#VRML_SIM R2023b utf8

EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/Cabinet.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/CabinetHandle.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/PaintedWood.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Ceiling.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Wall.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Door.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/solids/protos/SolidBox.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Window.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/fridge/protos/Fridge.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Worktop.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Sink.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/HotPlate.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/oven/protos/Oven.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/CeilingLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/chairs/protos/Chair.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/drinks/protos/WaterBottle.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/drinks/protos/BeerBottle.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/drinks/protos/Can.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/fruits/protos/FruitBowl.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/fruits/protos/Orange.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/utensils/protos/Cookware.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/utensils/protos/Lid.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/utensils/protos/WoodenSpoon.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/utensils/protos/Fork.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/utensils/protos/Spoon.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/utensils/protos/Knife.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/PlasticCrate.proto"

WorldInfo {
  basicTimeStep 16
}
Viewpoint {
  fieldOfView 1.1
  orientation -0.18467007219848283 -0.09999241966181074 0.9777006087982063 3.520970826253958
  position 1.380557398428917 -0.5988735504277019 2.295646945715659
  exposure 0.7999999999999999
}
TexturedBackground {
  texture "empty_office"
  skybox FALSE
  skyColor [
    0.2 0.2 0.2
  ]
}
Cabinet {
  translation 2.15 -1 0.83
  rotation 0 0 1 3.14159
  name "cabinet(1)"
  depth 0.7
  outerThickness 0.02
  rowsHeights [
    0.2, 0.2, 0.2, 0.2, 0.2, 0.34
  ]
  columnsWidths [
    0.4
  ]
  layout [
    "LeftSidedDoor (1, 1, 1, 6, 1.5)"
    "Shelf (1,2, 1, 0)"
    "Shelf (1,3, 1, 0)"
    "Shelf (1,4, 1, 0)"
    "Shelf (1,5, 1, 0)"
    "Shelf (1,6, 1, 0)"
  ]
  handle CabinetHandle {
    translation 0 0 -0.3
    handleLength 0.1
    handleRadius 0.008
    handleColor 0.427451 0.513725 0.533333
  }
  primaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
  secondaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
}
Cabinet {
  translation -0.11 1.65 0.15
  rotation 0 0 1 -1.5707953071795862
  name "cabinet(2)"
  depth 0.67
  outerThickness 0.02
  rowsHeights [
    0.68, 0.25, 0.25, 0.25, 0.25, 0.34
  ]
  columnsWidths [
    0.44
  ]
  layout [
    "RightSidedDoor (1, 2, 1, 3, 1.5)"
    "RightSidedDoor (1, 5, 1, 2, 1.5)"
    "Shelf (1,2, 1, 0)"
    "Shelf (1,3, 1, 0)"
    "Shelf (1,4, 1, 0)"
    "Shelf (1,5, 1, 0)"
    "Shelf (1,6, 1, 0)"
  ]
  handle CabinetHandle {
    translation 0 -0.15 0
    handleLength 0.1
    handleRadius 0.008
    handleColor 0.427451 0.513725 0.533333
  }
  primaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
  secondaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
}
Cabinet {
  translation 2.15 -0.1 1.4
  rotation 0 0 1 3.14159
  name "cabinet(3)"
  outerThickness 0.02
  rowsHeights [
    0.21, 0.21, 0.22
  ]
  columnsWidths [
    0.44, 0.44, 0.44
  ]
  layout [
    "RightSidedDoor (1, 1, 1, 3, 1.5)"
    "LeftSidedDoor (2, 1, 1, 3, 1.5)"
    "LeftSidedDoor (3, 1, 1, 3, 1.5)"
    "Shelf (1, 2, 3, 0)"
    "Shelf (1, 3, 2, 0)"
    "Shelf (1, 1, 0, 1)"
    "Shelf (2, 1, 0, 3)"
  ]
  handle CabinetHandle {
    translation 0 -0.2 0
    handleLength 0.1
    handleRadius 0.008
    handleColor 0.427451 0.513725 0.533333
  }
  primaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
  secondaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
}
Cabinet {
  translation 0.37 1.647 1.4
  rotation 0 0 1 -1.5707953071795862
  name "cabinet(4)"
  outerThickness 0.02
  rowsHeights [
    0.21, 0.21, 0.22
  ]
  columnsWidths [
    0.44
  ]
  layout [
    "RightSidedDoor (1, 1, 1, 3, 1.5)"
    "Shelf (1, 2 ,1 , 0)"
    "Shelf (1, 3 ,1 , 0)"
  ]
  handle CabinetHandle {
    translation 0 -0.2 0
    handleLength 0.1
    handleRadius 0.008
    handleColor 0.427451 0.513725 0.533333
  }
  primaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
  secondaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
}
Cabinet {
  translation 0.79 1.48 0.15
  rotation 0 0 1 -1.5707953071795862
  name "cabinet(5)"
  outerThickness 0.02
  rowsHeights [
    0.21, 0.21, 0.22
  ]
  columnsWidths [
    0.34, 0.47, 0.47
  ]
  layout [
    "RightSidedDoor (2, 1, 1, 3, 1.5)"
    "LeftSidedDoor (3, 1, 1, 3, 1.5)"
    "RightSidedDoor (1, 1, 1, 3, 1.5)"
    "Shelf (1, 2, 1, 0)"
    "Shelf (1, 3, 1, 0)"
    "Shelf (1, 1, 0, 3)"
    "Shelf (2, 1, 0, 3)"
  ]
  handle CabinetHandle {
    translation 0 0 0.1
    handleLength 0.1
    handleRadius 0.008
    handleColor 0.427451 0.513725 0.533333
  }
  primaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
  secondaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
}
Cabinet {
  translation 2.15 -0.12 0.15
  rotation 0 0 1 3.14159
  depth 0.7
  outerThickness 0.02
  rowsHeights [
    0.25, 0.25, 0.14
  ]
  columnsWidths [
    0.76, 0.54, 0.43, 0.43
  ]
  layout [
    "LeftSidedDoor (2, 1, 1, 2, 1.5)"
    "LeftSidedDoor (4, 1, 1, 3, 1.5)"
    "RightSidedDoor (3, 1, 1, 3, 1.5)"
    "Drawer (1, 1, 1, 1, 3.5)"
    "Drawer (1, 2, 1, 1, 3.5)"
    "Drawer (1, 3, 1, 1, 3.5)"
    "Drawer (2, 3, 1, 1, 3.5)"
    "Shelf (1, 2, 1, 0)"
    "Shelf (1, 3, 2, 0)"
    "Shelf (3, 2, 2, 0)"
    "Shelf (1, 1, 0, 3)"
    "Shelf (2, 1, 0, 3)"
    "Shelf (3, 1, 0, 1)"
  ]
  handle CabinetHandle {
    handleLength 0.1
    handleRadius 0.008
    handleColor 0.427451 0.513725 0.533333
  }
  primaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
  secondaryAppearance PaintedWood {
    colorOverride 0.2 0.2 0.2
  }
}
Floor {
  translation 0 -0.17 0
  rotation 0 0 1 1.5708
  name "floor(1)"
  size 3.6666 4.5
  tileSize 1 1
  appearance Parquetry {
  }
}
Floor {
  translation -0.5 -3 0
  rotation 0 0 1 1.5708
  size 2 3.5
  tileSize 1 1
  appearance Parquetry {
  }
}
Ceiling {
  translation 0 -1.1 2.4
  size 4.7 5.9
}
Wall {
  translation 1.8 1.75 0
  rotation 0 0 1 1.5708
  name "wall(1)"
  size 0.2 0.7 2.4
}
Wall {
  translation 2.25 -0.15 0
  rotation 0 0 1 3.1416
  name "wall(2)"
  size 0.2 4 2.4
}
Wall {
  translation -0.75 1.75 0
  rotation 0 0 1 1.5708
  name "wall(3)"
  size 0.2 2.8 2.4
}
Wall {
  translation -2.25 1.35 0
  name "wall(4)"
}
Wall {
  translation -2.25 -0.45 0
  name "wall(5)"
}
Wall {
  translation -2.25 -2.985 0
  name "wall(6)"
  size 0.2 2.07 2.4
}
Wall {
  translation -0.5 -3.92 0
  name "wall(7)"
  size 3.3 0.2 2.4
}
Wall {
  translation 1.25 -2.986 0
  name "wall(8)"
  size 0.2 2.07 2.4
}
Wall {
  translation 1.75 -2.05 0
  rotation 0 0 1 4.71239
  size 0.2 0.8 2.4
}
Door {
  translation -2.25 -1.45 0
}
SolidBox {
  translation 1.55 -0.12 0.07
  name "box(1)"
  size 0.2 2.2 0.16
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 4 4
    }
  }
}
SolidBox {
  translation 0.65 1.08 0.07
  rotation 0 0 1 1.5708
  name "box(2)"
  size 0.2 2 0.16
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 4 4
    }
  }
}
SolidBox {
  translation 1.9 -1.12 0.07
  rotation 0 0 -1 4.71239
  name "box(3)"
  size 0.2 0.5 0.16
  appearance PBRAppearance {
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 4 4
    }
  }
}
SolidBox {
  translation -0.25 1.415 0.07
  rotation 0 0 -1 6.28318
  name "box(4)"
  size 0.2 0.47 0.16
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 4 4
    }
  }
}
SolidBox {
  translation -1.23 1.645 0.03
  name "box(5)"
  size 1.84 0.01 0.07
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 1 8
    }
  }
}
SolidBox {
  translation -2.145 0.345 0.03
  rotation 0 0 1 1.5708
  name "box(6)"
  size 2.59 0.01 0.07
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 1 8
    }
  }
}
SolidBox {
  translation -2.145 -2.885 0.03
  rotation 0 0 1 1.5708
  name "box(7)"
  size 1.87 0.01 0.07
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 1 8
    }
  }
}
SolidBox {
  translation 1.645 -1.945 0.03
  rotation 0 0 -1 3.14159
  name "box(8)"
  size 1.01 0.01 0.07
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 1 8
    }
  }
}
SolidBox {
  translation 1.145 -2.88 0.03
  rotation 0 0 1 4.71239
  name "box(9)"
  size 1.86 0.01 0.07
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 1 8
    }
  }
}
SolidBox {
  translation -0.495 -3.815 0.03
  rotation 0 0 1 3.14159
  size 3.29 0.01 0.07
  appearance PBRAppearance {
    baseColor 0.8 0.8 0.8
    roughness 0.5
    metalness 0
    textureTransform TextureTransform {
      scale 1 8
    }
  }
}
Window {
  translation -2.25 0.45 0
  rotation 0 0 1 3.14159
  name "window(1)"
  bottomWallHeight 0.9
  windowHeight 1
  windowSillSize 0.01 0.05
}
Window {
  translation 1.05 1.75 0
  rotation 0 0 1 1.5708
  bottomWallHeight 1.2
  windowHeight 1
  windowSillSize 0.01 0.05
}
Fridge {
  translation 1.8 -1.57 0
  rotation 0 0 -1 3.14159
}
Worktop {
  translation 0.345 1.31 0.86
  rotation 0 0 1 4.71239
  name "worktop(1)"
  size 0.7 0.43 0.06
}
Worktop {
  translation 0.78 1.531 0.86
  rotation 0 0 1 4.71239
  name "worktop(2)"
  size 0.237 0.44 0.06
}
Worktop {
  translation 0.780001 1.003 0.86
  rotation 0 0 1 4.71239
  name "worktop(3)"
  size 0.085 0.442 0.06
}
Worktop {
  translation 1.22 1.306 0.86
  rotation 0 0 -1 1.5708
  name "worktop(4)"
  size 0.69 0.44 0.06
}
Worktop {
  translation 1.79 0.435 0.86
  size 0.7 2.43 0.06
}
Sink {
  translation 0.78 1.33 0.87
  rotation 0 0 1 4.71239
}
HotPlate {
  translation 1.62912 1.14971 0.86
  rotation 0 0 -1 5.49779
}
Oven {
  translation -0.11 1.24 0.17
  rotation 0 0 1 -1.5707953071795862
}
Solid {
  translation 2.01 1.48 2.09
  rotation 0 0 1 0.785398
  children [
    Shape {
      appearance PBRAppearance {
        baseColor 0.8 0.8 0.8
        baseColorMap ImageTexture {
          url [
            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/roughcast.jpg"
          ]
        }
        roughness 0.5
        metalness 0
      }
      geometry Box {
        size 0.45 0.35 0.61
      }
    }
  ]
  name "solid(1)"
}
Solid {
  translation 1.8 1.3 1.742
  rotation 0 0 -1 5.89049
  children [
    Shape {
      appearance PBRAppearance {
        baseColor 0.8 0.8 0.8
        baseColorMap ImageTexture {
          url [
            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/wood.jpg"
          ]
        }
        roughness 0.5
        metalness 0
      }
      geometry Cylinder {
        height 0.1
        radius 0.35
        subdivision 8
      }
    }
  ]
  name "solid(2)"
}
Solid {
  translation 1.8 1.3 1.692
  rotation 0 0 1 0.261799
  children [
    Shape {
      appearance PBRAppearance {
        baseColor 0.8 0.8 0.8
        baseColorMap ImageTexture {
          url [
            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/samples/environments/indoor/worlds/textures/exhaust_hood.jpg"
          ]
        }
        roughness 0.5
        metalness 0
      }
      geometry Cylinder {
        height 0.001
        radius 0.27
        subdivision 8
      }
    }
  ]
}
Table {
  translation -1.21 1.31 0
  rotation 0 0 1 3.14159
  name "table(1)"
  size 1.7 0.6 0.8
}
Table {
  translation -0.65 -1.43 0
  rotation 0 0 1 6.28319
}
CeilingLight {
  translation -0.7 -1.5 2.4
  pointLightColor 1 0.9764705882352941 0.9058823529411765
  pointLightIntensity 4
}
Chair {
  translation -0.64 -0.5 0
  rotation 0 0 1 -1.5707953071795862
  name "chair(1)"
}
Chair {
  translation -0.64 -2.33 0
  rotation 0 0 -1 -1.5707953071795862
  name "chair(2)"
}
Chair {
  translation -0.18 -1.87 0.01
  rotation 0 0 -1 3.14159
  name "chair(3)"
}
Chair {
  translation -1.09 -1.05 0
  name "chair(4)"
}
Chair {
  translation -0.18 -1.05 0
  rotation 0 0 -1 3.14159
  name "chair(5)"
}
Chair {
  translation -1.12 -1.87 0
}
Solid {
  translation -0.458193 -1.61687 1.74881
  rotation 0 0 1 -2.34578
  children [
    Shape {
      appearance PBRAppearance {
        transparency 0.2
        metalness 0
      }
      geometry IndexedFaceSet {
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            device [
              RotationalMotor {
                name "shoulder_lift_joint"
                maxVelocity 3.14
                minPosition -6.28318530718
                maxPosition 6.28318530718
                maxTorque 150
              }
              PositionSensor {
                name "shoulder_lift_joint_sensor"
              }
            ]
            endPoint Solid {
              translation 0 0.138 0
              rotation 0 -1 0 0.42920399999995973
              children [
                Shape {
                  appearance PBRAppearance {
                    baseColor 0.4902 0.678431 0.8
                    roughness 0.4
                    metalness 0
                    normalMap ImageTexture {
                      url [
                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/normal_1.jpg"
                      ]
                    }
                    occlusionMap ImageTexture {
                      url [
                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/occlusion_1.jpg"
                      ]
                    }
                  }
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_0.obj"
                    ]
                  }
                }
                Shape {
                  appearance USE SCREW_APPEARANCE
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_1.obj"
                    ]
                  }
                }
                Shape {
                  appearance USE METAL_APPEARANCE
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_2.obj"
                    ]
                  }
                }
                Shape {
                  appearance USE JOINT_APPEARANCE
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_3.obj"
                    ]
                  }
                }
                Shape {
                  appearance PBRAppearance {
                    baseColor 0.4902 0.678431 0.8
                    roughness 0.4
                    metalness 0
                    normalMap ImageTexture {
                      url [
                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/normal_2.jpg"
                      ]
                    }
                    occlusionMap ImageTexture {
                      url [
                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/occlusion_2.jpg"
                      ]
                    }
                  }
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_4.obj"
                    ]
                  }
                }
                Shape {
                  appearance USE SCREW_APPEARANCE
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_5.obj"
                    ]
                  }
                }
                Shape {
                  appearance DEF METAL_APPEARANCE_LIGHT PBRAppearance {
                    roughness 0.7
                  }
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_6.obj"
                    ]
                  }
                }
                Shape {
                  appearance USE JOINT_APPEARANCE
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_7.obj"
                    ]
                  }
                }
                Shape {
                  appearance USE METAL_APPEARANCE
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_8.obj"
                    ]
                  }
                }
                Shape {
                  appearance USE JOINT_APPEARANCE
                  geometry Mesh {
                    url [
                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/upper_arm_link_9.obj"
                    ]
                  }
                }
                HingeJoint {
                  jointParameters HingeJointParameters {
                    position 1.5
                    axis 0 1 0
                    anchor 0 -0.131 0.425
                  }
                  device [
                    RotationalMotor {
                      name "elbow_joint"
                      maxVelocity 3.14
                      minPosition -3.14159265359
                      maxPosition 3.14159265359
                      maxTorque 150
                    }
                    PositionSensor {
                      name "elbow_joint_sensor"
                    }
                  ]
                  endPoint Solid {
                    translation 0 -0.131 0.425
                    rotation 0 1 0 1.5
                    children [
                      Shape {
                        appearance USE METAL_APPEARANCE
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_0.obj"
                          ]
                        }
                      }
                      Shape {
                        appearance USE METAL_APPEARANCE
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_1.obj"
                          ]
                        }
                      }
                      Shape {
                        appearance USE JOINT_APPEARANCE
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_2.obj"
                          ]
                        }
                      }
                      Shape {
                        appearance USE METAL_APPEARANCE_LIGHT
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_3.obj"
                          ]
                        }
                      }
                      Shape {
                        appearance USE JOINT_APPEARANCE
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_4.obj"
                          ]
                        }
                      }
                      Shape {
                        appearance PBRAppearance {
                          baseColor 0.4902 0.678431 0.8
                          roughness 0.4
                          metalness 0
                          normalMap ImageTexture {
                            url [
                              "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/normal_3.jpg"
                            ]
                          }
                          occlusionMap ImageTexture {
                            url [
                              "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/occlusion_3.jpg"
                            ]
                          }
                        }
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_5.obj"
                          ]
                        }
                      }
                      Shape {
                        appearance USE SCREW_APPEARANCE
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_6.obj"
                          ]
                        }
                      }
                      Shape {
                        appearance USE JOINT_APPEARANCE
                        geometry Mesh {
                          url [
                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/forearm_link_7.obj"
                          ]
                        }
                      }
                      HingeJoint {
                        jointParameters HingeJointParameters {
                          position -1.1
                          axis 0 1 0
                          anchor 0 0 0.392
                        }
                        device [
                          RotationalMotor {
                            name "wrist_1_joint"
                            maxVelocity 6.28
                            minPosition -6.28318530718
                            maxPosition 6.28318530718
                            maxTorque 28
                          }
                          PositionSensor {
                            name "wrist_1_joint_sensor"
                          }
                        ]
                        endPoint Solid {
                          translation 0 0 0.392
                          rotation 0 1 0 0.4707959999999633
                          children [
                            Shape {
                              appearance USE METAL_APPEARANCE
                              geometry Mesh {
                                url [
                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_1_link_0.obj"
                                ]
                              }
                            }
                            Shape {
                              appearance PBRAppearance {
                                baseColor 0.4902 0.678431 0.8
                                roughness 0.4
                                metalness 0
                                normalMap ImageTexture {
                                  url [
                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/normal_4.jpg"
                                  ]
                                }
                                occlusionMap ImageTexture {
                                  url [
                                    "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/occlusion_4.jpg"
                                  ]
                                }
                              }
                              geometry Mesh {
                                url [
                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_1_link_1.obj"
                                ]
                              }
                            }
                            Shape {
                              appearance USE SCREW_APPEARANCE
                              geometry Mesh {
                                url [
                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_1_link_2.obj"
                                ]
                              }
                            }
                            Shape {
                              appearance USE JOINT_APPEARANCE
                              geometry Mesh {
                                url [
                                  "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_1_link_3.obj"
                                ]
                              }
                            }
                            HingeJoint {
                              jointParameters HingeJointParameters {
                                position -1.57
                                axis 0 0 1
                                anchor 0 0.127 0
                              }
                              device [
                                RotationalMotor {
                                  name "wrist_2_joint"
                                  maxVelocity 6.28
                                  minPosition -6.28318530718
                                  maxPosition 6.28318530718
                                  maxTorque 28
                                }
                                PositionSensor {
                                  name "wrist_2_joint_sensor"
                                }
                              ]
                              endPoint Solid {
                                translation 0 0.127 0
                                rotation 0 0 -1 1.57
                                children [
                                  Shape {
                                    appearance USE METAL_APPEARANCE
                                    geometry Mesh {
                                      url [
                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_2_link_0.obj"
                                      ]
                                    }
                                  }
                                  Shape {
                                    appearance PBRAppearance {
                                      baseColor 0.4902 0.678431 0.8
                                      roughness 0.4
                                      metalness 0
                                      normalMap ImageTexture {
                                        url [
                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/normal_5.jpg"
                                        ]
                                      }
                                      occlusionMap ImageTexture {
                                        url [
                                          "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/textures/occlusion_5.jpg"
                                        ]
                                      }
                                    }
                                    geometry Mesh {
                                      url [
                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_2_link_1.obj"
                                      ]
                                    }
                                  }
                                  Shape {
                                    appearance USE SCREW_APPEARANCE
                                    geometry Mesh {
                                      url [
                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_2_link_2.obj"
                                      ]
                                    }
                                  }
                                  Shape {
                                    appearance USE JOINT_APPEARANCE
                                    geometry Mesh {
                                      url [
                                        "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_2_link_3.obj"
                                      ]
                                    }
                                  }
                                  HingeJoint {
                                    jointParameters HingeJointParameters {
                                      position 1.57
                                      axis 0 1 0
                                      anchor 0 0 0.1
                                    }
                                    device [
                                      RotationalMotor {
                                        name "wrist_3_joint"
                                        maxVelocity 6.28
                                        minPosition -6.28318530718
                                        maxPosition 6.28318530718
                                        maxTorque 28
                                      }
                                      PositionSensor {
                                        name "wrist_3_joint_sensor"
                                      }
                                    ]
                                    endPoint Solid {
                                      translation 0 0 0.1
                                      rotation 0 1 0 1.57
                                      children [
                                        Shape {
                                          appearance USE METAL_APPEARANCE
                                          geometry Mesh {
                                            url [
                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/universal_robots/protos/UR5e/meshes/wrist_3_link_0.obj"
                                            ]
                                          }
                                        }
                                        Pose {
                                          translation 0 0.1 0
                                          rotation 1 0 0 -1.5707996938995747
                                          children [
                                            Solid {
                                              children [
                                                Shape {
                                                  appearance DEF BLACK_METAL PBRAppearance {
                                                    baseColor 0 0 0
                                                    roughness 0.4
                                                    metalness 0
                                                  }
                                                  geometry Mesh {
                                                    url [
                                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotiq/protos/meshes/robotiq_base_link.stl"
                                                    ]
                                                  }
                                                }
                                                HingeJoint {
                                                  jointParameters HingeJointParameters {
                                                    axis -1 0 0
                                                    anchor 0 -0.030601 0.054905
                                                    minStop -0.01
                                                    maxStop 0.701
                                                    dampingConstant 0.03
                                                  }
                                                  device [
                                                    RotationalMotor {
                                                      name "ROBOTIQ 2F-140 Gripper::left finger joint"
                                                      maxVelocity 2
                                                      maxPosition 0.7
                                                      maxTorque 0.12
                                                    }
                                                    PositionSensor {
                                                      name "ROBOTIQ 2F-140 Gripper left finger joint sensor"
                                                    }
                                                  ]
                                                  endPoint Solid {
                                                    translation 0 -0.030601 0.054905
                                                    rotation 1 0 0 2.2957959999999735
                                                    children [
                                                      DEF OUTER_KNUCKLE Shape {
                                                        appearance PBRAppearance {
                                                          baseColorMap ImageTexture {
                                                            url [
                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_base_color.jpg"
                                                            ]
                                                          }
                                                          roughnessMap ImageTexture {
                                                            url [
                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_roughness.jpg"
                                                            ]
                                                          }
                                                          normalMap ImageTexture {
                                                            url [
                                                              "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/textures/brushed_aluminium/brushed_aluminium_normal.jpg"
                                                            ]
                                                          }
                                                          textureTransform TextureTransform {
                                                            scale 3 5
                                                          }
                                                        }
                                                        geometry Mesh {
                                                          url [
                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotiq/protos/meshes/robotiq_2f140_outer_knuckle.stl"
                                                          ]
                                                        }
                                                      }
                                                      Solid {
                                                        translation 0 0.01822 0.026002
                                                        children [
                                                          DEF OUTER_FINGER Shape {
                                                            appearance USE BLACK_METAL
                                                            geometry Mesh {
                                                              url [
                                                                "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotiq/protos/meshes/robotiq_2f140_outer_finger.stl"
                                                              ]
                                                            }
                                                          }
                                                          HingeJoint {
                                                            jointParameters HingeJointParameters {
                                                              anchor 0 0.081755 -0.02822
                                                            }
                                                            endPoint Solid {
                                                              translation 0 0.081755 -0.02822
                                                              rotation -1 0 0 0.7249999999999591
                                                              children [
                                                                DEF INNER_FINGER Shape {
                                                                  appearance USE BLACK_METAL
                                                                  geometry Mesh {
                                                                    url [
                                                                      "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotiq/protos/meshes/robotiq_2f140_inner_finger.stl"
                                                                    ]
                                                                  }
                                                                }
                                                              ]
                                                              name "ROBOTIQ 2F-140 Gripper left inner finger"
                                                              boundingObject DEF INNER_FINGER_BO Group {
                                                                children [
                                                                  Pose {
                                                                    translation 0 0.021 -0.018
                                                                    children [
                                                                      Box {
                                                                        size 0.015 0.047 0.012
                                                                      }
                                                                    ]
                                                                  }
                                                                  Pose {
                                                                    translation 0 0.003 -0.008
                                                                    rotation 1 0 0 -1.2
                                                                    children [
                                                                      Box {
                                                                        size 0.015 0.029 0.012
                                                                      }
                                                                    ]
                                                                  }
                                                                ]
                                                              }
                                                              physics Physics {
                                                                density -1
                                                                mass 0.0104
                                                                centerOfMass [
                                                                  0.0003 0.016008 -0.013695
                                                                ]
                                                              }
                                                            }
                                                          }
                                                        ]
                                                        name "left outer finger"
                                                        boundingObject DEF OUTER_FINGER_BO Group {
                                                          children [
                                                            Pose {
                                                              translation 0 0.0511 -0.02
                                                              rotation 1 0 0 -0.2618
                                                              children [
                                                                Box {
                                                                  size 0.025 0.074 0.012
                                                                }
                                                              ]
                                                            }
                                                            Pose {
                                                              translation 0 0.006 -0.004
                                                              rotation -1 0 0 -2.56
                                                              children [
                                                                Box {
                                                                  size 0.025 0.026 0.012
                                                                }
                                                              ]
                                                            }
                                                          ]
                                                        }
                                                        physics Physics {
                                                          density -1
                                                          mass 0.022614
                                                          centerOfMass [
                                                            0.000301 0.037391 -0.020803
                                                          ]
                                                        }
                                                      }
                                                    ]
                                                    name "left outer knuckle"
                                                    boundingObject DEF OUTER_KNUCKLE_BO Group {
                                                      children [
                                                        Pose {
                                                          translation 0 0.002 0.004
                                                          rotation 1 0 0 0.9
                                                          children [
                                                            Box {
                                                              size 0.009 0.063 0.012
                                                            }
                                                          ]
                                                        }
                                                        Pose {
                                                          translation 0 0.0209 0.019
                                                          rotation 1 0 0 0.95
                                                          children [
                                                            Box {
                                                              size 0.009 0.02 0.02
                                                            }
                                                          ]
                                                        }
                                                        Pose {
                                                          rotation 0 1 0 1.5708
                                                          children [
                                                            Cylinder {
                                                              height 0.017
                                                              radius 0.004
                                                            }
                                                          ]
                                                        }
                                                        Pose {
                                                          translation 0 0.0218 0.0136
                                                          rotation 0 1 0 1.5708
                                                          children [
                                                            Cylinder {
                                                              height 0.024
                                                              radius 0.003
                                                            }
                                                          ]
                                                        }
                                                      ]
                                                    }
                                                    physics Physics {
                                                      density -1
                                                      mass 0.008532
                                                      centerOfMass [
                                                        -0.0002 0.019944 0.029225
                                                      ]
                                                    }
                                                  }
                                                }
                                                HingeJoint {
                                                  jointParameters HingeJointParameters {
                                                    anchor 0 -0.0127 0.06142
                                                  }
                                                  endPoint Solid {
                                                    translation 0 -0.0127 0.06142
                                                    rotation 0.9999999999999999 0 0 2.2957959999999775
                                                    children [
                                                      DEF INNER_KNUCKLE Shape {
                                                        appearance USE BLACK_METAL
                                                        geometry Mesh {
                                                          url [
                                                            "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotiq/protos/meshes/robotiq_2f140_inner_knuckle.stl"
                                                          ]
                                                        }
                                                      }
                                                      HingeJoint {
                                                        jointParameters HingeJointParameters {
                                                          anchor 0 0.1 -0.002
                                                        }
                                                        endPoint SolidReference {
                                                          solidName "ROBOTIQ 2F-140 Gripper left inner finger"
                                                        }
                                                      }
                                                    ]
                                                    name "left inner knuckle"
                                                    boundingObject DEF INNER_KNUCKLE_BO Group {
                                                      children [
                                                        Pose {
                                                          rotation 0 1 0 1.5708
                                                          children [
                                                            Cylinder {
                                                              height 0.0394
                                                              radius 0.0059
                                                            }
                                                          ]
                                                        }
                                                        Pose {
                                                          translation -0.0158 0.018 -0.0003
                                                          rotation 1 0 0 -0.02
                                                          children [
                                                            Box {
                                                              size 0.007 0.038 0.0121
                                                            }
                                                          ]
                                                        }
                                                        Pose {
                                                          translation 0.0158 0.018 -0.0003
                                                          rotation 1 0 0 -0.02
                                                          children [
                                                            Box {
                                                              size 0.007 0.038 0.0121
                                                            }
                                                          ]
                                                        }
                                                        Pose {
                                                          translation 0 0.0677 -0.0013
                                                          rotation 1 0 0 -0.02
                                                          children [
                                                            Box {
                                                              size 0.0246 0.076 0.0121
                                                            }
                                                          ]
                                                        }
                                                        Pose {
                                                          translation 0.0035 0.101 -0.0023
                                                          rotation 0 1 0 1.5708
                                                          children [
                                                            Cylinder {
                                                              height 0.032
                                                              radius 0.0058
                                                            }
                                                          ]
                                                        }
                                                      ]
                                                    }
                                                    physics Physics {
                                                      density -1
                                                      mass 0.027118
                                                      centerOfMass [
                                                        0.000123 0.050785 0.00104
                                                      ]
                                                    }
                                                  }
                                                }
                                                HingeJoint {
                                                  jointParameters HingeJointParameters {
                                                    anchor 0 0.030601 0.054905
                                                    minStop -0.01
                                                    maxStop 0.701
                                                    dampingConstant 0.03
                                                  }
                                                  device [
                                                    RotationalMotor {
                                                      name "ROBOTIQ 2F-140 Gripper::right finger joint"
                                                      maxVelocity 2
                                                      maxPosition 0.7
                                                      maxTorque 0.12
                                                    }
                                                    PositionSensor {
                                                      name "ROBOTIQ 2F-140 Gripper right finger joint sensor"
                                                    }
                                                  ]
                                                  endPoint Solid {
                                                    translation 0 0.030601 0.054905
                                                    rotation -9.620741133403644e-16 0.9119032984504962 0.4104051343186453 3.1415929999999754
                                                    children [
                                                      USE OUTER_KNUCKLE
                                                      Solid {
                                                        translation 0 0.01822 0.026002
                                                        children [
                                                          USE OUTER_FINGER
                                                          HingeJoint {
                                                            jointParameters HingeJointParameters {
                                                              anchor 0 0.081755 -0.0282
                                                            }
                                                            endPoint Solid {
                                                              translation 0 0.081755 -0.02821999999999999
                                                              rotation -0.9999999999999999 0 0 0.7249999999999647
                                                              children [
                                                                USE INNER_FINGER
                                                              ]
                                                              name "ROBOTIQ 2F-140 Gripper right inner finger"
                                                              boundingObject USE INNER_FINGER_BO
                                                              physics Physics {
                                                                density -1
                                                                mass 0.0104
                                                                centerOfMass [
                                                                  0.0003 0.016008 -0.013695
                                                                ]
                                                              }
                                                            }
                                                          }
                                                        ]
                                                        name "right outer finger"
                                                        boundingObject USE OUTER_FINGER_BO
                                                        physics Physics {
                                                          density -1
                                                          mass 0.022614
                                                          centerOfMass [
                                                            0.000301 0.037391 -0.020803
                                                          ]
                                                        }
                                                      }
                                                    ]
                                                    name "right outer knuckle"
                                                    boundingObject USE OUTER_KNUCKLE_BO
                                                    physics Physics {
                                                      density -1
                                                      mass 0.008532
                                                      centerOfMass [
                                                        -0.0002 0.019944 0.029225
                                                      ]
                                                    }
                                                  }
                                                }
                                                HingeJoint {
                                                  jointParameters HingeJointParameters {
                                                    axis -1 0 0
                                                    anchor 0 0.0127 0.06142
                                                  }
                                                  endPoint Solid {
                                                    translation 0 0.0127 0.06142
                                                    rotation -1.1295593375905558e-15 -0.9119032984504959 -0.4104051343186463 3.14159299999997
                                                    children [
                                                      USE INNER_KNUCKLE
                                                      HingeJoint {
                                                        jointParameters HingeJointParameters {
                                                          anchor 0 0.1 -0.002
                                                        }
                                                        endPoint SolidReference {
                                                          solidName "ROBOTIQ 2F-140 Gripper right inner finger"
                                                        }
                                                      }
                                                    ]
                                                    name "right inner knuckle"
                                                    boundingObject USE INNER_KNUCKLE_BO
                                                    physics Physics {
                                                      density -1
                                                      mass 0.027118
                                                      centerOfMass [
                                                        0.000123 0.050785 0.00104
                                                      ]
                                                    }
                                                  }
                                                }
                                              ]
                                              name "ROBOTIQ 2F-140 Gripper"
                                              boundingObject Group {
                                                children [
                                                  Pose {
                                                    translation 0 0 0.018
                                                    children [
                                                      Cylinder {
                                                        height 0.036
                                                        radius 0.0375
                                                      }
                                                    ]
                                                  }
                                                  Pose {
                                                    translation 0 0 0.055
                                                    rotation 0 1 0 1.5708
                                                    children [
                                                      Cylinder {
                                                        height 0.023
                                                        radius 0.04
                                                      }
                                                    ]
                                                  }
                                                ]
                                              }
                                              physics Physics {
                                                density -1
                                                mass 0.62652
                                                centerOfMass [
                                                  0 -5e-06 0.03145
                                                ]
                                              }
                                            }
                                          ]
                                        }
                                        Pose {
                                          translation 0 0.19 0
                                          rotation 0 0 1 1.57
                                          children [
                                            Solid {
                                              children [
                                                Pose {
                                                  rotation 1 0 0 -1.5708
                                                  children [
                                                    DEF BOARD Group {
                                                      children [
                                                        Shape {
                                                          appearance PBRAppearance {
                                                            baseColorMap ImageTexture {
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                                                              ]
                                                            }
                                                            roughness 1
                                                            metalness 0
                                                          }
                                                          geometry IndexedFaceSet {
                                                            coord Coordinate {
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                                                            texCoord TextureCoordinate {
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                                                        }
                                                      ]
                                                    }
                                                  ]
                                                }
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                                                  translation -0.003 0 -0.0015
                                                  children [
                                                    Shape {
                                                      appearance DEF LIGHT_GRAY_APPEARANCE PBRAppearance {
                                                        baseColor 0.729412 0.741176 0.713725
                                                        roughness 0.5
                                                        metalness 0.2
                                                      }
                                                      geometry Box {
                                                        size 0.004 0.022 0.027
                                                      }
                                                    }
                                                  ]
                                                }
                                                Camera {
                                                  translation 0.0005 0 0.0013
                                                  children [
                                                    RangeFinder {
                                                      translation 0.003 0 0
                                                      rotation 0 1 0 0
                                                      name "realsenseD405"
                                                      fieldOfView 1.51844
                                                      width 1280
                                                      height 800
                                                      minRange 0.07
                                                      maxRange 0.5
                                                      noise 0.02
                                                    }
                                                    Pose {
                                                      translation 0.003 0 0
                                                      rotation 0 1 0 1.5708
                                                      children [
                                                        Pose {
                                                          translation 0 0 0.0036
                                                          children [
                                                            Shape {
                                                              appearance DEF BLACK_APPEARANCE PBRAppearance {
                                                                baseColor 0.180392 0.203922 0.211765
                                                                roughness 0.5
                                                                metalness 0.2
                                                              }
                                                              geometry Cylinder {
                                                                height 0.004
                                                                radius 0.0043
                                                              }
                                                            }
                                                          ]
                                                        }
                                                        Shape {
                                                          appearance USE BLACK_APPEARANCE
                                                          geometry Cylinder {
                                                            height 0.006
                                                            radius 0.0032
                                                          }
                                                        }
                                                      ]
                                                    }
                                                  ]
                                                  fieldOfView 1.51844
                                                  width 1280
                                                  height 800
                                                  far 0.5
                                                  lens Lens {
                                                  }
                                                  recognition Recognition {
                                                    maxRange 1
                                                    segmentation TRUE
                                                  }
                                                }
                                              ]
                                            }
                                          ]
                                        }
                                      ]
                                      name "wrist_3_link"
                                      boundingObject Group {
                                        children [
                                          Pose {
                                            translation 0 0.07 0
                                            rotation 1 0 0 -1.57079632679
                                            children [
                                              Cylinder {
                                                height 0.048
                                                radius 0.038
                                              }
                                            ]
                                          }
                                          Pose {
                                            translation 0 0.09 0
                                            rotation 1 0 0 -1.57079632679
                                            children [
                                              Cylinder {
                                                height 0.018
                                                radius 0.032
                                              }
                                            ]
                                          }
                                        ]
                                      }
                                      physics Physics {
                                        density -1
                                        mass 0.365
                                        centerOfMass [
                                          0 0.071 0
                                        ]
                                      }
                                    }
                                  }
                                ]
                                name "wrist_2_link"
                                boundingObject Group {
                                  children [
                                    Pose {
                                      translation 0 -0.001 0.0995
                                      rotation 1 0 0 -1.57079632679
                                      children [
                                        Cylinder {
                                          height 0.108
                                          radius 0.04
                                        }
                                      ]
                                    }
                                    Pose {
                                      translation 0 -0.001 0.0676
                                      children [
                                        Cylinder {
                                          height 0.043
                                          radius 0.038
                                        }
                                      ]
                                    }
                                  ]
                                }
                                physics Physics {
                                  density -1
                                  mass 1.3
                                  centerOfMass [
                                    0 0 0.1
                                  ]
                                }
                              }
                            }
                          ]
                          name "wrist_1_link"
                          boundingObject Group {
                            children [
                              Pose {
                                translation 0 0.089 0
                                rotation 1 0 0 -1.57079632679
                                children [
                                  Cylinder {
                                    height 0.086
                                    radius 0.038
                                  }
                                ]
                              }
                              Pose {
                                translation 0 0.126 0
                                children [
                                  Cylinder {
                                    height 0.112
                                    radius 0.038
                                  }
                                ]
                              }
                            ]
                          }
                          physics Physics {
                            density -1
                            mass 1.37
                            centerOfMass [
                              0 0.127 0
                            ]
                          }
                        }
                      }
                    ]
                    name "forearm_link"
                    boundingObject Group {
                      children [
                        Pose {
                          translation 0 0 0.207
                          children [
                            Cylinder {
                              height 0.36
                              radius 0.038
                            }
                          ]
                        }
                        Pose {
                          translation 0 -0.001 0.39
                          rotation 1 0 0 -1.57079632679
                          children [
                            Cylinder {
                              height 0.109
                              radius 0.039
                            }
                          ]
                        }
                        Pose {
                          translation 0 0.06 0
                          rotation 1 0 0 1.57079632679
                          children [
                            Capsule {
                              height 0.05
                              radius 0.058
                              subdivision 16
                            }
                          ]
                        }
                        Pose {
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                          children [
                            Capsule {
                              height 0.1
                              radius 0.04
                              subdivision 16
                            }
                          ]
                        }
                      ]
                    }
                    physics Physics {
                      density -1
                      mass 2.846
                      centerOfMass [
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                      ]
                    }
                  }
                }
              ]
              name "upper_arm_link"
              boundingObject Group {
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                    translation 0 0 0.22
                    children [
                      Cylinder {
                        height 0.407
                        radius 0.059
                      }
                    ]
                  }
                  Pose {
                    rotation 1 0 0 -1.57079632679
                    children [
                      Cylinder {
                        height 0.133
                        radius 0.059
                      }
                    ]
                  }
                  Pose {
                    translation 0 -0.005 0.424
                    rotation 1 0 0 -1.57079632679
                    children [
                      Cylinder {
                        height 0.149
                        radius 0.059
                      }
                    ]
                  }
                ]
              }
              physics Physics {
                density -1
                mass 8.058
                centerOfMass [
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              }
            }
          }
        ]
        name "shoulder_link"
        boundingObject Group {
          children [
            Pose {
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                  height 0.135
                  radius 0.059
                }
              ]
            }
            Pose {
              translation 0 0.03 0
              rotation 1 0 0 -1.57079632679
              children [
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                  height 0.093
                  radius 0.059
                }
              ]
            }
          ]
        }
        physics Physics {
          density -1
          mass 3.761
          centerOfMass [
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        }
      }
    }
  ]
  name "UR5e"
  model "UR5e"
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    children [
      Cylinder {
        height 0.1
        radius 0.076
      }
    ]
  }
  controller "datacollector"
  supervisor TRUE
  selfCollision TRUE
}
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