<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.3//EN" "http://www.web3d.org/specifications/x3d-3.3.dtd">
<X3D profile='Immersive' version='3.3 xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation =' http://www.web3d.org/specifications/x3d-3.3.xsd '>
<head>
<component level='1name='DIS'/>
<component level='1name='Geospatial'/>
<meta name='titlecontent='MultipleUnmannedVehiclesOffMonterey.x3d'/>
<meta name='descriptioncontent='Contains multiple DIS-enabled robots in a near-shore environment. 4 mission tracks correspond to openWaterMission1, 2, 3, and 4 included with the workbench distribution.'/>
<meta name='creatorcontent='Don Brutzman, Duane Davis and Jeff Weekley, Naval Postgraduate School'/>
<meta name='subjectcontent='aries auv dis'/>
<meta name='createdcontent='18 April 2004'/>
<meta name='modifiedcontent='20 October 2019'/>
<meta name='referencecontent='AuvInBeachTanks.x3d'/>
<meta name='generatorcontent='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/MultipleUnmannedVehiclesOffMonterey.x3d '/>
<meta name='licensecontent=' ../../license.html'/>
</head>
<!--

Index for ExternProtoDeclare definitions : AriesEspdu, GridXZ, PredatorEspdu

Index for DEF nodes : ARIES0, ARIES1, AUV3, AUV4, ExternProtoDeclaresAndGrid, FastNI, OverheadViewpoint, PREDATOR0, RobotEntities, SandyShallowBottom, SlowNI, UavGroup, UsvGroup, UuvGroup

Index for Viewpoint image : OverheadViewpoint
-->
<Scene>
<WorldInfo title='MultipleUnmannedVehiclesOffMonterey.x3d'/>
<Background DEF='SandyShallowBottomgroundAngle='0.05 1.52 1.56 1.570796groundColor='0.2 0.2 0 0.3 0.3 0 0.5 0.5 0.3 0.1 0.3 0.4 0 0.2 0.4skyAngle='0.05 0.1 1.309 1.571skyColor='0.8 0.8 0.2 0.1 0.1 0.6 0.1 0.1 0.6 0.1 0.25 0.8 0.6 0.6 0.9transparency='0'/>
<!-- <DirectionalLight ambientIntensity='0.1' direction='-3 -3 0'/> -->
<!-- ROUTE information for OverheadViewpoint node:  [from isBound to FastNI.set_bind ] -->
<Viewpoint DEF='OverheadViewpointdescription='Monterey Bay Operations AreafieldOfView='1.0orientation='-1.0 0.0 0.0 1.57position='0.0 5000.0 2000.0'/>
<NavigationInfo DEF='SlowNIspeed='100.0'/>
<!-- ROUTE information for FastNI node:  [from OverheadViewpoint.isBound to set_bind ] -->
<NavigationInfo DEF='FastNIspeed='1000.0type='"FLY" "ANY"'/>
<ROUTE fromNode='OverheadViewpointfromField='isBoundtoNode='FastNItoField='set_bind'/>
<Inline bboxCenter='0 0 0bboxSize='-1 -1 -1'
  url=' "MontereyBayOpArea.x3d" "https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/MontereyBayOpArea.x3d" "MontereyBayOpArea.wrl" "https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/MontereyBayOpArea.wrl" '/>

<!-- <Inline url='"../../../Savage/Locations/MontereyBay/MontereyBayLargeMesh.x3d" "../../../Savage/Locations/MontereyBay/MontereyBayLargeMesh.wrl" "https://savage.nps.edu/Savage/Locations/MontereyBay/MontereyBayLargeMesh.x3d" "https://savage.nps.edu/Savage/Locations/MontereyBay/MontereyBayLargeMesh.wrl"'/> -->
<Group DEF='ExternProtoDeclaresAndGridbboxCenter='0 0 0bboxSize='-1 -1 -1'>
<ExternProtoDeclare name='AriesEspduappinfo='Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype'
  url=' "../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "../../../Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" '>
<field name='hullNametype='SFStringaccessType='inputOutput'
 appinfo='up to 11 characters maps to EspduTransform marking'/>

<field name='hullColortype='SFColoraccessType='inputOutput'
 appinfo='color for this Aries instance'/>

<field name='translationtype='SFVec3faccessType='inputOutput'
 appinfo='initial position prior to first ESPDU receipt'/>

<field name='rotationtype='SFRotationaccessType='inputOutput'
 appinfo='initial orientation prior to first ESPDU receipt'/>

<field name='siteIDtype='SFInt32accessType='inputOutput'/>
<field name='applicationIDtype='SFInt32accessType='inputOutput'/>
<field name='entityIDtype='SFInt32accessType='inputOutput'/>
<field name='readIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='network read periodicity'/>

<field name='writeIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='network write periodicity'/>

<field name='networkModetype='SFStringaccessType='inputOutput'
 appinfo='Override default EspduTransform value so that listening occurs by default'/>

<field name='addresstype='SFStringaccessType='inputOutput'
 appinfo='multicast address'/>

<field name='porttype='SFInt32accessType='inputOutput'
 appinfo='multicast port'/>

<field name='traceNodeEnabledtype='SFInt32accessType='inputOutput'
 appinfo='Set to 0 to activate EspduTransformTrace'/>
</ExternProtoDeclare>
<ExternProtoDeclare name='PredatorEspduappinfo='Predator unmanned air vehicle (UAV) with DIS ESPDU network connections'
  url=' "../../../Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#PredatorEspdu" "../../../Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#PredatorEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.x3d#PredatorEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedAirVehicles/PredatorEspduPrototype.wrl#PredatorEspdu" '>
<field name='markingtype='SFStringaccessType='inputOutput'
 appinfo='default value PredatorUAV'/>

<field name='translationtype='SFVec3faccessType='inputOutput'
 appinfo='default value 0 0 0'/>

<field name='rotationtype='SFRotationaccessType='inputOutput'
 appinfo='default value 0 0 1 0'/>

<field name='siteIDtype='SFInt32accessType='inputOutput'
 appinfo='default value 0'/>

<field name='applicationIDtype='SFInt32accessType='inputOutput'
 appinfo='default value 1'/>

<field name='entityIDtype='SFInt32accessType='inputOutput'
 appinfo='default value 30'/>

<field name='readIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='default value 0.1'/>

<field name='writeIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='default value 1.0'/>

<field name='networkModetype='SFStringaccessType='inputOutput'
 appinfo='Override default EspduTransform value so that listening occurs by default'/>

<field name='addresstype='SFStringaccessType='inputOutput'
 appinfo='default value 224.2.181.145'/>

<field name='porttype='SFInt32accessType='inputOutput'
 appinfo='default value 62040'/>
</ExternProtoDeclare>
<ExternProtoDeclare name='GridXZappinfo='Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.'
  url=' "../../../Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "../../../Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" '>
<field name='descriptiontype='SFStringaccessType='initializeOnly'
 appinfo='Purpose of this grid displayed for overall Viewpoint'/>

<field name='labelColortype='SFColoraccessType='inputOutput'
 appinfo='color for descriptive labels at grid edges and corners'/>

<field name='scaletype='SFVec3faccessType='inputOutput'
 appinfo='default unscaled size: 10m by 10m'/>

<field name='originLabeltype='MFStringaccessType='inputOutput'/>
<field name='WestLabeltype='MFStringaccessType='inputOutput'
 appinfo='-X axis'/>

<field name='NorthWestLabeltype='MFStringaccessType='inputOutput'/>
<field name='NorthLabeltype='MFStringaccessType='inputOutput'
 appinfo='-Z axis'/>

<field name='NorthEastLabeltype='MFStringaccessType='inputOutput'/>
<field name='EastLabeltype='MFStringaccessType='inputOutput'
 appinfo='+X axis'/>

<field name='SouthEastLabeltype='MFStringaccessType='inputOutput'/>
<field name='SouthLabeltype='MFStringaccessType='inputOutput'
 appinfo='+Z axis'/>

<field name='SouthWestLabeltype='MFStringaccessType='inputOutput'/>
<field name='labelsOffsettype='SFVec3faccessType='inputOutput'
 appinfo='label location offset (in meters) to improve readability'/>
</ExternProtoDeclare>
<ProtoInstance name='GridXZ'>
<fieldValue name='descriptionvalue='GridXZ for AUV in Open Ocean'/>
<fieldValue name='labelColorvalue='1.0 1.0 1.0'/>
<fieldValue name='scalevalue='50.0 50.0 50.0'/>
<fieldValue name='originLabelvalue='"origin" "0 0 0"'/>
<fieldValue name='WestLabelvalue='"West" "-Y"'/>
<fieldValue name='NorthWestLabelvalue='"500 0 -500"'/>
<fieldValue name='NorthLabelvalue='"North" "+X"'/>
<fieldValue name='NorthEastLabelvalue='"500 0 500"'/>
<fieldValue name='EastLabelvalue='"East" "+Y"'/>
<fieldValue name='SouthEastLabelvalue='"-500 0 500"'/>
<fieldValue name='SouthLabelvalue='"South" "-X"'/>
<fieldValue name='SouthWestLabelvalue='"-500 0 -500"'/>
</ProtoInstance>
</Group>
<Group DEF='RobotEntitiesbboxCenter='0 0 0bboxSize='-1 -1 -1'>
<Group DEF='UavGroupbboxCenter='0 0 0bboxSize='-1 -1 -1'>
<ProtoInstance name='PredatorEspduDEF='PREDATOR0'>
<fieldValue name='markingvalue='PREDATOR-0'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='30'/>
<fieldValue name='readIntervalvalue='0.5'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='addressvalue='239.255.5.8'/>
<fieldValue name='translationvalue='15000.0 -10.0 15000.0'/>
</ProtoInstance>
</Group>
<Group DEF='UsvGroupbboxCenter='0 0 0bboxSize='-1 -1 -1'>
<EspduTransform address='239.255.5.8entityID='20marking='RHIB-0networkMode='networkReaderreadInterval='0.5translation='0 -2015 0bboxCenter='0 0 0bboxSize='-1 -1 -1containerField='children'> </EspduTransform>
</Group>
<Group DEF='UuvGroupbboxCenter='0 0 0bboxSize='-1 -1 -1'>
<ProtoInstance name='AriesEspduDEF='ARIES0'>
<fieldValue name='hullNamevalue='ARIES-0'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='0'/>
<fieldValue name='readIntervalvalue='0.5'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='addressvalue='239.255.5.8'/>
<fieldValue name='translationvalue='0.0 -2000.0 0.0'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
<ProtoInstance name='AriesEspduDEF='ARIES1'>
<fieldValue name='hullNamevalue='ARIES-1'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='1'/>
<fieldValue name='readIntervalvalue='0.5'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='addressvalue='239.255.5.8'/>
<fieldValue name='translationvalue='0.0 -2005.0 0.0'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
<ProtoInstance name='AriesEspduDEF='AUV3'>
<fieldValue name='hullNamevalue='AUV-3'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='2'/>
<fieldValue name='readIntervalvalue='0.5'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='addressvalue='239.255.5.8'/>
<fieldValue name='translationvalue='0.0 -2010.0 0.0'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
<ProtoInstance name='AriesEspduDEF='AUV4'>
<fieldValue name='hullNamevalue='AUV-4'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='3'/>
<fieldValue name='readIntervalvalue='0.5'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='addressvalue='239.255.5.8'/>
<fieldValue name='translationvalue='0.0 -2015.0 0.0'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
</Group>
</Group>
</Scene>
</X3D>
<!--

Index for ExternProtoDeclare definitions : AriesEspdu, GridXZ, PredatorEspdu

Index for DEF nodes : ARIES0, ARIES1, AUV3, AUV4, ExternProtoDeclaresAndGrid, FastNI, OverheadViewpoint, PREDATOR0, RobotEntities, SandyShallowBottom, SlowNI, UavGroup, UsvGroup, UuvGroup

Index for Viewpoint image : OverheadViewpoint
-->

<!-- Color key: <X3dNode DEF='idName' field='value'/> matches <XmlElement DEF='idName' attribute='value'/>
(Light blue background: behavior node) (Grey background: inserted documentation) (Magenta background: X3D Extensibility)
    <Prototype name='ProtoName'> <field name='fieldName'/> </Prototype> -->

<!-- Additional help information about X3D scenes: X3D Resources, X3D Scene Authoring Hints and X3D Tooltips -->