#VRML_SIM R2025a utf8

EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"

WorldInfo {
  basicTimeStep 16
}
Viewpoint {
  orientation -0.25635520317819327 -0.11512688037582759 0.95970193873848 3.9554765517228683
  position 1.7243922962992353 1.7163795653296472 1.55302324506386
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Solid {
  translation 0.15 0 0.25
  children [
    Shape {
      appearance Appearance {
        texture ImageTexture {
          url [
            "../texture/whiteboard.jpg"
          ]
        }
      }
      geometry Box {
        size 1.4 1.7 0.01
      }
    }
  ]
  name "table-paintable"
}
Robot {
  rotation 0 0 1 -1.58
  children [
    DEF GEOMETRY_0 Group {
      children [
        DEF A0 Shape {
          appearance PBRAppearance {
            baseColor 1 0.333333 0
            roughness 1
            metalness 0
          }
          geometry Mesh {
            url [
              "../meshes/base-1.stl"
            ]
          }
        }
        DEF B0 Shape {
          appearance DEF WHITE PBRAppearance {
            roughness 1
            metalness 0
          }
          geometry Mesh {
            url [
              "../meshes/base-2.stl"
            ]
          }
        }
      ]
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        axis 0 0 1
        anchor 0 0 0.5925
        minStop -1.845
        maxStop 1.845
      }
      device [
        PositionSensor {
          name "joint_1_sensor"
        }
        RotationalMotor {
          name "joint_1"
          maxVelocity 2
          maxTorque 100
        }
      ]
      endPoint Solid {
        translation 0 0 0.5925
        rotation 0 0 1 1.5799999999999947
        children [
          DEF LINK1_SHAPE Shape {
            appearance USE WHITE
            geometry Mesh {
              url [
                "../meshes/brazo.stl"
              ]
            }
          }
          HingeJoint {
            jointParameters HingeJointParameters {
              axis 0 0 1
              anchor 0.4025 0 0
              minStop -2.574
              maxStop 2.574
            }
            device [
              PositionSensor {
                name "joint_2_sensor"
              }
              RotationalMotor {
                name "joint_2"
                maxVelocity 2
                minPosition -2.574
                maxPosition 2.574
              }
            ]
            endPoint Solid {
              translation 0.4025 0 0
              children [
                DEF A2 Shape {
                  appearance USE WHITE
                  geometry Mesh {
                    url [
                      "../meshes/antebrazo-1.stl"
                    ]
                  }
                }
                DEF B2 Shape {
                  appearance DEF DARK_GRAY PBRAppearance {
                    baseColor 0.4 0.4 0.4
                    roughness 1
                    metalness 0
                  }
                  geometry Mesh {
                    url [
                      "../meshes/antebrazo-2.stl"
                    ]
                  }
                }
                SliderJoint {
                  jointParameters JointParameters {
                  }
                  device [
                    PositionSensor {
                      name "joint_3_sensor"
                    }
                    LinearMotor {
                      name "joint_3"
                    }
                  ]
                  endPoint Solid {
                    translation 0.37763 0 0.17023100000000002
                    children [
                      DEF GEOMETRY_3 Shape {
                        appearance USE DARK_GRAY
                        geometry Mesh {
                          url [
                            "../meshes/mano.stl"
                          ]
                        }
                      }
                      HingeJoint {
                        jointParameters HingeJointParameters {
                          axis 0 0 1
                        }
                        device [
                          PositionSensor {
                            name "joint_4_sensor"
                          }
                          RotationalMotor {
                            name "joint_4"
                          }
                        ]
                        endPoint Solid {
                          children [
                            DEF GEOMETRY_4 Shape {
                              appearance PBRAppearance {
                                baseColor 0.6 0.6 0.6
                                roughness 1
                                metalness 0
                              }
                              geometry Mesh {
                                url [
                                  "../meshes/dedo.stl"
                                ]
                              }
                            }
                            DEF TCP Pose {
                              translation 0 0 -0.407
                              children [
                                Shape {
                                  appearance PBRAppearance {
                                    baseColor 1 0.666667 0
                                    roughness 1
                                    metalness 0
                                  }
                                  geometry Cylinder {
                                    height 0.002
                                    radius 0.002
                                  }
                                }
                                Pen {
                                  translation 0 0 -0.002
                                  rotation 1 0 0 0
                                  inkDensity 1
                                  leadSize 0.01
                                  maxDistance 0.005
                                }
                              ]
                            }
                          ]
                          name "link_4"
                          boundingObject USE GEOMETRY_4
                          physics Physics {
                          }
                        }
                      }
                    ]
                    name "link_3"
                    boundingObject USE GEOMETRY_3
                    physics Physics {
                    }
                  }
                }
              ]
              name "link_2"
              boundingObject Shape {
                geometry Mesh {
                  url [
                    "../meshes/antebrazo.stl"
                  ]
                }
              }
              physics Physics {
              }
            }
          }
        ]
        name "link_1"
        boundingObject USE LINK1_SHAPE
        physics Physics {
        }
      }
    }
  ]
  boundingObject DEF GEOMETRY_0 Group {
    children [
      DEF A0 Shape {
        appearance PBRAppearance {
          baseColor 1 0.333333 0
          roughness 1
          metalness 0
        }
        geometry Mesh {
          url [
            "../meshes/base-1.stl"
          ]
        }
      }
      DEF B0 Shape {
        appearance DEF WHITE PBRAppearance {
          roughness 1
          metalness 0
        }
        geometry Mesh {
          url [
            "../meshes/base-2.stl"
          ]
        }
      }
    ]
  }
  controller "<none>"
  supervisor TRUE
}