                        }
+                                        device [
+                                          LinearMotor {
+                                            name "finger2"
+                                            minPosition -2.6844733975946373e-11
+                                            maxPosition 0.025
+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger2sensor"
+                                          }
+                                        ]
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+                                                roughness 0.2
+                                                metalness 0
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+                                                ]
+                                                creaseAngle 0.5
+                                              }
+                                            }
+                                          ]
+                                          name "finger2"
+                                          boundingObject USE FINGER_BO
+                                          physics USE FINGER_PH
+                                        }
+                                      }
+                                    ]
+                                    boundingObject Transform {
+                                      translation 0 0 0.045
+                                      children [
+                                        Box {
+                                          size 0.025 0.07 0.09
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.251
+                                      centerOfMass [
+                                        0 0 0.045
+                                      ]
+                                      inertiaMatrix [
+                                        0.000271917 0.000182498 0.000115565
+                                        0 0 0
+                                      ]
+                                    }
+                                  }
+                                }
+                              ]
+                              boundingObject Group {
+                                children [
+                                  Transform {
+                                    translation 0 0 0.056
+                                    children [
+                                      Cylinder {
+                                        height 0.095
+                                        radius 0.024
+                                      }
+                                    ]
+                                  }
+                                  Transform {
+                                    translation 0 -0.024 0.003
+                                    children [
+                                      Cylinder {
+                                        height 0.047
+                                        radius 0.027
+                                      }
+                                    ]
+                                  }
+                                ]
+                              }
+                              physics Physics {
+                                density -1
+                                mass 0.877
+                                centerOfMass [
+                                  0 0 0.026
+                                ]
+                                inertiaMatrix [
+                                  0.00152517 0.00103897 0.000837339
+                                  0 0 -0.00015098
+                                ]
+                              }
+                            }
+                          }
+                        ]
+                        boundingObject Transform {
+                          translation 0 0.0225 0.065
+                          children [
+                            Box {
+                              size 0.06 0.045 0.19
+                            }
+                          ]
+                        }
+                        physics Physics {
+                          density -1
+                          mass 0.934
+                          centerOfMass [
+                            0 0.0225 0.065
+                          ]
+                          inertiaMatrix [
+                            0.0029674 0.00308998 0.000437812
+                            0 0 -5.99276e-20
+                          ]
+                        }
+                      }
+                    }
+                  ]
+                  boundingObject Transform {
+                    translation 0 -0.03 0.078
+                    children [
+                      Box {
+                        size 0.07 0.06 0.21
+                      }
+                    ]
+                  }
+                  physics Physics {
+                    density -1
+                    mass 1.155
+                    centerOfMass [
+                      0 -0.03 0.078
+                    ]
+                    inertiaMatrix [
+                      0.00459113 0.00471625 0.000818125
+                      0 0 1.56701e-20
+                    ]
+                  }
+                }
+              }
+            ]
+            boundingObject Transform {
+              translation 0.032 0.023 0.07
+              children [
+                Cylinder {
+                  height 0.046
+                  radius 0.036
+                }
+              ]
+            }
+            physics Physics {
+              density -1
+              mass 2.412
+              centerOfMass [
+                0.015 0.01 0.05
+              ]
+              inertiaMatrix [
+                0.00257923 0.00322484 0.0023115
+                -0.000533052 -0.00082008 -0.00062712
+              ]
+            }
+          }
+        }
+      ]
+      name "arm"
+      boundingObject Transform {
+        translation 0 0 0.04
+        rotation 1 0 0 1.5708
+        children [
+          Cylinder {
+            height 0.08
+            radius 0.078
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.845
+        centerOfMass [
+          0 0 0.04
+        ]
+        inertiaMatrix [
+          0.00173591 0.00173591 0.00257049
+          0 0 -3.06558e-09
+        ]
+      }
+    }
+    DEF WHEEL1 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 3079.8988511790367
+        axis 0 1 0
+        anchor 0.228 -0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel1"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel1sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 -0.158 -0.055
+        rotation 0 1 0 1.138050661039309
+        children [
+          Rad {
+          }
+        ]
+        name "wheel1"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF WHEEL2 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 391.53072715594226
+        axis 0 1 0
+        anchor 0.228 0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel2"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel2sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 0.158 -0.055
+        rotation 0 0.9999999999999999 0 1.9732381108078971
+        children [
+          Rad {
+          }
+        ]
+        name "wheel2"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF PLATE Solid {
+      translation -0.155 0 0
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.75 0.75 0.75
+            roughness 0.3
+          }
+          geometry IndexedFaceSet {
+            coord 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
+  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 0000000..105d6fb
--- /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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+                  anchor 0.033 0 0.07
+                }
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+                    name "arm2"
+                    maxVelocity 1.5708
+                    minPosition -1.13446
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+                  }
+                  PositionSensor {
+                    name "arm2sensor"
+                  }
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+                            roughness 0.4
+                            metalness 0
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance USE Gelenk1SchwarzAppearance
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
+                                  texCoord TextureCoordinate {
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.75 0.75 0.75
+                                  roughness 0.3
+                                }
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                            ]
+                          }
+                          HingeJoint {
+                            jointParameters HingeJointParameters {
+                              position 3.8180146582150794e-07
+                              axis 0 -1 0
+                              anchor 0 0 0.135
+                            }
+                            device [
+                              RotationalMotor {
+                                name "arm4"
+                                maxVelocity 1.5708
+                                minPosition -1.78024
+                                maxPosition 1.78024
+                                maxTorque 2
+                              }
+                              PositionSensor {
+                                name "arm4sensor"
+                              }
+                            ]
+                            endPoint Solid {
+                              translation 0 0 0.135
+                              rotation 0 -1 0 3.816559456248795e-07
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+                                        baseColor 1 0.4 0
+                                        roughness 0.4
+                                        metalness 0
+                                      }
+                                      geometry IndexedFaceSet {
+                                        coord DEF Arm4Coord Coordinate {
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+                                      SliderJoint {
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+                                          axis 0 1 0
+                                        }
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+                                          LinearMotor {
+                                            name "finger1"
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+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger1sensor"
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+                                                ]
+                                                creaseAngle 0.5
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+                                          name "finger1"
+                                          boundingObject DEF FINGER_BO Group {
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+                                                  }
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+                                          physics DEF FINGER_PH Physics {
+                                            density -1
+                                            mass 0.03
+                                            centerOfMass [
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+                                            ]
+                                            inertiaMatrix [
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+                                              0 0 8.29319e-07
+                                            ]
+                                          }
+                                        }
+                                      }
+                                      SliderJoint {
+                                        jointParameters JointParameters {
+                                          position 5.328543902475132e-06
+                                          axis 0 -1 0
+                                        }
+                                        device [
+                                          LinearMotor {
+                                            name "finger2"
+                                            minPosition -2.6844733975946373e-11
+                                            maxPosition 0.025
+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger2sensor"
+                                          }
+                                        ]
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+                                                roughness 0.2
+                                                metalness 0
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+                                                ]
+                                                creaseAngle 0.5
+                                              }
+                                            }
+                                          ]
+                                          name "finger2"
+                                          boundingObject USE FINGER_BO
+                                          physics USE FINGER_PH
+                                        }
+                                      }
+                                    ]
+                                    boundingObject Transform {
+                                      translation 0 0 0.045
+                                      children [
+                                        Box {
+                                          size 0.025 0.07 0.09
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.251
+                                      centerOfMass [
+                                        0 0 0.045
+                                      ]
+                                      inertiaMatrix [
+                                        0.000271917 0.000182498 0.000115565
+                                        0 0 0
+                                      ]
+                                    }
+                                  }
+                                }
+                              ]
+                              boundingObject Group {
+                                children [
+                                  Transform {
+                                    translation 0 0 0.056
+                                    children [
+                                      Cylinder {
+                                        height 0.095
+                                        radius 0.024
+                                      }
+                                    ]
+                                  }
+                                  Transform {
+                                    translation 0 -0.024 0.003
+                                    children [
+                                      Cylinder {
+                                        height 0.047
+                                        radius 0.027
+                                      }
+                                    ]
+                                  }
+                                ]
+                              }
+                              physics Physics {
+                                density -1
+                                mass 0.877
+                                centerOfMass [
+                                  0 0 0.026
+                                ]
+                                inertiaMatrix [
+                                  0.00152517 0.00103897 0.000837339
+                                  0 0 -0.00015098
+                                ]
+                              }
+                            }
+                          }
+                        ]
+                        boundingObject Transform {
+                          translation 0 0.0225 0.065
+                          children [
+                            Box {
+                              size 0.06 0.045 0.19
+                            }
+                          ]
+                        }
+                        physics Physics {
+                          density -1
+                          mass 0.934
+                          centerOfMass [
+                            0 0.0225 0.065
+                          ]
+                          inertiaMatrix [
+                            0.0029674 0.00308998 0.000437812
+                            0 0 -5.99276e-20
+                          ]
+                        }
+                      }
+                    }
+                  ]
+                  boundingObject Transform {
+                    translation 0 -0.03 0.078
+                    children [
+                      Box {
+                        size 0.07 0.06 0.21
+                      }
+                    ]
+                  }
+                  physics Physics {
+                    density -1
+                    mass 1.155
+                    centerOfMass [
+                      0 -0.03 0.078
+                    ]
+                    inertiaMatrix [
+                      0.00459113 0.00471625 0.000818125
+                      0 0 1.56701e-20
+                    ]
+                  }
+                }
+              }
+            ]
+            boundingObject Transform {
+              translation 0.032 0.023 0.07
+              children [
+                Cylinder {
+                  height 0.046
+                  radius 0.036
+                }
+              ]
+            }
+            physics Physics {
+              density -1
+              mass 2.412
+              centerOfMass [
+                0.015 0.01 0.05
+              ]
+              inertiaMatrix [
+                0.00257923 0.00322484 0.0023115
+                -0.000533052 -0.00082008 -0.00062712
+              ]
+            }
+          }
+        }
+      ]
+      name "arm"
+      boundingObject Transform {
+        translation 0 0 0.04
+        rotation 1 0 0 1.5708
+        children [
+          Cylinder {
+            height 0.08
+            radius 0.078
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.845
+        centerOfMass [
+          0 0 0.04
+        ]
+        inertiaMatrix [
+          0.00173591 0.00173591 0.00257049
+          0 0 -3.06558e-09
+        ]
+      }
+    }
+    DEF WHEEL1 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 3079.8988511790367
+        axis 0 1 0
+        anchor 0.228 -0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel1"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel1sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 -0.158 -0.055
+        rotation 0 1 0 1.138050661039309
+        children [
+          Rad {
+          }
+        ]
+        name "wheel1"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF WHEEL2 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 391.53072715594226
+        axis 0 1 0
+        anchor 0.228 0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel2"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel2sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 0.158 -0.055
+        rotation 0 0.9999999999999999 0 1.9732381108078971
+        children [
+          Rad {
+          }
+        ]
+        name "wheel2"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF PLATE Solid {
+      translation -0.155 0 0
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.75 0.75 0.75
+            roughness 0.3
+          }
+          geometry IndexedFaceSet {
+            coord 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 0000000..ce79f04
--- /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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+                  anchor 0.033 0 0.07
+                }
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+                    name "arm2"
+                    maxVelocity 1.5708
+                    minPosition -1.13446
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+                  }
+                  PositionSensor {
+                    name "arm2sensor"
+                  }
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+                            roughness 0.4
+                            metalness 0
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance USE Gelenk1SchwarzAppearance
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
+                                  texCoord TextureCoordinate {
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.75 0.75 0.75
+                                  roughness 0.3
+                                }
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                            ]
+                          }
+                          HingeJoint {
+                            jointParameters HingeJointParameters {
+                              position 3.8180146582150794e-07
+                              axis 0 -1 0
+                              anchor 0 0 0.135
+                            }
+                            device [
+                              RotationalMotor {
+                                name "arm4"
+                                maxVelocity 1.5708
+                                minPosition -1.78024
+                                maxPosition 1.78024
+                                maxTorque 2
+                              }
+                              PositionSensor {
+                                name "arm4sensor"
+                              }
+                            ]
+                            endPoint Solid {
+                              translation 0 0 0.135
+                              rotation 0 -1 0 3.816559456248795e-07
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+                                        baseColor 1 0.4 0
+                                        roughness 0.4
+                                        metalness 0
+                                      }
+                                      geometry IndexedFaceSet {
+                                        coord DEF Arm4Coord Coordinate {
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+                                      SliderJoint {
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+                                          axis 0 1 0
+                                        }
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+                                          LinearMotor {
+                                            name "finger1"
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+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger1sensor"
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+                                                ]
+                                                creaseAngle 0.5
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+                                          name "finger1"
+                                          boundingObject DEF FINGER_BO Group {
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+                                                  }
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+                                          physics DEF FINGER_PH Physics {
+                                            density -1
+                                            mass 0.03
+                                            centerOfMass [
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+                                            ]
+                                            inertiaMatrix [
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+                                              0 0 8.29319e-07
+                                            ]
+                                          }
+                                        }
+                                      }
+                                      SliderJoint {
+                                        jointParameters JointParameters {
+                                          position 5.328543902475132e-06
+                                          axis 0 -1 0
+                                        }
+                                        device [
+                                          LinearMotor {
+                                            name "finger2"
+                                            minPosition -2.6844733975946373e-11
+                                            maxPosition 0.025
+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger2sensor"
+                                          }
+                                        ]
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+                                                roughness 0.2
+                                                metalness 0
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+                                                ]
+                                                creaseAngle 0.5
+                                              }
+                                            }
+                                          ]
+                                          name "finger2"
+                                          boundingObject USE FINGER_BO
+                                          physics USE FINGER_PH
+                                        }
+                                      }
+                                    ]
+                                    boundingObject Transform {
+                                      translation 0 0 0.045
+                                      children [
+                                        Box {
+                                          size 0.025 0.07 0.09
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.251
+                                      centerOfMass [
+                                        0 0 0.045
+                                      ]
+                                      inertiaMatrix [
+                                        0.000271917 0.000182498 0.000115565
+                                        0 0 0
+                                      ]
+                                    }
+                                  }
+                                }
+                              ]
+                              boundingObject Group {
+                                children [
+                                  Transform {
+                                    translation 0 0 0.056
+                                    children [
+                                      Cylinder {
+                                        height 0.095
+                                        radius 0.024
+                                      }
+                                    ]
+                                  }
+                                  Transform {
+                                    translation 0 -0.024 0.003
+                                    children [
+                                      Cylinder {
+                                        height 0.047
+                                        radius 0.027
+                                      }
+                                    ]
+                                  }
+                                ]
+                              }
+                              physics Physics {
+                                density -1
+                                mass 0.877
+                                centerOfMass [
+                                  0 0 0.026
+                                ]
+                                inertiaMatrix [
+                                  0.00152517 0.00103897 0.000837339
+                                  0 0 -0.00015098
+                                ]
+                              }
+                            }
+                          }
+                        ]
+                        boundingObject Transform {
+                          translation 0 0.0225 0.065
+                          children [
+                            Box {
+                              size 0.06 0.045 0.19
+                            }
+                          ]
+                        }
+                        physics Physics {
+                          density -1
+                          mass 0.934
+                          centerOfMass [
+                            0 0.0225 0.065
+                          ]
+                          inertiaMatrix [
+                            0.0029674 0.00308998 0.000437812
+                            0 0 -5.99276e-20
+                          ]
+                        }
+                      }
+                    }
+                  ]
+                  boundingObject Transform {
+                    translation 0 -0.03 0.078
+                    children [
+                      Box {
+                        size 0.07 0.06 0.21
+                      }
+                    ]
+                  }
+                  physics Physics {
+                    density -1
+                    mass 1.155
+                    centerOfMass [
+                      0 -0.03 0.078
+                    ]
+                    inertiaMatrix [
+                      0.00459113 0.00471625 0.000818125
+                      0 0 1.56701e-20
+                    ]
+                  }
+                }
+              }
+            ]
+            boundingObject Transform {
+              translation 0.032 0.023 0.07
+              children [
+                Cylinder {
+                  height 0.046
+                  radius 0.036
+                }
+              ]
+            }
+            physics Physics {
+              density -1
+              mass 2.412
+              centerOfMass [
+                0.015 0.01 0.05
+              ]
+              inertiaMatrix [
+                0.00257923 0.00322484 0.0023115
+                -0.000533052 -0.00082008 -0.00062712
+              ]
+            }
+          }
+        }
+      ]
+      name "arm"
+      boundingObject Transform {
+        translation 0 0 0.04
+        rotation 1 0 0 1.5708
+        children [
+          Cylinder {
+            height 0.08
+            radius 0.078
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.845
+        centerOfMass [
+          0 0 0.04
+        ]
+        inertiaMatrix [
+          0.00173591 0.00173591 0.00257049
+          0 0 -3.06558e-09
+        ]
+      }
+    }
+    DEF WHEEL1 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 3079.8988511790367
+        axis 0 1 0
+        anchor 0.228 -0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel1"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel1sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 -0.158 -0.055
+        rotation 0 1 0 1.138050661039309
+        children [
+          Rad {
+          }
+        ]
+        name "wheel1"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF WHEEL2 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 391.53072715594226
+        axis 0 1 0
+        anchor 0.228 0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel2"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel2sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 0.158 -0.055
+        rotation 0 0.9999999999999999 0 1.9732381108078971
+        children [
+          Rad {
+          }
+        ]
+        name "wheel2"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF PLATE Solid {
+      translation -0.155 0 0
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.75 0.75 0.75
+            roughness 0.3
+          }
+          geometry IndexedFaceSet {
+            coord 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
+  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 0000000..3c869e4
--- /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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+                  anchor 0.033 0 0.07
+                }
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+                    name "arm2"
+                    maxVelocity 1.5708
+                    minPosition -1.13446
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+                  }
+                  PositionSensor {
+                    name "arm2sensor"
+                  }
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+                            roughness 0.4
+                            metalness 0
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance USE Gelenk1SchwarzAppearance
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
+                                  texCoord TextureCoordinate {
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.75 0.75 0.75
+                                  roughness 0.3
+                                }
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                            ]
+                          }
+                          HingeJoint {
+                            jointParameters HingeJointParameters {
+                              position 3.8180146582150794e-07
+                              axis 0 -1 0
+                              anchor 0 0 0.135
+                            }
+                            device [
+                              RotationalMotor {
+                                name "arm4"
+                                maxVelocity 1.5708
+                                minPosition -1.78024
+                                maxPosition 1.78024
+                                maxTorque 2
+                              }
+                              PositionSensor {
+                                name "arm4sensor"
+                              }
+                            ]
+                            endPoint Solid {
+                              translation 0 0 0.135
+                              rotation 0 -1 0 3.816559456248795e-07
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+                                        baseColor 1 0.4 0
+                                        roughness 0.4
+                                        metalness 0
+                                      }
+                                      geometry IndexedFaceSet {
+                                        coord DEF Arm4Coord Coordinate {
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+                                      SliderJoint {
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+                                          axis 0 1 0
+                                        }
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+                                          LinearMotor {
+                                            name "finger1"
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+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger1sensor"
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+                                                ]
+                                                creaseAngle 0.5
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+                                          name "finger1"
+                                          boundingObject DEF FINGER_BO Group {
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+                                                  }
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+                                          physics DEF FINGER_PH Physics {
+                                            density -1
+                                            mass 0.03
+                                            centerOfMass [
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+                                            ]
+                                            inertiaMatrix [
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+                                              0 0 8.29319e-07
+                                            ]
+                                          }
+                                        }
+                                      }
+                                      SliderJoint {
+                                        jointParameters JointParameters {
+                                          position 5.328543902475132e-06
+                                          axis 0 -1 0
+                                        }
+                                        device [
+                                          LinearMotor {
+                                            name "finger2"
+                                            minPosition -2.6844733975946373e-11
+                                            maxPosition 0.025
+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger2sensor"
+                                          }
+                                        ]
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+                                                roughness 0.2
+                                                metalness 0
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+                                                ]
+                                                creaseAngle 0.5
+                                              }
+                                            }
+                                          ]
+                                          name "finger2"
+                                          boundingObject USE FINGER_BO
+                                          physics USE FINGER_PH
+                                        }
+                                      }
+                                    ]
+                                    boundingObject Transform {
+                                      translation 0 0 0.045
+                                      children [
+                                        Box {
+                                          size 0.025 0.07 0.09
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.251
+                                      centerOfMass [
+                                        0 0 0.045
+                                      ]
+                                      inertiaMatrix [
+                                        0.000271917 0.000182498 0.000115565
+                                        0 0 0
+                                      ]
+                                    }
+                                  }
+                                }
+                              ]
+                              boundingObject Group {
+                                children [
+                                  Transform {
+                                    translation 0 0 0.056
+                                    children [
+                                      Cylinder {
+                                        height 0.095
+                                        radius 0.024
+                                      }
+                                    ]
+                                  }
+                                  Transform {
+                                    translation 0 -0.024 0.003
+                                    children [
+                                      Cylinder {
+                                        height 0.047
+                                        radius 0.027
+                                      }
+                                    ]
+                                  }
+                                ]
+                              }
+                              physics Physics {
+                                density -1
+                                mass 0.877
+                                centerOfMass [
+                                  0 0 0.026
+                                ]
+                                inertiaMatrix [
+                                  0.00152517 0.00103897 0.000837339
+                                  0 0 -0.00015098
+                                ]
+                              }
+                            }
+                          }
+                        ]
+                        boundingObject Transform {
+                          translation 0 0.0225 0.065
+                          children [
+                            Box {
+                              size 0.06 0.045 0.19
+                            }
+                          ]
+                        }
+                        physics Physics {
+                          density -1
+                          mass 0.934
+                          centerOfMass [
+                            0 0.0225 0.065
+                          ]
+                          inertiaMatrix [
+                            0.0029674 0.00308998 0.000437812
+                            0 0 -5.99276e-20
+                          ]
+                        }
+                      }
+                    }
+                  ]
+                  boundingObject Transform {
+                    translation 0 -0.03 0.078
+                    children [
+                      Box {
+                        size 0.07 0.06 0.21
+                      }
+                    ]
+                  }
+                  physics Physics {
+                    density -1
+                    mass 1.155
+                    centerOfMass [
+                      0 -0.03 0.078
+                    ]
+                    inertiaMatrix [
+                      0.00459113 0.00471625 0.000818125
+                      0 0 1.56701e-20
+                    ]
+                  }
+                }
+              }
+            ]
+            boundingObject Transform {
+              translation 0.032 0.023 0.07
+              children [
+                Cylinder {
+                  height 0.046
+                  radius 0.036
+                }
+              ]
+            }
+            physics Physics {
+              density -1
+              mass 2.412
+              centerOfMass [
+                0.015 0.01 0.05
+              ]
+              inertiaMatrix [
+                0.00257923 0.00322484 0.0023115
+                -0.000533052 -0.00082008 -0.00062712
+              ]
+            }
+          }
+        }
+      ]
+      name "arm"
+      boundingObject Transform {
+        translation 0 0 0.04
+        rotation 1 0 0 1.5708
+        children [
+          Cylinder {
+            height 0.08
+            radius 0.078
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.845
+        centerOfMass [
+          0 0 0.04
+        ]
+        inertiaMatrix [
+          0.00173591 0.00173591 0.00257049
+          0 0 -3.06558e-09
+        ]
+      }
+    }
+    DEF WHEEL1 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 3079.8988511790367
+        axis 0 1 0
+        anchor 0.228 -0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel1"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel1sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 -0.158 -0.055
+        rotation 0 1 0 1.138050661039309
+        children [
+          Rad {
+          }
+        ]
+        name "wheel1"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF WHEEL2 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 391.53072715594226
+        axis 0 1 0
+        anchor 0.228 0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel2"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel2sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 0.158 -0.055
+        rotation 0 0.9999999999999999 0 1.9732381108078971
+        children [
+          Rad {
+          }
+        ]
+        name "wheel2"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF PLATE Solid {
+      translation -0.155 0 0
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.75 0.75 0.75
+            roughness 0.3
+          }
+          geometry IndexedFaceSet {
+            coord 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 0000000..8e78f29
--- /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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+                  anchor 0.033 0 0.07
+                }
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+                    name "arm2"
+                    maxVelocity 1.5708
+                    minPosition -1.13446
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+                  }
+                  PositionSensor {
+                    name "arm2sensor"
+                  }
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+                            roughness 0.4
+                            metalness 0
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance USE Gelenk1SchwarzAppearance
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
+                                  texCoord TextureCoordinate {
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.75 0.75 0.75
+                                  roughness 0.3
+                                }
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                            ]
+                          }
+                          HingeJoint {
+                            jointParameters HingeJointParameters {
+                              position 3.8180146582150794e-07
+                              axis 0 -1 0
+                              anchor 0 0 0.135
+                            }
+                            device [
+                              RotationalMotor {
+                                name "arm4"
+                                maxVelocity 1.5708
+                                minPosition -1.78024
+                                maxPosition 1.78024
+                                maxTorque 2
+                              }
+                              PositionSensor {
+                                name "arm4sensor"
+                              }
+                            ]
+                            endPoint Solid {
+                              translation 0 0 0.135
+                              rotation 0 -1 0 3.816559456248795e-07
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+                                        baseColor 1 0.4 0
+                                        roughness 0.4
+                                        metalness 0
+                                      }
+                                      geometry IndexedFaceSet {
+                                        coord DEF Arm4Coord Coordinate {
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+                                      SliderJoint {
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+                                          axis 0 1 0
+                                        }
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+                                          LinearMotor {
+                                            name "finger1"
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+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger1sensor"
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+                                                ]
+                                                creaseAngle 0.5
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+                                          name "finger1"
+                                          boundingObject DEF FINGER_BO Group {
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+                                                  }
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+                                          physics DEF FINGER_PH Physics {
+                                            density -1
+                                            mass 0.03
+                                            centerOfMass [
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+                                            ]
+                                            inertiaMatrix [
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+                                              0 0 8.29319e-07
+                                            ]
+                                          }
+                                        }
+                                      }
+                                      SliderJoint {
+                                        jointParameters JointParameters {
+                                          position 5.328543902475132e-06
+                                          axis 0 -1 0
+                                        }
+                                        device [
+                                          LinearMotor {
+                                            name "finger2"
+                                            minPosition -2.6844733975946373e-11
+                                            maxPosition 0.025
+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger2sensor"
+                                          }
+                                        ]
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+                                                roughness 0.2
+                                                metalness 0
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+                                                ]
+                                                creaseAngle 0.5
+                                              }
+                                            }
+                                          ]
+                                          name "finger2"
+                                          boundingObject USE FINGER_BO
+                                          physics USE FINGER_PH
+                                        }
+                                      }
+                                    ]
+                                    boundingObject Transform {
+                                      translation 0 0 0.045
+                                      children [
+                                        Box {
+                                          size 0.025 0.07 0.09
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.251
+                                      centerOfMass [
+                                        0 0 0.045
+                                      ]
+                                      inertiaMatrix [
+                                        0.000271917 0.000182498 0.000115565
+                                        0 0 0
+                                      ]
+                                    }
+                                  }
+                                }
+                              ]
+                              boundingObject Group {
+                                children [
+                                  Transform {
+                                    translation 0 0 0.056
+                                    children [
+                                      Cylinder {
+                                        height 0.095
+                                        radius 0.024
+                                      }
+                                    ]
+                                  }
+                                  Transform {
+                                    translation 0 -0.024 0.003
+                                    children [
+                                      Cylinder {
+                                        height 0.047
+                                        radius 0.027
+                                      }
+                                    ]
+                                  }
+                                ]
+                              }
+                              physics Physics {
+                                density -1
+                                mass 0.877
+                                centerOfMass [
+                                  0 0 0.026
+                                ]
+                                inertiaMatrix [
+                                  0.00152517 0.00103897 0.000837339
+                                  0 0 -0.00015098
+                                ]
+                              }
+                            }
+                          }
+                        ]
+                        boundingObject Transform {
+                          translation 0 0.0225 0.065
+                          children [
+                            Box {
+                              size 0.06 0.045 0.19
+                            }
+                          ]
+                        }
+                        physics Physics {
+                          density -1
+                          mass 0.934
+                          centerOfMass [
+                            0 0.0225 0.065
+                          ]
+                          inertiaMatrix [
+                            0.0029674 0.00308998 0.000437812
+                            0 0 -5.99276e-20
+                          ]
+                        }
+                      }
+                    }
+                  ]
+                  boundingObject Transform {
+                    translation 0 -0.03 0.078
+                    children [
+                      Box {
+                        size 0.07 0.06 0.21
+                      }
+                    ]
+                  }
+                  physics Physics {
+                    density -1
+                    mass 1.155
+                    centerOfMass [
+                      0 -0.03 0.078
+                    ]
+                    inertiaMatrix [
+                      0.00459113 0.00471625 0.000818125
+                      0 0 1.56701e-20
+                    ]
+                  }
+                }
+              }
+            ]
+            boundingObject Transform {
+              translation 0.032 0.023 0.07
+              children [
+                Cylinder {
+                  height 0.046
+                  radius 0.036
+                }
+              ]
+            }
+            physics Physics {
+              density -1
+              mass 2.412
+              centerOfMass [
+                0.015 0.01 0.05
+              ]
+              inertiaMatrix [
+                0.00257923 0.00322484 0.0023115
+                -0.000533052 -0.00082008 -0.00062712
+              ]
+            }
+          }
+        }
+      ]
+      name "arm"
+      boundingObject Transform {
+        translation 0 0 0.04
+        rotation 1 0 0 1.5708
+        children [
+          Cylinder {
+            height 0.08
+            radius 0.078
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.845
+        centerOfMass [
+          0 0 0.04
+        ]
+        inertiaMatrix [
+          0.00173591 0.00173591 0.00257049
+          0 0 -3.06558e-09
+        ]
+      }
+    }
+    DEF WHEEL1 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 3079.8988511790367
+        axis 0 1 0
+        anchor 0.228 -0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel1"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel1sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 -0.158 -0.055
+        rotation 0 1 0 1.138050661039309
+        children [
+          Rad {
+          }
+        ]
+        name "wheel1"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF WHEEL2 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 391.53072715594226
+        axis 0 1 0
+        anchor 0.228 0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel2"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel2sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 0.158 -0.055
+        rotation 0 0.9999999999999999 0 1.9732381108078971
+        children [
+          Rad {
+          }
+        ]
+        name "wheel2"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF PLATE Solid {
+      translation -0.155 0 0
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.75 0.75 0.75
+            roughness 0.3
+          }
+          geometry IndexedFaceSet {
+            coord 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
+  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 0000000..afe630e
--- /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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+                  anchor 0.033 0 0.07
+                }
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+                    name "arm2"
+                    maxVelocity 1.5708
+                    minPosition -1.13446
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+                  }
+                  PositionSensor {
+                    name "arm2sensor"
+                  }
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+                            roughness 0.4
+                            metalness 0
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance USE Gelenk1SchwarzAppearance
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
+                                  texCoord TextureCoordinate {
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                              Shape {
+                                appearance PBRAppearance {
+                                  baseColor 0.75 0.75 0.75
+                                  roughness 0.3
+                                }
+                                geometry IndexedFaceSet {
+                                  coord USE Arm3Coord
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+                                  ]
+                                  creaseAngle 1
+                                }
+                              }
+                            ]
+                          }
+                          HingeJoint {
+                            jointParameters HingeJointParameters {
+                              position 3.8180146582150794e-07
+                              axis 0 -1 0
+                              anchor 0 0 0.135
+                            }
+                            device [
+                              RotationalMotor {
+                                name "arm4"
+                                maxVelocity 1.5708
+                                minPosition -1.78024
+                                maxPosition 1.78024
+                                maxTorque 2
+                              }
+                              PositionSensor {
+                                name "arm4sensor"
+                              }
+                            ]
+                            endPoint Solid {
+                              translation 0 0 0.135
+                              rotation 0 -1 0 3.816559456248795e-07
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+                                        baseColor 1 0.4 0
+                                        roughness 0.4
+                                        metalness 0
+                                      }
+                                      geometry IndexedFaceSet {
+                                        coord DEF Arm4Coord Coordinate {
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+                                      SliderJoint {
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+                                          axis 0 1 0
+                                        }
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+                                          LinearMotor {
+                                            name "finger1"
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+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger1sensor"
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+                                                ]
+                                                creaseAngle 0.5
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+                                          name "finger1"
+                                          boundingObject DEF FINGER_BO Group {
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+                                                  }
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+                                          physics DEF FINGER_PH Physics {
+                                            density -1
+                                            mass 0.03
+                                            centerOfMass [
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+                                            ]
+                                            inertiaMatrix [
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+                                              0 0 8.29319e-07
+                                            ]
+                                          }
+                                        }
+                                      }
+                                      SliderJoint {
+                                        jointParameters JointParameters {
+                                          position 5.328543902475132e-06
+                                          axis 0 -1 0
+                                        }
+                                        device [
+                                          LinearMotor {
+                                            name "finger2"
+                                            minPosition -2.6844733975946373e-11
+                                            maxPosition 0.025
+                                            maxForce 100
+                                          }
+                                          PositionSensor {
+                                            name "finger2sensor"
+                                          }
+                                        ]
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+                                                roughness 0.2
+                                                metalness 0
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+                                                ]
+                                                creaseAngle 0.5
+                                              }
+                                            }
+                                          ]
+                                          name "finger2"
+                                          boundingObject USE FINGER_BO
+                                          physics USE FINGER_PH
+                                        }
+                                      }
+                                    ]
+                                    boundingObject Transform {
+                                      translation 0 0 0.045
+                                      children [
+                                        Box {
+                                          size 0.025 0.07 0.09
+                                        }
+                                      ]
+                                    }
+                                    physics Physics {
+                                      density -1
+                                      mass 0.251
+                                      centerOfMass [
+                                        0 0 0.045
+                                      ]
+                                      inertiaMatrix [
+                                        0.000271917 0.000182498 0.000115565
+                                        0 0 0
+                                      ]
+                                    }
+                                  }
+                                }
+                              ]
+                              boundingObject Group {
+                                children [
+                                  Transform {
+                                    translation 0 0 0.056
+                                    children [
+                                      Cylinder {
+                                        height 0.095
+                                        radius 0.024
+                                      }
+                                    ]
+                                  }
+                                  Transform {
+                                    translation 0 -0.024 0.003
+                                    children [
+                                      Cylinder {
+                                        height 0.047
+                                        radius 0.027
+                                      }
+                                    ]
+                                  }
+                                ]
+                              }
+                              physics Physics {
+                                density -1
+                                mass 0.877
+                                centerOfMass [
+                                  0 0 0.026
+                                ]
+                                inertiaMatrix [
+                                  0.00152517 0.00103897 0.000837339
+                                  0 0 -0.00015098
+                                ]
+                              }
+                            }
+                          }
+                        ]
+                        boundingObject Transform {
+                          translation 0 0.0225 0.065
+                          children [
+                            Box {
+                              size 0.06 0.045 0.19
+                            }
+                          ]
+                        }
+                        physics Physics {
+                          density -1
+                          mass 0.934
+                          centerOfMass [
+                            0 0.0225 0.065
+                          ]
+                          inertiaMatrix [
+                            0.0029674 0.00308998 0.000437812
+                            0 0 -5.99276e-20
+                          ]
+                        }
+                      }
+                    }
+                  ]
+                  boundingObject Transform {
+                    translation 0 -0.03 0.078
+                    children [
+                      Box {
+                        size 0.07 0.06 0.21
+                      }
+                    ]
+                  }
+                  physics Physics {
+                    density -1
+                    mass 1.155
+                    centerOfMass [
+                      0 -0.03 0.078
+                    ]
+                    inertiaMatrix [
+                      0.00459113 0.00471625 0.000818125
+                      0 0 1.56701e-20
+                    ]
+                  }
+                }
+              }
+            ]
+            boundingObject Transform {
+              translation 0.032 0.023 0.07
+              children [
+                Cylinder {
+                  height 0.046
+                  radius 0.036
+                }
+              ]
+            }
+            physics Physics {
+              density -1
+              mass 2.412
+              centerOfMass [
+                0.015 0.01 0.05
+              ]
+              inertiaMatrix [
+                0.00257923 0.00322484 0.0023115
+                -0.000533052 -0.00082008 -0.00062712
+              ]
+            }
+          }
+        }
+      ]
+      name "arm"
+      boundingObject Transform {
+        translation 0 0 0.04
+        rotation 1 0 0 1.5708
+        children [
+          Cylinder {
+            height 0.08
+            radius 0.078
+          }
+        ]
+      }
+      physics Physics {
+        density -1
+        mass 0.845
+        centerOfMass [
+          0 0 0.04
+        ]
+        inertiaMatrix [
+          0.00173591 0.00173591 0.00257049
+          0 0 -3.06558e-09
+        ]
+      }
+    }
+    DEF WHEEL1 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 3079.8988511790367
+        axis 0 1 0
+        anchor 0.228 -0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel1"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel1sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 -0.158 -0.055
+        rotation 0 1 0 1.138050661039309
+        children [
+          Rad {
+          }
+        ]
+        name "wheel1"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF WHEEL2 HingeJoint {
+      jointParameters HingeJointParameters {
+        position 391.53072715594226
+        axis 0 1 0
+        anchor 0.228 0.158 -0.055
+      }
+      device [
+        RotationalMotor {
+          name "wheel2"
+          maxVelocity 14.81
+        }
+        PositionSensor {
+          name "wheel2sensor"
+        }
+      ]
+      endPoint DEF WHEEL_SOLID Solid {
+        translation 0.228 0.158 -0.055
+        rotation 0 0.9999999999999999 0 1.9732381108078971
+        children [
+          Rad {
+          }
+        ]
+        name "wheel2"
+        boundingObject Cylinder {
+          height 0.072
+          radius 0.05
+          subdivision 24
+        }
+        physics Physics {
+          density -1
+          mass 0.4
+        }
+      }
+    }
+    DEF PLATE Solid {
+      translation -0.155 0 0
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.75 0.75 0.75
+            roughness 0.3
+          }
+          geometry IndexedFaceSet {
+            coord 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
+}
-- 
GitLab