From a1a7841047309fdbdbba02a55b424a0de18cbccb Mon Sep 17 00:00:00 2001
From: Darko Lukic <lukicdarkoo@gmail.com>
Date: Tue, 2 Feb 2021 17:38:35 +0100
Subject: [PATCH 1/5] Fix ENU conversion

---
 package.xml                            |   2 +-
 src/complete_test.cpp                  |   3 +-
 src/pioneer3at.cpp                     |   8 +-
 worlds/.catch_the_bird.wbproj          |   2 +-
 worlds/.complete_test.wbproj           |   2 +-
 worlds/.e-puck_line.wbproj             |   2 +-
 worlds/.keyboard_teleop.wbproj         |   2 +-
 worlds/.panoramic_view_recorder.wbproj |   2 +-
 worlds/.pioneer3at.wbproj              |   2 +-
 worlds/.ros_python.wbproj              |   2 +-
 worlds/catch_the_bird.wbt              |  14 +-
 worlds/complete_test.wbt               |  21 +-
 worlds/e-puck_line.wbt                 |  23 +-
 worlds/keyboard_teleop.wbt             |  19 +-
 worlds/panoramic_view_recorder.wbt     |   5 +-
 worlds/pioneer3at.wbt                  | 483 ++++++++++++++-----------
 worlds/ros_python.wbt                  |  10 +-
 17 files changed, 342 insertions(+), 260 deletions(-)

diff --git a/package.xml b/package.xml
index 963ee08..2653103 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <package>
   <name>webots_ros</name>
   <!-- Version matches Webots version this way: (major - 2018).minor.maintenance -->
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>The ROS package containing examples for interfacing ROS with the standard ROS controller of Webots</description>
 
   <url>http://wiki.ros.org/webots_ros</url>
diff --git a/src/complete_test.cpp b/src/complete_test.cpp
index 8a2dd2b..9d24a69 100644
--- a/src/complete_test.cpp
+++ b/src/complete_test.cpp
@@ -1837,7 +1837,7 @@ int main(int argc, char **argv) {
   inertial_unit_srv.request.value = 32;
   if (set_inertial_unit_client.call(inertial_unit_srv) && inertial_unit_srv.response.success) {
     ROS_INFO("Inertial_unit enabled.");
-    sub_inertial_unit_32 = n.subscribe(model_name + "/inertial_unit/quaternion", 1, inertialUnitCallback);
+    sub_inertial_unit_32 = n.subscribe(model_name + "/inertial_unit/roll_pitch_yaw", 1, inertialUnitCallback);
     callbackCalled = false;
     while (sub_inertial_unit_32.getNumPublishers() == 0 && !callbackCalled) {
       ros::spinOnce();
@@ -3535,3 +3535,4 @@ int main(int argc, char **argv) {
   printf("\nTest Completed\n");
   return 0;
 }
+
diff --git a/src/pioneer3at.cpp b/src/pioneer3at.cpp
index 877258a..caa4c35 100644
--- a/src/pioneer3at.cpp
+++ b/src/pioneer3at.cpp
@@ -21,7 +21,7 @@
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/Imu.h>
 #include <sensor_msgs/LaserScan.h>
-#include <geometry_msgs/Point.h>
+#include <geometry_msgs/PointStamped.h>
 #include <signal.h>
 #include <std_msgs/String.h>
 #include <tf/transform_broadcaster.h>
@@ -121,9 +121,9 @@ void broadcastTransform() {
   br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "base_link", "pioneer3at/Sick_LMS_291"));
 }
 
-void GPSCallback(const geometry_msgs::Point::ConstPtr &values) {
-  GPSValues[0] = values->x;
-  GPSValues[1] = values->y;
+void GPSCallback(const geometry_msgs::PointStamped::ConstPtr &values) {
+  GPSValues[0] = values->point.x;
+  GPSValues[1] = values->point.y;
   broadcastTransform();
 }
 
diff --git a/worlds/.catch_the_bird.wbproj b/worlds/.catch_the_bird.wbproj
index 61983e4..eb1d22b 100644
--- a/worlds/.catch_the_bird.wbproj
+++ b/worlds/.catch_the_bird.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021a
+Webots Project File version R2021b
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000002ec0000025efc0200000001fb0000001400540065007800740045006400690074006f007200000000190000025e0000003f00ffffff00000003000004e20000005afc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000004e20000006900ffffff000004e20000015700000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000002010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000002010000000201
diff --git a/worlds/.complete_test.wbproj b/worlds/.complete_test.wbproj
index efddce6..45f5eb4 100644
--- a/worlds/.complete_test.wbproj
+++ b/worlds/.complete_test.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021a
+Webots Project File version R2021b
 perspectives: 000000ff00000000fd00000003000000000000018f00000482fc0100000004fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000002c0052006f0062006f0074003a002000660075006c006c005f00730075007000650072007600690073006f007201000000000000018f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007701000000000000018f0000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001ed000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff00000003000005aa000000dafc0100000001fb0000000e0043006f006e0073006f006c00650100000195000005aa0000005400ffffff000003b7000003a200000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000170000003490100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
diff --git a/worlds/.e-puck_line.wbproj b/worlds/.e-puck_line.wbproj
index 5f9b1ce..a0361e0 100644
--- a/worlds/.e-puck_line.wbproj
+++ b/worlds/.e-puck_line.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021a
+Webots Project File version R2021b
 perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006500000000190000033d0000000000000000000000010000016200000309fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000003090000003e00ffffff000000030000073f000000e2fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005d70000030900000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000002850100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
diff --git a/worlds/.keyboard_teleop.wbproj b/worlds/.keyboard_teleop.wbproj
index 1289b98..2dff954 100644
--- a/worlds/.keyboard_teleop.wbproj
+++ b/worlds/.keyboard_teleop.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021a
+Webots Project File version R2021b
 perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d000000000000000000000001000001e100000258fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000002580000003e00ffffff000000030000073f00000193fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005580000025800000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
diff --git a/worlds/.panoramic_view_recorder.wbproj b/worlds/.panoramic_view_recorder.wbproj
index 3f4da1a..19379cb 100644
--- a/worlds/.panoramic_view_recorder.wbproj
+++ b/worlds/.panoramic_view_recorder.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021a
+Webots Project File version R2021b
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff000000030000073f000000dafc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000060b000003a200000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000006010000000201
diff --git a/worlds/.pioneer3at.wbproj b/worlds/.pioneer3at.wbproj
index 725746c..86294d3 100644
--- a/worlds/.pioneer3at.wbproj
+++ b/worlds/.pioneer3at.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021a
+Webots Project File version R2021b
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000002d9fc0200000001fb0000001400540065007800740045006400690074006f00720000000019000002d9000000a200ffffff000000030000073f000000bbfc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000073f000003c100000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000011e000004db0100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000001240100000006010000000201
diff --git a/worlds/.ros_python.wbproj b/worlds/.ros_python.wbproj
index 158ad59..9022d0c 100644
--- a/worlds/.ros_python.wbproj
+++ b/worlds/.ros_python.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021a
+Webots Project File version R2021b
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000001c900000375fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003750000008900ffffff000000030000073f00000093fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000006900ffffff000005740000037500000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000100000005210100000002010000000100
 sceneTreePerspectives: 000000ff0000000100000002000002aa000000fa0100000002010000000200
diff --git a/worlds/catch_the_bird.wbt b/worlds/catch_the_bird.wbt
index aee1cad..dd3c4d4 100644
--- a/worlds/catch_the_bird.wbt
+++ b/worlds/catch_the_bird.wbt
@@ -1,19 +1,20 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2021b utf8
 WorldInfo {
-  coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation -0.104674958073239 -0.9575576164575551 -0.26856389242876866 2.60605
-  position -1.59084 1.87221 -2.53085
+  orientation 0.8317372367594001 -0.2710211159782898 -0.4845211282098233 1.1840859377285968
+  position -1.4137324366994928 -2.042337130989267 1.4998046917960792
 }
 TexturedBackground {
 }
 TexturedBackgroundLight {
 }
 RectangleArena {
+  rotation 1 0 0 1.5707963267948966
 }
 Robot {
-  translation -0.1 0.09 0
+  translation -0.1 0 0.09
+  rotation 1 0 0 1.5707963267948966
   children [
     HingeJoint {
       jointParameters HingeJointParameters {
@@ -72,7 +73,8 @@ Robot {
   controller "ros"
 }
 Solid {
-  translation 0.3 0.1 0
+  translation 0.3 0 0.1
+  rotation 1 0 0 1.5707963267948966
   children [
     Solid {
       translation 0 -0.09 0
diff --git a/worlds/complete_test.wbt b/worlds/complete_test.wbt
index 3603aec..3080d81 100644
--- a/worlds/complete_test.wbt
+++ b/worlds/complete_test.wbt
@@ -1,20 +1,20 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2021b utf8
 WorldInfo {
-  coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation -0.6194591910547989 0.7334082212488283 0.27996909047672397 0.888923
-  position 1.67801 1.75743 2.04642
+  orientation 0.8670407508271071 -0.2540217867377257 -0.4286178580830943 1.1991808309301875
+  position -1.2856898746073142 -2.3176378713303354 1.4855385133866121
 }
 TexturedBackground {
 }
 TexturedBackgroundLight {
 }
 DEF GROUND RectangleArena {
+  rotation 1 0 0 1.5707963267948966
 }
 Solid {
-  translation 0.182984 0.05 0.12186
-  rotation 0 -1 0 0.934348
+  translation 0.182984 -0.12186 0.05
+  rotation 0.814092969139429 -0.410641350571121 -0.410641350571121 1.775041980102555
   children [
     Shape {
       appearance PBRAppearance {
@@ -34,7 +34,8 @@ Solid {
   }
 }
 DEF CONE Solid {
-  translation 0.240484 0.1 -0.258217
+  translation 0.240484 0.258217 0.1
+  rotation 1 0 0 1.5707963267948966
   children [
     Shape {
       appearance PBRAppearance {
@@ -55,7 +56,8 @@ DEF CONE Solid {
   ]
 }
 DEF RADAR_TARGET Solid {
-  translation 0 0 -1.86
+  translation 0 1.86 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Shape {
       appearance PBRAppearance {
@@ -73,7 +75,8 @@ DEF RADAR_TARGET Solid {
   radarCrossSection 1
 }
 Robot {
-  translation 0 0.1 0
+  translation 0 0 0.1
+  rotation 1 0 0 1.5707963267948966
   children [
     SliderJoint {
       device [
diff --git a/worlds/e-puck_line.wbt b/worlds/e-puck_line.wbt
index 489255e..97007e2 100644
--- a/worlds/e-puck_line.wbt
+++ b/worlds/e-puck_line.wbt
@@ -1,16 +1,16 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2021b utf8
 WorldInfo {
-  coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation 0.8817326747174138 0.4433808364310757 0.16112394055929466 5.50129
-  position -0.45881 0.996783 1.25076
+  orientation 0.886846591609518 -0.24544200950097636 -0.39148606989611184 1.2307403414482054
+  position -0.9554408008528787 -1.8017812565874936 0.9933059870384544
 }
 TexturedBackground {
 }
 TexturedBackgroundLight {
 }
 RectangleArena {
+  rotation 1 0 0 1.5707963267948966
   floorSize 0.9 0.9
   floorTileSize 0.9 0.9
   floorAppearance PBRAppearance {
@@ -25,7 +25,8 @@ RectangleArena {
   wallHeight 0.05
 }
 DEF OBSTACLE1 Solid {
-  translation 0.0871577 0.025 -0.192401
+  translation 0.0871577 0.192401 0.025
+  rotation 1 0 0 1.5707963267948966
   children [
     Shape {
       appearance PBRAppearance {
@@ -42,8 +43,8 @@ DEF OBSTACLE1 Solid {
   boundingObject USE BOX1
 }
 DEF OBSTACLE2 Solid {
-  translation -0.0677406 0.025 -0.0327153
-  rotation 0 1 0 4.08383
+  translation -0.0677406 0.0327153 0.025
+  rotation -0.338870904039348 0.665269310278009 0.665269310278009 3.795044776069445
   children [
     Shape {
       appearance PBRAppearance {
@@ -60,8 +61,8 @@ DEF OBSTACLE2 Solid {
   boundingObject USE BOX2
 }
 DEF OBSTACLE3 Solid {
-  translation 0.31759 0.025 0.250604
-  rotation 0 1 0 13.7261
+  translation 0.31759 -0.250604 0.025
+  rotation 0.733633125129165 0.48051141386715 0.48051141386715 1.875705136699914
   children [
     Shape {
       appearance PBRAppearance {
@@ -78,8 +79,8 @@ DEF OBSTACLE3 Solid {
   boundingObject USE BOX3
 }
 DEF EPUCK E-puck {
-  translation 0.080305 0 0.171886
-  rotation 0 1 0 1.5
+  translation 0.080305 -0.171886 0
+  rotation 0.604591835333834 0.563235613508089 0.563235613508089 2.054014631559264
   controller "ros"
   groundSensorsSlot [
     E-puckGroundSensors {
diff --git a/worlds/keyboard_teleop.wbt b/worlds/keyboard_teleop.wbt
index 207b902..afd0b69 100644
--- a/worlds/keyboard_teleop.wbt
+++ b/worlds/keyboard_teleop.wbt
@@ -1,30 +1,35 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2021b utf8
 WorldInfo {
-  coordinateSystem "NUE"
 }
 Viewpoint {
-  orientation 0.702730921913247 0.6961909226399652 0.146585983711513 5.45898
-  position -5.30367 5.63958 6.90061
+  orientation 0.6833738270619804 0.31755469396198066 0.6573881873211409 1.2306409582451472
+  position 6.9941003633455 -5.528115256749356 7.059051478396728
 }
 TexturedBackground {
 }
 TexturedBackgroundLight {
 }
 RectangleArena {
+  rotation 1 0 0 1.5707963267948966
   floorSize 4 4
   wallThickness 0.1
   wallHeight 0.5
 }
 CardboardBox {
-  translation 1.31407 0.3 -0.444198
+  translation 1.31407 0.444198 0.3
+  rotation 1 0 0 1.5707963267948966
 }
 CardboardBox {
-  translation 0.133486 0.3 -1.17773
+  translation 0.133486 1.17773 0.3
+  rotation 1 0 0 1.5707963267948966
   name "cardboard box(1)"
 }
 WoodenBox {
-  translation -0.797045 0.3 1.02408
+  translation -0.797045 -1.02408 0.3
+  rotation 1 0 0 1.5707963267948966
 }
 DEF PIONEER_3DX Pioneer3dx {
+  translation 0 0.0975 0.1
+  rotation 1 0 0 1.5707963267948966
   controller "ros"
 }
diff --git a/worlds/panoramic_view_recorder.wbt b/worlds/panoramic_view_recorder.wbt
index 0905a44..4a48272 100644
--- a/worlds/panoramic_view_recorder.wbt
+++ b/worlds/panoramic_view_recorder.wbt
@@ -1,6 +1,5 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2021b utf8
 WorldInfo {
-  coordinateSystem "NUE"
 }
 Viewpoint {
   orientation 0.6025650947976529 0.4034508611086422 0.688580212613019 1.542782453757079
@@ -11,10 +10,12 @@ TexturedBackground {
 TexturedBackgroundLight {
 }
 Robot {
+  rotation 1 0 0 1.5707963267948966
   controller "ros"
   supervisor TRUE
 }
 Floor {
+  rotation 1 0 0 1.5707963267948966
 }
 Nao {
   translation 0 0 0.33
diff --git a/worlds/pioneer3at.wbt b/worlds/pioneer3at.wbt
index 4d4f3ac..8ca1183 100644
--- a/worlds/pioneer3at.wbt
+++ b/worlds/pioneer3at.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2021b utf8
 WorldInfo {
   info [
     "Pioneer 3AT robot (Adept MobileRobots)."
@@ -6,7 +6,6 @@ WorldInfo {
     "You should use the ros node 'pioneer3at' to control the robot."
   ]
   title "Pioneer 3AT"
-  coordinateSystem "NUE"
   lineScale 0.5
 }
 Viewpoint {
@@ -19,44 +18,53 @@ TexturedBackground {
 TexturedBackgroundLight {
 }
 Floor {
+  rotation 1 0 0 1.5707963267948966
   size 60 60
   tileSize 1 1
   appearance ThreadMetalPlate {
   }
 }
 Carpet {
-  translation 7.57085 -4.52971e-14 -0.83
+  translation 7.57085 0.83 -4.52971e-14
+  rotation 1 0 0 1.5707963267948966
 }
 Carpet {
-  translation 7.57085 -4.52971e-14 -2.42019
+  translation 7.57085 2.42019 -4.52971e-14
+  rotation 1 0 0 1.5707963267948966
   name "carpet(1)"
 }
 DEF EXTERNAL_WALL Wall {
-  translation 0 0 -30
+  translation 0 30 0
+  rotation 1 0 0 1.5707963267948966
   size 22.4 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation 18 0 -30
+  translation 18 30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(1)"
   size 10.4 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation -18 0 -30
+  translation -18 30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(2)"
   size 10.4 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation 27.45 0 -30
+  translation 27.45 30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(3)"
   size 5.3 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation -27.45 0 -30
+  translation -27.45 30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(4)"
   size 5.3 2.4 0.2
 }
 DEF DOUBLE_WINDOW Transform {
-  translation 24 0 -30
+  translation 24 30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -69,7 +77,8 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF DOUBLE_WINDOW Transform {
-  translation 12 0 -30
+  translation 12 30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -82,7 +91,8 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF DOUBLE_WINDOW Transform {
-  translation -12 0 -30
+  translation -12 30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -95,7 +105,8 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF DOUBLE_WINDOW Transform {
-  translation -24 0 -30
+  translation -24 30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -108,37 +119,44 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF EXTERNAL_WALL Wall {
-  translation 0 0 30
+  translation 0 -30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(5)"
   size 22.4 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation 18 0 30
+  translation 18 -30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(6)"
   size 10.4 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation -18 0 30
+  translation -18 -30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(7)"
   size 10.4 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation -18 0 30
+  translation -18 -30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(8)"
   size 10.4 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation 27.45 0 30
+  translation 27.45 -30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(9)"
   size 5.3 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
-  translation -27.45 0 30
+  translation -27.45 -30 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(10)"
   size 5.3 2.4 0.2
 }
 DEF DOUBLE_WINDOW Transform {
-  translation 24 0 30
+  translation 24 -30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -151,7 +169,8 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF DOUBLE_WINDOW Transform {
-  translation 12 0 30
+  translation 12 -30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -164,7 +183,8 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF DOUBLE_WINDOW Transform {
-  translation -12 0 30
+  translation -12 -30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -177,7 +197,8 @@ DEF DOUBLE_WINDOW Transform {
   ]
 }
 DEF DOUBLE_WINDOW Transform {
-  translation -24 0 30
+  translation -24 -30 0
+  rotation 1 0 0 1.5707963267948966
   children [
     Window {
       translation -0.4 0 0
@@ -191,229 +212,245 @@ DEF DOUBLE_WINDOW Transform {
 }
 DEF EXTERNAL_WALL Wall {
   translation 30 0 0
-  rotation 0 1 0 1.5708
+  rotation 0.577348855372322 0.577350976096979 0.577350976096979 2.094397223120449
   name "wall(11)"
   size 60 2.4 0.2
 }
 DEF EXTERNAL_WALL Wall {
   translation -30 0 0
-  rotation 0 1 0 1.5708
+  rotation 0.577348855372322 0.577350976096979 0.577350976096979 2.094397223120449
   name "wall(12)"
   size 60 2.4 0.2
 }
 DEF INTERNAL_WALL Wall {
-  translation -10.8 0 -11
-  rotation 0 1 0 1.5708
+  translation -10.8 11 0
+  rotation 0.577348855372322 0.577350976096979 0.577350976096979 2.094397223120449
   name "wall(13)"
   size 8 2.4 0.2
 }
 DEF INTERNAL_WALL Wall {
-  translation -10.8 0 2.6
-  rotation 0 1 0 1.5708
+  translation -10.8 -2.6 0
+  rotation 0.577348855372322 0.577350976096979 0.577350976096979 2.094397223120449
   name "wall(14)"
   size 8 2.4 0.2
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 0 -6.6
-  rotation 0 1 0 4.71239
+  translation -10.8 6.6 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 0 -5.8
-  rotation 0 1 0 4.71239
+  translation -10.8 5.8 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "window(1)"
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 0 -5
-  rotation 0 1 0 4.71239
+  translation -10.8 5 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "window(2)"
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 0 -4.2
-  rotation 0 1 0 4.71239
+  translation -10.8 4.2 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "window(3)"
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 0 -3.4
-  rotation 0 1 0 4.71239
+  translation -10.8 3.4 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "window(4)"
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 0 -2.6
-  rotation 0 1 0 4.71239
+  translation -10.8 2.6 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "window(5)"
 }
 DEF INTERNAL_WINDOW Window {
-  translation -10.8 0 -1.8
-  rotation 0 1 0 4.71239
+  translation -10.8 1.8 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "window(6)"
 }
 DEF INTERNAL_WALL Wall {
-  translation 0 0 -22.5
-  rotation 0 1 0 1.5708
+  translation 0 22.5 0
+  rotation 0.577348855372322 0.577350976096979 0.577350976096979 2.094397223120449
   name "wall(15)"
   size 15 2.4 0.2
 }
 DEF INTERNAL_WALL Wall {
-  translation 22.6 0 19.47
+  translation 22.6 -19.47 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(16)"
   size 15 2.4 0.2
 }
 DEF INTERNAL_WALL Wall {
-  translation -2.4 0 -15
+  translation -2.4 15 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(17)"
   size 5 2.4 0.2
 }
 DEF INTERNAL_WALL Wall {
-  translation -8.4 0 -15
+  translation -8.4 15 0
+  rotation 1 0 0 1.5707963267948966
   name "wall(18)"
   size 5 2.4 0.2
 }
 WoodenPallet {
-  translation 27.6528 0.0185916 -3.65572
-  rotation -0.033687506300065374 0.9740331821587109 0.22388504186983704 -0.290318
+  translation 27.6528 3.65572 0.0185916
+  rotation 0.979509691349088 -0.106888670310195 -0.170691466431489 1.601344167655897
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 27.2125 0.0673767 -2.68777
-  rotation 0.020931390902476844 0.6223657294978311 -0.7824466599209943 -0.229223
+  translation 27.2125 2.68777 0.0673767
+  rotation 0.986950022068506 -0.159991477586034 0.018231320270705 1.579113023109741
   name "wooden pallet(1)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 26.3174 0.133879 -2.69913
-  rotation -0.1916240622215348 0.00039772812914481797 -0.9814683186889186 3.13481
+  translation 26.3174 2.69913 0.133879
+  rotation -0.134383673244825 0.700976771231597 -0.700408876699142 2.864919204900495
   name "wooden pallet(2)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 27.9624 0.0761916 -2.15888
-  rotation 0.22218899360784491 0.8036559768796215 -0.5520589841178152 -0.213837
+  translation 27.9624 2.15888 0.0761916
+  rotation 0.98870224035828 -0.14737649088483 -0.027350499903852 1.53446323746987
   name "wooden pallet(3)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 26.2712 -0.000955835 -1.39216
-  rotation -0.0011269403472793512 0.9999983081607331 0.0014538504480203778 -0.796222
+  translation 26.2712 1.39216 -0.000955835
+  rotation 0.859574892940475 -0.360812772012042 -0.361863436919727 1.722476577018502
   name "wooden pallet(4)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 26.7856 0.184057 -2.68349
-  rotation -0.0811041397427491 0.9952054876718023 -0.05466402678653282 -1.30147
+  translation 26.7856 2.68349 0.184057
+  rotation 0.703309182944508 -0.529483231561496 -0.474345549869633 2.029432348330938
   name "wooden pallet(5)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 27.4644 0.178751 -1.26542
-  rotation -0.19265300355272164 0.009799040180704486 0.9812180180946802 -3.02896
+  translation 27.4644 1.26542 0.178751
+  rotation 0.176630262125471 0.68900420629478 -0.702904655134384 3.33431008333792
   name "wooden pallet(6)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 28.25 0.0743134 -3.34206
-  rotation -0.08280519684425096 0.6244749762009344 0.7766429704017331 -0.241225
+  translation 28.25 3.34206 0.0743134
+  rotation 0.985999192000603 0.018003976751905 -0.165775300317248 1.604962205945258
   name "wooden pallet(7)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 28.5899 -0.00135008 -1.37535
-  rotation 0.0030836204861510977 0.9999801576528153 -0.005493230866040496 -1.72285
+  translation 28.5899 1.37535 -0.00135008
+  rotation 0.51753040849047 -0.608360939736676 -0.6017135890857 2.180568488259578
   name "wooden pallet(8)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 27.3443 0.259966 -1.90958
-  rotation 0.9423073049594337 0.13130704249497072 0.3079210996526756 0.235868
+  translation 27.3443 1.90958 0.259966
+  rotation 0.99872944394343 -0.018800301090884 0.046755175963098 1.794411603701255
   name "wooden pallet(9)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 26.3837 0.286405 -2.93448
-  rotation -0.34667916342083643 0.08169373850955143 -0.9344194404752943 -0.124508
+  translation 26.3837 2.93448 0.286405
+  rotation 0.996740503543952 -0.061797062527361 0.051860309080639 1.617271315147045
   name "wooden pallet(10)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 27.8321 0.439539 -2.08579
-  rotation -0.032235796364420664 0.9494778929171108 0.31217396479276627 -1.13772
+  translation 27.8321 2.08579 0.439539
+  rotation 0.748677574473138 -0.298901334577927 -0.591726188087492 1.895603111173888
   name "wooden pallet(11)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 26.7651 0.380115 -2.04501
-  rotation -0.8247017295217935 0.42981685903255806 -0.3675928794402155 -0.280561
+  translation 26.7651 2.04501 0.380115
+  rotation 0.994922053426194 -0.100343399263774 -0.007830059412083 1.807612593445866
   name "wooden pallet(12)"
   boundingObject FALSE
 }
 WoodenPallet {
-  translation 26.6264 0.112547 -0.687536
-  rotation 0.9990000756434045 0.01503640113854303 -0.04210410318808555 0.185807
+  translation 26.6264 0.687536 0.112547
+  rotation 0.999985477683413 0.004870465413122 -0.002307160361963 1.75643287240784
   name "wooden pallet(13)"
   boundingObject FALSE
 }
 TrafficCone {
-  translation 29.2378 -1.77636e-14 -4.67722
+  translation 29.2378 4.67722 -1.77636e-14
+  rotation 1 0 0 1.5707963267948966
 }
 TrafficCone {
-  translation 27.6275 -1.77636e-14 -5.1122
+  translation 27.6275 5.1122 -1.77636e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(1)"
 }
 TrafficCone {
-  translation 26.3918 -1.06581e-14 -4.90082
+  translation 26.3918 4.90082 -1.06581e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(2)"
 }
 TrafficCone {
-  translation 25.2459 -2.13163e-14 -4.05644
+  translation 25.2459 4.05644 -2.13163e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(3)"
 }
 TrafficCone {
-  translation 24.8748 -1.42109e-14 -2.45977
+  translation 24.8748 2.45977 -1.42109e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(4)"
 }
 TrafficCone {
-  translation -27.5033 9.23706e-13 -14.0206
+  translation -27.5033 14.0206 9.23706e-13
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(5)"
 }
 TrafficCone {
-  translation -22.831 9.166e-13 -13.9376
+  translation -22.831 13.9376 9.166e-13
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(6)"
 }
 TrafficCone {
-  translation -18.9491 4.47642e-13 -14.1135
-  rotation 0 1 0 4.71239
+  translation -18.9491 14.1135 4.47642e-13
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "traffic cone(7)"
 }
 TrafficCone {
-  translation -13.7591 -1.42109e-14 -13.8483
-  rotation 0 1 0 4.45059
+  translation -13.7591 13.8483 -1.42109e-14
+  rotation -0.476905294946303 0.621514818669748 0.621514818669748 4.031596129182271
   name "traffic cone(8)"
 }
 TrafficCone {
-  translation 24.7752 -1.42109e-14 -0.88784
+  translation 24.7752 0.88784 -1.42109e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(9)"
 }
 TrafficCone {
-  translation 25.5851 -1.42109e-14 0.255223
+  translation 25.5851 -0.255223 -1.42109e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(10)"
 }
 TrafficCone {
-  translation 26.7417 -1.42109e-14 0.835499
+  translation 26.7417 -0.835499 -1.42109e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(11)"
 }
 TrafficCone {
-  translation 27.9622 -1.42109e-14 0.742603
+  translation 27.9622 -0.742603 -1.42109e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(12)"
 }
 TrafficCone {
-  translation 29.324 -1.42109e-14 0.282551
+  translation 29.324 -0.282551 -1.42109e-14
+  rotation 1 0 0 1.5707963267948966
   name "traffic cone(13)"
 }
 Door {
-  translation -5.4 0 -15
+  translation -5.4 15 0
+  rotation 1 0 0 1.5707963267948966
 }
 DEF KITCHEN Transform {
-  translation 27.8 0 21.2
-  rotation 0 1 0 4.71239
+  translation 27.8 -21.2 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   children [
     Cabinet {
       translation 1 0.83 -2.15
@@ -675,7 +712,8 @@ DEF KITCHEN Transform {
   ]
 }
 DEF PIONEER_3AT Pioneer3at {
-  translation 1.69482 0.11 4.10279
+  translation 1.69482 -4.10279 0.11
+  rotation 1 0 0 1.5707963267948966
   controller "ros"
   controllerArgs [
     "--name=pioneer3at"
@@ -712,61 +750,62 @@ DEF PIONEER_3AT Pioneer3at {
   ]
 }
 Table {
-  translation 22.5 0 21.6
+  translation 22.5 -21.6 0
+  rotation 1 0 0 1.5707963267948966
   size 4.2 0.74 1
 }
 Chair {
-  translation 23.2032 0 22.0662
-  rotation 0 -1 0 4.71239
+  translation 23.2032 -22.0662 0
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
 }
 Chair {
-  translation 23.2032 0 21.2162
-  rotation 0 1 0 4.71239
+  translation 23.2032 -21.2162 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "chair(1)"
 }
 Chair {
-  translation 22.4132 0 22.0562
-  rotation 0 -1 0 4.71239
+  translation 22.4132 -22.0562 0
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "chair(2)"
 }
 Chair {
-  translation 22.4132 0 21.2162
-  rotation 0 1 0 4.71239
+  translation 22.4132 -21.2162 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "chair(3)"
 }
 Chair {
-  translation 21.6732 0 22.0662
-  rotation 0 -1 0 4.71239
+  translation 21.6732 -22.0662 0
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "chair(4)"
 }
 Chair {
-  translation 21.6732 0 21.2162
-  rotation 0 1 0 4.71239
+  translation 21.6732 -21.2162 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "chair(5)"
 }
 Chair {
-  translation 20.9632 0 22.0662
-  rotation 0 -1 0 4.71239
+  translation 20.9632 -22.0662 0
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "chair(6)"
 }
 Chair {
-  translation 20.9632 0 21.2162
-  rotation 0 1 0 4.71239
+  translation 20.9632 -21.2162 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "chair(7)"
 }
 Chair {
-  translation 23.9732 0 22.0662
-  rotation 0 -1 0 4.71239
+  translation 23.9732 -22.0662 0
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "chair(8)"
 }
 Chair {
-  translation 23.9732 0 21.2162
-  rotation 0 1 0 4.71239
+  translation 23.9732 -21.2162 0
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "chair(9)"
 }
 DEF TREE Solid {
-  translation 21.2655 1.06048e-12 -13.0987
-  rotation 0 1 0 0.785398
+  translation 21.2655 13.0987 1.06048e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -775,8 +814,8 @@ DEF TREE Solid {
   ]
 }
 DEF TREE Solid {
-  translation -21.2183 1.06137e-12 21.6362
-  rotation 0 -1 0 3.66519
+  translation -21.2183 -21.6362 1.06137e-12
+  rotation -0.18615627423107 -0.694746659425005 -0.694746659425004 3.509691743398872
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -785,8 +824,8 @@ DEF TREE Solid {
   name "solid(1)"
 }
 DEF TREE Solid {
-  translation -21.1851 1.06137e-12 20.2765
-  rotation 0 -1 0 6.02139
+  translation -21.1851 -20.2765 1.06137e-12
+  rotation -0.983106122056859 -0.129426335755756 -0.129426335755756 4.695351597361128
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -795,8 +834,8 @@ DEF TREE Solid {
   name "solid(2)"
 }
 DEF TREE Solid {
-  translation -21.223 1.06137e-12 14.4309
-  rotation 0 -1 0 6.02139
+  translation -21.223 -14.4309 1.06137e-12
+  rotation -0.983106122056859 -0.129426335755756 -0.129426335755756 4.695351597361128
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -805,8 +844,8 @@ DEF TREE Solid {
   name "solid(3)"
 }
 DEF TREE Solid {
-  translation -21.1983 1.06137e-12 13.1633
-  rotation 0 1 0 0.785398
+  translation -21.1983 -13.1633 1.06137e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -815,8 +854,8 @@ DEF TREE Solid {
   name "solid(4)"
 }
 DEF TREE Solid {
-  translation -9.98679 1.0667e-12 5.37678
-  rotation 0 1 0 0.785398
+  translation -9.98679 -5.37678 1.0667e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -825,8 +864,8 @@ DEF TREE Solid {
   name "solid(5)"
 }
 DEF TREE Solid {
-  translation -10.1726 1.0667e-12 -0.216214
-  rotation 0 1 0 0.785398
+  translation -10.1726 0.216214 1.0667e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -835,8 +874,8 @@ DEF TREE Solid {
   name "solid(6)"
 }
 DEF TREE Solid {
-  translation -10.067 1.0667e-12 -8.47773
-  rotation 0 1 0 0.785398
+  translation -10.067 8.47773 1.0667e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -845,8 +884,8 @@ DEF TREE Solid {
   name "solid(7)"
 }
 DEF TREE Solid {
-  translation -9.86925 1.0667e-12 -13.5549
-  rotation 0 1 0 0.785398
+  translation -9.86925 13.5549 1.0667e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -855,8 +894,8 @@ DEF TREE Solid {
   name "solid(8)"
 }
 DEF TREE Solid {
-  translation 1.30651 1.05959e-12 -28.489
-  rotation 0 1 0 0.785398
+  translation 1.30651 28.489 1.05959e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -865,8 +904,8 @@ DEF TREE Solid {
   name "solid(9)"
 }
 DEF TREE Solid {
-  translation 21.2939 1.05071e-12 -14.4648
-  rotation 0 1 0 0.785398
+  translation 21.2939 14.4648 1.05071e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -875,8 +914,8 @@ DEF TREE Solid {
   name "solid(10)"
 }
 DEF TREE Solid {
-  translation 21.263 1.0516e-12 -20.4389
-  rotation 0 1 0 0.785398
+  translation 21.263 20.4389 1.0516e-12
+  rotation 0.862856260400455 0.357406682847245 0.357406682847245 1.717771459059056
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -885,7 +924,8 @@ DEF TREE Solid {
   name "solid(11)"
 }
 DEF TREE Solid {
-  translation 21.2686 1.0516e-12 -21.92
+  translation 21.2686 21.92 1.0516e-12
+  rotation 1 0 0 1.5707963267948966
   scale 1.7 1.7 1.7
   children [
     PottedTree {
@@ -894,21 +934,25 @@ DEF TREE Solid {
   name "solid(12)"
 }
 PottedTree {
-  translation 18.8987 3.55271e-15 29.4672
+  translation 18.8987 -29.4672 3.55271e-15
+  rotation 1 0 0 1.5707963267948966
 }
 PottedTree {
-  translation 27.5526 3.55271e-15 26.7018
+  translation 27.5526 -26.7018 3.55271e-15
+  rotation 1 0 0 1.5707963267948966
   name "potted tree(1)"
 }
 PottedTree {
-  translation 17.1715 3.55271e-15 20.9225
+  translation 17.1715 -20.9225 3.55271e-15
+  rotation 1 0 0 1.5707963267948966
   name "potted tree(2)"
 }
 Sofa {
-  translation 27.9791 0 28.4787
-  rotation 0 1 0 2.35619
+  translation 27.9791 -28.4787 0
+  rotation 0.281086281604685 0.678598004084028 0.678598004084027 2.593561198933153
 }
 DEF OFFICES Transform {
+  rotation 1 0 0 1.5707963267948966
   children [
     Panel {
       translation 28.4604 0 -24.5373
@@ -1211,7 +1255,7 @@ DEF OFFICES Transform {
   ]
 }
 DEF OFFICES Transform {
-  rotation 0 1 0 3.14159
+  rotation 9.38185669e-07 0.707106781186236 0.707106781186236 3.141590777218456
   children [
     Panel {
       translation 28.4604 0 -24.5373
@@ -1517,6 +1561,7 @@ DEF OFFICES Transform {
   ]
 }
 DEF BOXES Transform {
+  rotation 1 0 0 1.5707963267948966
   children [
     WoodenBox {
       translation 26.7873 0.89 9.13591
@@ -1549,6 +1594,7 @@ DEF BOXES Transform {
 }
 DEF BOXES Transform {
   translation -7 0 0
+  rotation 1 0 0 1.5707963267948966
   children [
     WoodenBox {
       translation 26.7873 0.89 9.13591
@@ -1581,7 +1627,8 @@ DEF BOXES Transform {
   ]
 }
 DEF BOXES Transform {
-  translation 0 0 3
+  translation 0 -3 0
+  rotation 1 0 0 1.5707963267948966
   children [
     WoodenBox {
       translation 26.7873 0.89 9.13591
@@ -1614,7 +1661,8 @@ DEF BOXES Transform {
   ]
 }
 DEF BOXES Transform {
-  translation -7 0 3
+  translation -7 -3 0
+  rotation 1 0 0 1.5707963267948966
   children [
     WoodenBox {
       translation 26.7873 0.89 9.13591
@@ -1647,7 +1695,8 @@ DEF BOXES Transform {
   ]
 }
 DEF BOXES Transform {
-  translation 0 0 6
+  translation 0 -6 0
+  rotation 1 0 0 1.5707963267948966
   children [
     WoodenBox {
       translation 26.7873 0.89 9.13591
@@ -1680,8 +1729,8 @@ DEF BOXES Transform {
   ]
 }
 StraightStairs {
-  translation -29.2069 7.10543e-15 -8.43695
-  rotation 9.58976e-09 -1 -9.58979e-09 4.71239
+  translation -29.2069 8.43695 7.10543e-15
+  rotation -0.577350657948645 -0.577350069273352 -0.577350080346684 4.188790804534762
   stepRise 0.2
   nSteps 11
   stepAppearance PBRAppearance {
@@ -1718,8 +1767,8 @@ StraightStairs {
   ]
 }
 StraightStairs {
-  translation -0.529031 7.10543e-15 29.2481
-  rotation 0 -1 0 3.14159
+  translation -0.529031 -29.2481 7.10543e-15
+  rotation 9.38185669e-07 -0.707106781186236 -0.707106781186236 3.141590777218456
   name "straight stairs(1)"
   stepRise 0.2
   nSteps 11
@@ -1757,8 +1806,8 @@ StraightStairs {
   ]
 }
 StraightStairs {
-  translation 0.76 0 -19
-  rotation 0 1 0 1.5708
+  translation 0.76 19 0
+  rotation 0.577348855372322 0.577350976096979 0.577350976096979 2.094397223120449
   name "straight stairs(2)"
   stepRise 0.2
   nSteps 11
@@ -1796,7 +1845,8 @@ StraightStairs {
   ]
 }
 DEF BOXES Transform {
-  translation -7 0 6
+  translation -7 -6 0
+  rotation 1 0 0 1.5707963267948966
   children [
     WoodenBox {
       translation 26.7873 0.89 9.13591
@@ -1829,151 +1879,170 @@ DEF BOXES Transform {
   ]
 }
 OilBarrel {
-  translation -9.26761 0.44 -20.0914
+  translation -9.26761 20.0914 0.44
+  rotation 1 0 0 1.5707963267948966
 }
 OilBarrel {
-  translation -26.1118 0.44 -19.0086
+  translation -26.1118 19.0086 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(1)"
 }
 OilBarrel {
-  translation -21.9075 0 -18.9476
+  translation -21.9075 18.9476 0
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(2)"
 }
 OilBarrel {
-  translation -27.6392 0.44 -26.4716
+  translation -27.6392 26.4716 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(3)"
 }
 OilBarrel {
-  translation -25.5943 0.44 -22.115
+  translation -25.5943 22.115 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(4)"
 }
 OilBarrel {
-  translation -23.236 0.44 -26.5773
+  translation -23.236 26.5773 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(5)"
 }
 OilBarrel {
-  translation -18.3049 0.44 -20.8934
+  translation -18.3049 20.8934 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(6)"
 }
 OilBarrel {
-  translation -13.8601 0 -17.7296
+  translation -13.8601 17.7296 0
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(7)"
 }
 OilBarrel {
-  translation -13.9827 0.44 -23.2832
+  translation -13.9827 23.2832 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(8)"
 }
 OilBarrel {
-  translation -15.759 0.44 -27.9069
+  translation -15.759 27.9069 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(9)"
 }
 OilBarrel {
-  translation -10.0871 0.44 -26.0751
+  translation -10.0871 26.0751 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(10)"
 }
 OilBarrel {
-  translation -6.54998 0 -22.3303
+  translation -6.54998 22.3303 0
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(11)"
 }
 OilBarrel {
-  translation -3.05266 0.44 -25.4792
+  translation -3.05266 25.4792 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(12)"
 }
 OilBarrel {
-  translation -2.93961 0.44 -17.7793
+  translation -2.93961 17.7793 0.44
+  rotation 1 0 0 1.5707963267948966
   name "oil barrel(13)"
 }
 PanelWithTubes {
-  translation 7.47218 1.06581e-14 -3.68619
-  rotation 0 1 0 3.14159
+  translation 7.47218 3.68619 1.06581e-14
+  rotation 9.38185669e-07 0.707106781186236 0.707106781186236 3.141590777218456
 }
 PanelWithTubes {
-  translation 7.47218 1.06581e-14 0.993814
+  translation 7.47218 -0.993814 1.06581e-14
+  rotation 1 0 0 1.5707963267948966
   name "panel with tubes(1)"
 }
 PanelWithTubes {
-  translation 9.23218 1.06581e-14 -3.68619
-  rotation 0 1 0 3.14159
+  translation 9.23218 3.68619 1.06581e-14
+  rotation 9.38185669e-07 0.707106781186236 0.707106781186236 3.141590777218456
   name "panel with tubes(2)"
 }
 PanelWithTubes {
-  translation 9.23218 1.06581e-14 0.993814
+  translation 9.23218 -0.993814 1.06581e-14
+  rotation 1 0 0 1.5707963267948966
   name "panel with tubes(3)"
 }
 PanelWithTubes {
-  translation 6.57218 1.06581e-14 -3.68619
-  rotation 0 1 0 3.14159
+  translation 6.57218 3.68619 1.06581e-14
+  rotation 9.38185669e-07 0.707106781186236 0.707106781186236 3.141590777218456
   name "panel with tubes(4)"
 }
 PanelWithTubes {
-  translation 6.57218 1.06581e-14 0.993814
+  translation 6.57218 -0.993814 1.06581e-14
+  rotation 1 0 0 1.5707963267948966
   name "panel with tubes(5)"
 }
 PanelWithTubes {
-  translation 5.65218 1.06581e-14 -3.68619
-  rotation 0 1 0 3.14159
+  translation 5.65218 3.68619 1.06581e-14
+  rotation 9.38185669e-07 0.707106781186236 0.707106781186236 3.141590777218456
   name "panel with tubes(6)"
 }
 PanelWithTubes {
-  translation 5.65218 1.06581e-14 0.993814
+  translation 5.65218 -0.993814 1.06581e-14
+  rotation 1 0 0 1.5707963267948966
   name "panel with tubes(7)"
 }
 PanelWithTubes {
-  translation 5.25302 1.06581e-14 0.48228
-  rotation 0 1 0 4.71239
+  translation 5.25302 -0.48228 1.06581e-14
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "panel with tubes(8)"
 }
 PanelWithTubes {
-  translation 9.64302 1.06581e-14 0.48228
-  rotation 0 -1 0 4.71239
+  translation 9.64302 -0.48228 1.06581e-14
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "panel with tubes(9)"
 }
 PanelWithTubes {
-  translation 9.64302 1.06581e-14 -0.42772
-  rotation 0 -1 0 4.71239
+  translation 9.64302 0.42772 1.06581e-14
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "panel with tubes(10)"
 }
 PanelWithTubes {
-  translation 5.25302 1.06581e-14 -0.42772
-  rotation 0 1 0 4.71239
+  translation 5.25302 0.42772 1.06581e-14
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "panel with tubes(11)"
 }
 PanelWithTubes {
-  translation 9.64302 1.06581e-14 -1.38772
-  rotation 0 -1 0 4.71239
+  translation 9.64302 1.38772 1.06581e-14
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "panel with tubes(12)"
 }
 PanelWithTubes {
-  translation 5.25302 1.06581e-14 -1.38772
-  rotation 0 1 0 4.71239
+  translation 5.25302 1.38772 1.06581e-14
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "panel with tubes(13)"
 }
 PanelWithTubes {
-  translation 9.64302 1.06581e-14 -2.33772
-  rotation 0 -1 0 4.71239
+  translation 9.64302 2.33772 1.06581e-14
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "panel with tubes(14)"
 }
 PanelWithTubes {
-  translation 5.25302 1.06581e-14 -2.33772
-  rotation 0 1 0 4.71239
+  translation 5.25302 2.33772 1.06581e-14
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "panel with tubes(15)"
 }
 PanelWithTubes {
-  translation 9.64302 1.06581e-14 -3.22772
-  rotation 0 -1 0 4.71239
+  translation 9.64302 3.22772 1.06581e-14
+  rotation -0.577350661639742 -0.577350072964468 -0.577350072964468 4.188790793461465
   name "panel with tubes(16)"
 }
 PanelWithTubes {
-  translation 5.25302 1.06581e-14 -3.22772
-  rotation 0 1 0 4.71239
+  translation 5.25302 3.22772 1.06581e-14
+  rotation -0.577350661639742 0.577350072964468 0.577350072964468 4.188790793461465
   name "panel with tubes(17)"
 }
 PanelWithTubes {
-  translation 8.33218 1.06581e-14 -3.68619
-  rotation 0 1 0 3.14159
+  translation 8.33218 3.68619 1.06581e-14
+  rotation 9.38185669e-07 0.707106781186236 0.707106781186236 3.141590777218456
   name "panel with tubes(18)"
 }
 PanelWithTubes {
-  translation 8.33218 1.06581e-14 0.993814
+  translation 8.33218 -0.993814 1.06581e-14
+  rotation 1 0 0 1.5707963267948966
   name "panel with tubes(19)"
 }
diff --git a/worlds/ros_python.wbt b/worlds/ros_python.wbt
index c6e2cee..99f9a22 100644
--- a/worlds/ros_python.wbt
+++ b/worlds/ros_python.wbt
@@ -1,11 +1,10 @@
-#VRML_SIM R2021a utf8
+#VRML_SIM R2021b utf8
 WorldInfo {
   info [
     "Simple Thymio II simulation controlled by a ROS node written in Python."
   ]
   title "ROS Python"
   basicTimeStep 20
-  coordinateSystem "NUE"
   contactProperties [
     ContactProperties {
       material2 "thymio body"
@@ -16,8 +15,8 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation 0.3650235088419984 -0.9018337571390201 -0.2312005892665386 5.0279702
-  position 0.85252477 0.55969193 0.54871339
+  orientation 0.6529831740954333 -0.39586888863896347 -0.6456785557504638 1.5078231853591149
+  position -0.7726419993246917 -0.39385691252855365 0.4050418385644192
   follow "Thymio II"
 }
 TexturedBackground {
@@ -25,10 +24,11 @@ TexturedBackground {
 TexturedBackgroundLight {
 }
 CircleArena {
+  rotation 1 0 0 1.5707963267948966
   wallThickness 0.05
 }
 DEF THYMIO2 Thymio2 {
-  rotation 1 0 0 0
+  rotation 1 0 0 1.570796326794897
   controller "<extern>"
   controllerArgs []
 }

From 2adc6f681452461ec2dded79c414066302393f69 Mon Sep 17 00:00:00 2001
From: Darko Lukic <lukicdarkoo@gmail.com>
Date: Tue, 2 Feb 2021 17:39:59 +0100
Subject: [PATCH 2/5] Fix version

---
 worlds/catch_the_bird.wbt          | 2 +-
 worlds/complete_test.wbt           | 2 +-
 worlds/e-puck_line.wbt             | 2 +-
 worlds/keyboard_teleop.wbt         | 2 +-
 worlds/panoramic_view_recorder.wbt | 2 +-
 worlds/pioneer3at.wbt              | 2 +-
 worlds/ros_python.wbt              | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/worlds/catch_the_bird.wbt b/worlds/catch_the_bird.wbt
index dd3c4d4..ae55d5e 100644
--- a/worlds/catch_the_bird.wbt
+++ b/worlds/catch_the_bird.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
 }
 Viewpoint {
diff --git a/worlds/complete_test.wbt b/worlds/complete_test.wbt
index 3080d81..6e4992a 100644
--- a/worlds/complete_test.wbt
+++ b/worlds/complete_test.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
 }
 Viewpoint {
diff --git a/worlds/e-puck_line.wbt b/worlds/e-puck_line.wbt
index 97007e2..a65e11a 100644
--- a/worlds/e-puck_line.wbt
+++ b/worlds/e-puck_line.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
 }
 Viewpoint {
diff --git a/worlds/keyboard_teleop.wbt b/worlds/keyboard_teleop.wbt
index afd0b69..d7a9f4a 100644
--- a/worlds/keyboard_teleop.wbt
+++ b/worlds/keyboard_teleop.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
 }
 Viewpoint {
diff --git a/worlds/panoramic_view_recorder.wbt b/worlds/panoramic_view_recorder.wbt
index 4a48272..f6e5f3d 100644
--- a/worlds/panoramic_view_recorder.wbt
+++ b/worlds/panoramic_view_recorder.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
 }
 Viewpoint {
diff --git a/worlds/pioneer3at.wbt b/worlds/pioneer3at.wbt
index 8ca1183..53fb69c 100644
--- a/worlds/pioneer3at.wbt
+++ b/worlds/pioneer3at.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
   info [
     "Pioneer 3AT robot (Adept MobileRobots)."
diff --git a/worlds/ros_python.wbt b/worlds/ros_python.wbt
index 99f9a22..e47496b 100644
--- a/worlds/ros_python.wbt
+++ b/worlds/ros_python.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2021a utf8
 WorldInfo {
   info [
     "Simple Thymio II simulation controlled by a ROS node written in Python."

From f8f38565d5640218d7c49ad89526ad0536ee49ec Mon Sep 17 00:00:00 2001
From: Darko Lukic <lukicdarkoo@gmail.com>
Date: Tue, 2 Feb 2021 17:42:09 +0100
Subject: [PATCH 3/5] Version number

---
 worlds/.catch_the_bird.wbproj          | 2 +-
 worlds/.complete_test.wbproj           | 2 +-
 worlds/.e-puck_line.wbproj             | 2 +-
 worlds/.keyboard_teleop.wbproj         | 2 +-
 worlds/.panoramic_view_recorder.wbproj | 2 +-
 worlds/.pioneer3at.wbproj              | 2 +-
 worlds/.ros_python.wbproj              | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/worlds/.catch_the_bird.wbproj b/worlds/.catch_the_bird.wbproj
index eb1d22b..61983e4 100644
--- a/worlds/.catch_the_bird.wbproj
+++ b/worlds/.catch_the_bird.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2021a
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000002ec0000025efc0200000001fb0000001400540065007800740045006400690074006f007200000000190000025e0000003f00ffffff00000003000004e20000005afc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000004e20000006900ffffff000004e20000015700000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000002010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000002010000000201
diff --git a/worlds/.complete_test.wbproj b/worlds/.complete_test.wbproj
index 45f5eb4..efddce6 100644
--- a/worlds/.complete_test.wbproj
+++ b/worlds/.complete_test.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2021a
 perspectives: 000000ff00000000fd00000003000000000000018f00000482fc0100000004fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000002c0052006f0062006f0074003a002000660075006c006c005f00730075007000650072007600690073006f007201000000000000018f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007701000000000000018f0000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001ed000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff00000003000005aa000000dafc0100000001fb0000000e0043006f006e0073006f006c00650100000195000005aa0000005400ffffff000003b7000003a200000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000170000003490100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
diff --git a/worlds/.e-puck_line.wbproj b/worlds/.e-puck_line.wbproj
index a0361e0..5f9b1ce 100644
--- a/worlds/.e-puck_line.wbproj
+++ b/worlds/.e-puck_line.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2021a
 perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006500000000190000033d0000000000000000000000010000016200000309fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000003090000003e00ffffff000000030000073f000000e2fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005d70000030900000004000000040000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000002850100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
diff --git a/worlds/.keyboard_teleop.wbproj b/worlds/.keyboard_teleop.wbproj
index 2dff954..1289b98 100644
--- a/worlds/.keyboard_teleop.wbproj
+++ b/worlds/.keyboard_teleop.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2021a
 perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d000000000000000000000001000001e100000258fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000002580000003e00ffffff000000030000073f00000193fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005580000025800000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
diff --git a/worlds/.panoramic_view_recorder.wbproj b/worlds/.panoramic_view_recorder.wbproj
index 19379cb..3f4da1a 100644
--- a/worlds/.panoramic_view_recorder.wbproj
+++ b/worlds/.panoramic_view_recorder.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2021a
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff000000030000073f000000dafc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000060b000003a200000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000006010000000201
diff --git a/worlds/.pioneer3at.wbproj b/worlds/.pioneer3at.wbproj
index 86294d3..725746c 100644
--- a/worlds/.pioneer3at.wbproj
+++ b/worlds/.pioneer3at.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2021a
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000002d9fc0200000001fb0000001400540065007800740045006400690074006f00720000000019000002d9000000a200ffffff000000030000073f000000bbfc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000073f000003c100000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000011e000004db0100000006010000000101
 sceneTreePerspectives: 000000ff0000000100000002000000c0000001240100000006010000000201
diff --git a/worlds/.ros_python.wbproj b/worlds/.ros_python.wbproj
index 9022d0c..158ad59 100644
--- a/worlds/.ros_python.wbproj
+++ b/worlds/.ros_python.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2021a
 perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000001c900000375fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003750000008900ffffff000000030000073f00000093fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000006900ffffff000005740000037500000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff000000010000000200000100000005210100000002010000000100
 sceneTreePerspectives: 000000ff0000000100000002000002aa000000fa0100000002010000000200

From 53c079d1582eb580bf520ee217c69fd27e5e39ff Mon Sep 17 00:00:00 2001
From: Darko Lukic <lukicdarkoo@gmail.com>
Date: Tue, 2 Feb 2021 18:20:58 +0100
Subject: [PATCH 4/5] Make the tests pass

---
 launch/complete_test.launch          |  2 +-
 plugins/robot_windows/info/info.html | 30 +++++++++++++++++++++++-----
 plugins/robot_windows/info/info.js   |  7 -------
 src/complete_test.cpp                |  2 +-
 4 files changed, 27 insertions(+), 14 deletions(-)
 delete mode 100644 plugins/robot_windows/info/info.js

diff --git a/launch/complete_test.launch b/launch/complete_test.launch
index 524c92d..cfbaf4f 100644
--- a/launch/complete_test.launch
+++ b/launch/complete_test.launch
@@ -9,5 +9,5 @@
   </include>
 
   <arg name="auto_close" default="false" doc="Startup mode"/>
-  <node name="complete_test" pkg="webots_ros" type="complete_test" required="$(arg auto_close)"/>
+  <node name="complete_test" pkg="webots_ros" type="complete_test" output="screen" required="$(arg auto_close)"/>
 </launch>
diff --git a/plugins/robot_windows/info/info.html b/plugins/robot_windows/info/info.html
index 9f7f638..a0cfb58 100644
--- a/plugins/robot_windows/info/info.html
+++ b/plugins/robot_windows/info/info.html
@@ -1,7 +1,27 @@
-<div>
-  <h2>Info window</h2>
+<html>
+
+<head>
+  <script>
+    window.onload = () => {
+      webots.window('info').receive = function (message, robot) {
+        if (message.startsWith('test')) {
+          document.querySelector("#text-display").innerHTML = message;
+          this.send("Answer: " + message, robot);
+        } else
+          console.log("Received unknown message for robot '" + robot + "': '" + message + "'");
+      }
+    }
+  </script>
+</head>
+
+<body>
   <div>
-    <p>Show message received from the controller:</p>
-    <span id='text-display'></span>
+    <h2>Info window</h2>
+    <div>
+      <p>Show message received from the controller:</p>
+      <span id='text-display'></span>
+    </div>
   </div>
-</div>
+</body>
+
+</html>
\ No newline at end of file
diff --git a/plugins/robot_windows/info/info.js b/plugins/robot_windows/info/info.js
deleted file mode 100644
index 37d2a56..0000000
--- a/plugins/robot_windows/info/info.js
+++ /dev/null
@@ -1,7 +0,0 @@
-webots.window('info').receive = function(message, robot) {
-  if (message.startsWith('test')) {
-    document.querySelector("#text-display").innerHTML = message;
-    this.send("Answer: " + message, robot);
-  } else
-    console.log("Received unknown message for robot '" + robot + "': '" + message + "'");
-}
diff --git a/src/complete_test.cpp b/src/complete_test.cpp
index 9d24a69..cd2678b 100644
--- a/src/complete_test.cpp
+++ b/src/complete_test.cpp
@@ -1837,7 +1837,7 @@ int main(int argc, char **argv) {
   inertial_unit_srv.request.value = 32;
   if (set_inertial_unit_client.call(inertial_unit_srv) && inertial_unit_srv.response.success) {
     ROS_INFO("Inertial_unit enabled.");
-    sub_inertial_unit_32 = n.subscribe(model_name + "/inertial_unit/roll_pitch_yaw", 1, inertialUnitCallback);
+    sub_inertial_unit_32 = n.subscribe(model_name + "/inertial_unit/quaternion", 1, inertialUnitCallback);
     callbackCalled = false;
     while (sub_inertial_unit_32.getNumPublishers() == 0 && !callbackCalled) {
       ros::spinOnce();

From 815f04194b9845f09e17a0c4508540c7bedc500c Mon Sep 17 00:00:00 2001
From: Darko Lukic <lukicdarkoo@gmail.com>
Date: Tue, 2 Feb 2021 18:24:31 +0100
Subject: [PATCH 5/5] New line

---
 plugins/robot_windows/info/info.html | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/plugins/robot_windows/info/info.html b/plugins/robot_windows/info/info.html
index a0cfb58..f2a0801 100644
--- a/plugins/robot_windows/info/info.html
+++ b/plugins/robot_windows/info/info.html
@@ -24,4 +24,4 @@ <h2>Info window</h2>
   </div>
 </body>
 
-</html>
\ No newline at end of file
+</html>