#VRML_SIM R2023b utf8
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "../protos/arena/Arena.proto"
EXTERNPROTO "../protos/arena/Deck.proto"
EXTERNPROTO "../protos/arena/TriangleDeck.proto"
EXTERNPROTO "../protos/props/Can.proto"
EXTERNPROTO "../protos/props/Marker.proto"
EXTERNPROTO "../protos/SRObot.proto"

WorldInfo {
  basicTimeStep 8
}
Viewpoint {
  orientation 0.43231 0.43231 -0.79134 1.80272
  position 0 9.1 13.8
}
DEF AMBIENT Background {
  skyColor [
    0.4 0.4 0.4
  ]
  luminosity 1.6
}
TexturedBackgroundLight {
}

DEF ROBOT0 SRObot {
  name "robot0"
  translation 0.45 1.95 0
  rotation 0 0 1 3.1415
  flagColour 0 1 0
  controllerArgs ["0"]
  controller "usercode_runner"
  customData "start"
}

DEF ROBOT1 SRObot {
  name "robot1"
  translation -0.45 -1.95 0
  rotation 0 0 1 0
  flagColour 1 0.4 0
  controllerArgs ["1"]
  controller "usercode_runner"
  customData "start"
}

Robot {
  name "competition_supervisor"
  controller "competition_supervisor"
  supervisor TRUE
}

Arena {
  size 5.4 5.4
  locked TRUE
  floorTexture ["arena_floor.png"]
}
Deck {
  name "TL deck"
  size 1.2192 1.2192
  translation 2.0904 -2.0904 0.085
  locked TRUE
}
Deck {
  name "BR deck"
  size 1.2192 1.2192
  translation -2.0904 2.0904 0.085
  locked TRUE
}
Deck {
  name "CR deck"
  size 1.2192 1.2192
  translation -0.6096 -0.6096 0.085
  locked TRUE
}
Deck {
  name "CL deck"
  size 1.2192 1.2192
  translation 0.6096 0.6096 0.085
  locked TRUE
}
TriangleDeck {
  name "TR deck"
  size 1.2192 1.2192
  translation -2.0904 -2.0904 0.085
  locked TRUE
}
TriangleDeck {
  name "BL deck"
  size 1.2192 1.2192
  translation 2.0904 2.0904 0.085
  rotation 0 0 1 3.14159
  locked TRUE
}

DEF CANS Pose {
  translation 0 0 0.05
  children [
    Can {
      name "can1"
      translation -0.46 0.60 0
    }
    Can {
      name "can2"
      translation -1.48 1.1 0
    }
    Can {
      name "can3"
      translation -1.5892 0.06 0
    }
    Can {
      name "can4"
      translation -2.33 -0.06 0
    }
    Can {
      name "can5"
      translation -1.48 -1.95 0
    }

    Can {
      name "can6"
      translation 0.46 -0.6 0
    }
    Can {
      name "can7"
      translation 1.48 -1.1 0
    }
    Can {
      name "can8"
      translation 1.5892 -0.06 0
    }
    Can {
      name "can9"
      translation 2.33 0.06 0
    }
    Can {
      name "can10"
      translation 1.48 1.95 0
    }
  ]
}

Marker {
  name "A0"
  model "100"
  size 0.1 0.1
  translation -1.4798 2.165 0.07
  rotation 0 0 1 1.5708
  texture_url ["sim_markers/100.png"]
  upright TRUE
}
Marker {
  name "A1"
  model "101"
  size 0.1 0.1
  translation -1.4798 2.015 0.07
  rotation 0 0 1 1.5708
  texture_url ["sim_markers/101.png"]
  upright TRUE
}
Marker {
  name "A2"
  model "102"
  size 0.1 0.1
  translation -0.535 0.001 0.07
  rotation 0 0 1 3.1415
  texture_url ["sim_markers/102.png"]
  upright TRUE
}
Marker {
  name "A3"
  model "103"
  size 0.1 0.1
  translation -0.685 0.001 0.07
  rotation 0 0 1 3.1415
  texture_url ["sim_markers/103.png"]
  upright TRUE
}
Marker {
  name "A4"
  model "104"
  size 0.1 0.1
  translation -2.699 0.815 0.07
  rotation 0 0 1 1.5708
  texture_url ["sim_markers/104.png"]
  upright TRUE
}
Marker {
  name "A5"
  model "105"
  size 0.1 0.1
  translation -2.699 0.665 0.07
  rotation 0 0 1 1.5708
  texture_url ["sim_markers/105.png"]
  upright TRUE
}
Marker {
  name "A6"
  model "106"
  size 0.1 0.1
  translation -2.14243 -2.03637 0.07
  rotation 0 0 1 2.3561
  texture_url ["sim_markers/106.png"]
  upright TRUE
}
Marker {
  name "A7"
  model "107"
  size 0.1 0.1
  translation -2.03637 -2.14243 0.07
  rotation 0 0 1 2.3561
  texture_url ["sim_markers/107.png"]
  upright TRUE
}

Marker {
  name "B0"
  model "100"
  size 0.1 0.1
  translation 1.4798 -2.165 0.07
  rotation 0 0 1 -1.5708
  texture_url ["sim_markers/100.png"]
  upright TRUE
}
Marker {
  name "B1"
  model "101"
  size 0.1 0.1
  translation 1.4798 -2.015 0.07
  rotation 0 0 1 -1.5708
  texture_url ["sim_markers/101.png"]
  upright TRUE
}
Marker {
  name "B2"
  model "102"
  size 0.1 0.1
  translation 0.535 -0.001 0.07
  rotation 0 0 1 0
  texture_url ["sim_markers/102.png"]
  upright TRUE
}
Marker {
  name "B3"
  model "103"
  size 0.1 0.1
  translation 0.685 -0.001 0.07
  rotation 0 0 1 0
  texture_url ["sim_markers/103.png"]
  upright TRUE
}
Marker {
  name "B4"
  model "104"
  size 0.1 0.1
  translation 2.699 -0.815 0.07
  rotation 0 0 1 -1.5708
  texture_url ["sim_markers/104.png"]
  upright TRUE
}
Marker {
  name "B5"
  model "105"
  size 0.1 0.1
  translation 2.699 -0.665 0.07
  rotation 0 0 1 -1.5708
  texture_url ["sim_markers/105.png"]
  upright TRUE
}
Marker {
  name "B6"
  model "106"
  size 0.1 0.1
  translation 2.14243 2.03637 0.07
  rotation 0 0 1 -0.7853
  texture_url ["sim_markers/106.png"]
  upright TRUE
}
Marker {
  name "B7"
  model "107"
  size 0.1 0.1
  translation 2.03637 2.14243 0.07
  rotation 0 0 1 -0.7853
  texture_url ["sim_markers/107.png"]
  upright TRUE
}

# 5400/2 - 1219.2/2 ± 150/2/sqrt(2)
# 2.14343, 2.03737