<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.2//EN" "http://www.web3d.org/specifications/x3d-3.2.dtd">
<X3D profile='Immersive' version='3.2 xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation =' http://www.web3d.org/specifications/x3d-3.2.xsd '>
<head>
<meta name='titlecontent='ROVParts.x3d'/>
<meta name='descriptioncontent='Parts list of ROV'/>
<meta name='creatorcontent='Luciano Cerritos'/>
<meta name='createdcontent='3 August 2010'/>
<meta name='modifiedcontent='14 January 2014'/>
<meta name='referencecontent='OjoDelMarROV.x3d'/>
<meta name='referencecontent='Beetle.x3d'/>
<meta name='referencecontent='TODO put report for summer internship'/>
<meta name='drawingcontent='TODO put pictures PVC pipes'/>
<meta name='referencecontent=' http://en.wikipedia.org/wiki/Remotely_operated_underwater_vehicle '/>
<meta name='referencecontent=' http://www.marinetech.org/home.php '/>
<meta name='referencecontent=' http://www.marinetech.org/rov_competition/2009/technical_reports/ranger/Monterey_HS_MAOS%20Tech%20Report%202009.pdf '/>
<meta name='contributorcontent='Dale Tourtelotte creator of propeller'/>
<meta name='subjectcontent='ROV Remote Operated Vehicle'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/RemotelyOperatedVehicles/ROVParts.x3d '/>
<meta name='generatorcontent='X3D-Edit, https://savage.nps.edu/X3D-Edit'/>
<meta name='licensecontent=' ../../license.html'/>
</head>
<!-- -->
<Scene>
<Background groundColor='0 0.388235 0.580392skyColor='0.741176 0.929412 1'/>
<Group DEF='Viewpoints'>
<Viewpoint description='ShaftAndPropeller BilgePumpMotororientation='0 1 0 1.59position='1 .25 -1.25'/>
<Viewpoint description='TConnecter SideOutConnecter SideOut90Connecterorientation='0 1 0 1.59position='1 .25 -.5'/>
<Viewpoint description='XConnecter RoboticArm TConnecterorientation='0 1 0 1.59position='1 .25 0'/>
<Viewpoint description='Camera Elbow45Connecter XConnecterorientation='0 1 0 1.59position='1 .25 .5'/>
<Viewpoint description='Frame Cameraorientation='0 1 0 1.59position='1 .25 1'/>
</Group>
<!-- Switch DEF='Switcher' whichChoice='0' -->
<Group DEF='RoboticArmTool'>
<!-- Note:Robotic arm was not in correct units need to scale from feet to meters -->
<!-- Copy from here -->
<Transform DEF='ScaleFeetToMetersRoboticArmrotation='0 1 0 1.59scale='0.2 0.2 0.2'>
<Group DEF='RoboticArm'>
<Transform DEF='BaseOfArmtranslation='0 1 2.262'>
<Shape>
<Box size='.4 .5 .05'/>
<Appearance>
<Material diffuseColor='0 0 0emissiveColor='0.086275 0.086275 0.086275specularColor='0.184314 0.184314 0.184314'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='BaseArmConnectorrotation='0 0 1 1.57059translation='0 1 2.39'>
<Shape>
<Cylinder height='0.125radius='0.15'/>
<Appearance>
<Material ambientIntensity='0.16diffuseColor='0 0.031373 0.760784emissiveColor='0.101961 0 0.003922shininess='0.6specularColor='0 0.023529 0.219608'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='RightLowerArmtranslation='0.083 1.2 2.385'>
<Group DEF='Arm'>
<Shape>
<Box size='0.025 0.50 0.1'/>
<Appearance>
<Material ambientIntensity='0.25diffuseColor='1 0.854922 0shininess='0.32specularColor='0.972549 1 0.439216'/>
</Appearance>
</Shape>
</Group>
</Transform>
<Transform DEF='LeftLowerArmtranslation='-0.083 1.2 2.385'>
<Group USE='Arm'/>
</Transform>
<Transform DEF='RightUpperArmrotation='1 0 0 1.57059translation='0.068 1.4 2.579'>
<Group USE='Arm'/>
</Transform>
<Transform DEF='LeftUpperArmrotation='1 0 0 1.57059translation='-0.068 1.4 2.579'>
<Group USE='Arm'/>
</Transform>
<Transform DEF='MidArmConnectorrotation='0 0 1 1.57059translation='0 1.40 2.382'>
<Shape>
<Cylinder height='0.20radius='0.04'/>
<Appearance>
<Material ambientIntensity='0.02diffuseColor='1 0.058824 0.058824shininess='0.45specularColor='0.341176 0 0'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='UpperArmConnectorrotation='0 0 1 1.57059translation='0 1.40 2.762'>
<Shape>
<Cylinder height='0.2radius='0.04'/>
<Appearance>
<Material ambientIntensity='0.02diffuseColor='1 0.058824 0.058824shininess='0.45specularColor='0.341176 0 0'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='GripConnectorrotation='1 0 0 1.57059translation='0 1.40 2.89'>
<Shape>
<Cylinder height='0.05radius='0.04'/>
<Appearance>
<Material ambientIntensity='0.02diffuseColor='1 0.058824 0.058824shininess='0.45specularColor='0.341176 0 0'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='BaseArmGriptranslation='0 1.40 2.795'>
<Shape>
<Box size='0.11 0.1 0.15'/>
<Appearance>
<Material ambientIntensity='0.16diffuseColor='0 0.031373 0.760784emissiveColor='0.101961 0 0.003922shininess='0.6specularColor='0 0.023529 0.219608'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='FingerRailtranslation='0 1.4 2.92'>
<Shape>
<Box size='0.5 0.1 0.05'/>
<Appearance>
<Material diffuseColor='0 0 0emissiveColor='0.086275 0.086275 0.086275specularColor='0.184314 0.184314 0.184314'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='TopRailtranslation='0 1.445 2.95'>
<Group DEF='Rail'>
<Shape>
<Box size='0.5 0.01 0.03'/>
<Appearance>
<Material diffuseColor='0 0 0emissiveColor='0.086275 0.086275 0.086275specularColor='0.184314 0.184314 0.184314'/>
</Appearance>
</Shape>
</Group>
</Transform>
<Transform DEF='BottomRailtranslation='0 1.3555 2.95'>
<Group USE='Rail'/>
</Transform>
<Transform DEF='RightSideRailtranslation='0.2475 1.4 2.95'>
<Group DEF='SideRail'>
<Shape>
<Box size='0.005 0.08 .03'/>
<Appearance>
<Material diffuseColor='0 0 0emissiveColor='0.086275 0.086275 0.086275specularColor='0.184314 0.184314 0.184314'/>
</Appearance>
</Shape>
</Group>
</Transform>
<Transform DEF='Lefttranslation='-0.2475 1.4 2.95'>
<Group USE='SideRail'/>
</Transform>
<!-- ROUTE information for RightExtensionFinger node:  [from RightExtensionFingerAnimator.value_changed to set_translation ] [from OrientationAnimator.value_changed to set_rotation ] -->
<Transform DEF='RightExtensionFingertranslation='.2273 1.4 3.015'>
<Group DEF='ExtensionFinger'>
<Shape>
<Box size='0.03 0.080 0.23'/>
<Appearance>
<Material/>
</Appearance>
</Shape>
</Group>
</Transform>
<!-- ROUTE information for LeftExtensionFinger node:  [from LeftExtensionFingerAnimator.value_changed to set_translation ] [from OrientationAnimator.value_changed to set_rotation ] -->
<Transform DEF='LeftExtensionFingertranslation='-.2273 1.45 3.015'>
<Group USE='ExtensionFinger'/>
</Transform>
<Transform DEF='Finger'>
<!-- ROUTE information for RightFinger node:  [from RightFingerAnimator.value_changed to set_translation ] [from OrientationAnimator.value_changed to set_rotation ] -->
<Transform DEF='RightFingertranslation='.15 1.4 3.1048'>
<Shape>
<Box size='0.15 0.07 0.05'/>
<Appearance>
<Material/>
</Appearance>
</Shape>
</Transform>
<!-- ROUTE information for UpperLeftFinger node:  [from UpperLeftFingerAnimator.value_changed to set_translation ] [from OrientationAnimator.value_changed to set_rotation ] -->
<Transform DEF='UpperLeftFingertranslation='-.1675 1.45 3.1048'>
<Group DEF='LeftFinger'>
<Shape>
<Box size='0.15 0.02 0.05'/>
<Appearance>
<Material/>
</Appearance>
</Shape>
</Group>
</Transform>
<!-- ROUTE information for LowerLeftFinger node:  [from LowerLeftFingerAnimator.value_changed to set_translation ] [from OrientationAnimator.value_changed to set_rotation ] -->
<Transform DEF='LowerLeftFingertranslation='-.1675 1.35 3.1048'>
<Group USE='LeftFinger'/>
</Transform>
<!-- note that final value equals first value in keyValue array in order to support smooth looping -->
<!-- first drive around the location -->
<!-- ROUTE information for RightFingerAnimator node:  [from AnimationClock.fraction_changed to set_fraction ] [from value_changed to RightFinger.set_translation ] -->
<PositionInterpolator DEF='RightFingerAnimatorkey='0 0.2 0.25 0.45 0.5 0.7 0.75 0.95 1keyValue='0.15 1.4 3.1048 0.15 1.4 3.1048 0.15 1.4 3.1048 0.15 1.4 3.1048 0 1.4 3.1048 0.15 1.4 3.1048 0.15 1.4 3.1048 0.15 1.4 3.1048 0.15 1.4 3.1048'/>
<!-- ROUTE information for RightExtensionFingerAnimator node:  [from AnimationClock.fraction_changed to set_fraction ] [from value_changed to RightExtensionFinger.set_translation ] -->
<PositionInterpolator DEF='RightExtensionFingerAnimatorkey='0 0.2 0.25 0.45 0.5 0.7 0.75 0.95 1keyValue='0.2273 1.4 3.015 0.2273 1.4 3.015 0.2273 1.4 3.015 0.2273 1.4 3.015 0.090 1.4 3.015 0.2273 1.4 3.015 0.2273 1.4 3.015 0.2273 1.4 3.015 0.2273 1.4 3.015'/>
<!-- ROUTE information for LeftExtensionFingerAnimator node:  [from AnimationClock.fraction_changed to set_fraction ] [from value_changed to LeftExtensionFinger.set_translation ] -->
<PositionInterpolator DEF='LeftExtensionFingerAnimatorkey='0 0.2 0.25 0.45 0.5 0.7 0.75 0.95 1keyValue='-0.2273 1.4 3.015 -0.2273 1.4 3.015 -0.2273 1.4 3.015 -0.2273 1.4 3.015 -0.06 1.4 3.015 -0.2273 1.4 3.015 -0.2273 1.4 3.015 -0.2273 1.4 3.015 -0.2273 1.4 3.015'/>
<!-- ROUTE information for UpperLeftFingerAnimator node:  [from AnimationClock.fraction_changed to set_fraction ] [from value_changed to UpperLeftFinger.set_translation ] -->
<PositionInterpolator DEF='UpperLeftFingerAnimatorkey='0 0.2 0.25 0.45 0.5 0.7 0.75 0.95 1keyValue='-0.1675 1.45 3.1048 -0.1675 1.45 3.1048 -0.1675 1.45 3.1048 -0.1675 1.45 3.1048 0 1.45 3.1048 -0.1675 1.45 3.1048 -0.1675 1.45 3.1048 -0.1675 1.45 3.1048 -0.1675 1.45 3.1048'/>
<!-- ROUTE information for LowerLeftFingerAnimator node:  [from AnimationClock.fraction_changed to set_fraction ] [from value_changed to LowerLeftFinger.set_translation ] -->
<PositionInterpolator DEF='LowerLeftFingerAnimatorkey='0 0.2 0.25 0.45 0.5 0.7 0.75 0.95 1keyValue='-0.1675 1.35 3.1048 -0.1675 1.35 3.1048 -0.1675 1.35 3.1048 -0.1675 1.35 3.1048 0 1.35 3.1048 -0.1675 1.35 3.1048 -0.1675 1.35 3.1048 -0.1675 1.35 3.1048 -0.1675 1.35 3.1048'/>
<ROUTE fromNode='RightFingerAnimatorfromField='value_changedtoNode='RightFingertoField='set_translation'/>
<ROUTE fromNode='RightExtensionFingerAnimatorfromField='value_changedtoNode='RightExtensionFingertoField='set_translation'/>
<ROUTE fromNode='LeftExtensionFingerAnimatorfromField='value_changedtoNode='LeftExtensionFingertoField='set_translation'/>
<ROUTE fromNode='UpperLeftFingerAnimatorfromField='value_changedtoNode='UpperLeftFingertoField='set_translation'/>
<ROUTE fromNode='LowerLeftFingerAnimatorfromField='value_changedtoNode='LowerLeftFingertoField='set_translation'/>
<!-- then rotate the pointer to match next direction while paused at each position -->
<!-- TODO missing angle values -->
<!-- ROUTE information for OrientationAnimator node:  [from AnimationClock.fraction_changed to set_fraction ] [from value_changed to RightFinger.set_rotation ] [from value_changed to RightExtensionFinger.set_rotation ] [from value_changed to LeftExtensionFinger.set_rotation ] [from value_changed to UpperLeftFinger.set_rotation ] [from value_changed to LowerLeftFinger.set_rotation ] -->
<OrientationInterpolator DEF='OrientationAnimatorkey='0 0.2 0.25 0.45 0.5 0.7 0.75 0.95 1keyValue='1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0'/>
<!-- final rotation value is 2pi rather than 0 so that rotation animation is smooth, not flip-flopping -->
<ROUTE fromNode='OrientationAnimatorfromField='value_changedtoNode='RightFingertoField='set_rotation'/>
<ROUTE fromNode='OrientationAnimatorfromField='value_changedtoNode='RightExtensionFingertoField='set_rotation'/>
<ROUTE fromNode='OrientationAnimatorfromField='value_changedtoNode='LeftExtensionFingertoField='set_rotation'/>
<ROUTE fromNode='OrientationAnimatorfromField='value_changedtoNode='UpperLeftFingertoField='set_rotation'/>
<ROUTE fromNode='OrientationAnimatorfromField='value_changedtoNode='LowerLeftFingertoField='set_rotation'/>
<!-- put TimeSensor clock last so that animation design pattern and ROUTE events flow upward -->
<!-- ROUTE information for AnimationClock node:  [from fraction_changed to RightFingerAnimator.set_fraction ] [from fraction_changed to RightExtensionFingerAnimator.set_fraction ] [from fraction_changed to LeftExtensionFingerAnimator.set_fraction ] [from fraction_changed to UpperLeftFingerAnimator.set_fraction ] [from fraction_changed to LowerLeftFingerAnimator.set_fraction ] [from fraction_changed to OrientationAnimator.set_fraction ] -->
<TimeSensor DEF='AnimationClockcycleInterval='2loop='true'/>
<ROUTE fromNode='AnimationClockfromField='fraction_changedtoNode='RightFingerAnimatortoField='set_fraction'/>
<ROUTE fromNode='AnimationClockfromField='fraction_changedtoNode='RightExtensionFingerAnimatortoField='set_fraction'/>
<ROUTE fromNode='AnimationClockfromField='fraction_changedtoNode='LeftExtensionFingerAnimatortoField='set_fraction'/>
<ROUTE fromNode='AnimationClockfromField='fraction_changedtoNode='UpperLeftFingerAnimatortoField='set_fraction'/>
<ROUTE fromNode='AnimationClockfromField='fraction_changedtoNode='LowerLeftFingerAnimatortoField='set_fraction'/>
<ROUTE fromNode='AnimationClockfromField='fraction_changedtoNode='OrientationAnimatortoField='set_fraction'/>
</Transform>
</Group>
</Transform>
</Group>
<!-- End copy here -->
<!-- End of robotic arm -->
<!-- Parts of PVC Connecters -->
<Group DEF='Connecters'>
<!-- Copy SideOutConnecters from here -->
<Group DEF='SideOutConnecters'>
<Transform DEF='FTLeftElbowtranslation='0.5 0.25 -.5'>
<Transform DEF='SideOut90Elbowrotation='1 0 0 1.563'>
<Shape>
<Appearance>
<Material DEF='PVCColordiffuseColor='1 1 1'/>
</Appearance>
<Extrusion creaseAngle='1.5708crossSection='0.140625 0 0.135 0.039375 0.129375 0.055115 0.12375 0.066796 0.118125 0.076303 0.1125 0.084375 0.106875 0.091398 0.10125 0.097594 0.095625 0.103106 0.09 0.108057 0.084375 0.1125 0.07875 0.116504 0.073125 0.120113 0.0675 0.123366 0.061875 0.126282 0.05625 0.128888 0.050625 0.131193 0.045 0.133228 0.039375 0.135 0.03375 0.136519 0.028125 0.137784 0.0225 0.138816 0.016875 0.139612 0.01125 0.140175 0.005625 0.140512 0 0.140625 -0.005625 0.140512 -0.01125 0.140175 -0.016875 0.139612 -0.0225 0.138816 -0.028125 0.137784 -0.03375 0.136519 -0.039375 0.135 -0.045 0.133228 -0.050625 0.131193 -0.05625 0.128888 -0.061875 0.126282 -0.0675 0.123366 -0.073125 0.120113 -0.07875 0.116504 -0.084375 0.1125 -0.09 0.108057 -0.095625 0.103106 -0.10125 0.097594 -0.106875 0.091398 -0.1125 0.084375 -0.118125 0.076303 -0.12375 0.066796 -0.129375 0.055115 -0.135 0.039375 -0.140625 0.000113 -0.135 -0.039375 -0.129375 -0.055115 -0.12375 -0.066796 -0.118125 -0.076303 -0.1125 -0.084375 -0.106875 -0.091398 -0.10125 -0.097594 -0.095625 -0.103106 -0.09 -0.108057 -0.084375 -0.1125 -0.07875 -0.116504 -0.073125 -0.120113 -0.0675 -0.123366 -0.061875 -0.126282 -0.050625 -0.131193 -0.045 -0.133228 -0.039375 -0.135 -0.03375 -0.136519 -0.028125 -0.137784 -0.0225 -0.138816 -0.016875 -0.139612 -0.01125 -0.140175 -0.005625 -0.140512 0 -0.140625 0.005625 -0.140512 0.01125 -0.140175 0.016875 -0.139612 0.0225 -0.138816 0.028125 -0.137784 0.03375 -0.136519 0.039375 -0.135 0.045 -0.133228 0.050625 -0.131193 0.05625 -0.128888 0.061875 -0.126282 0.0675 -0.123366 0.073125 -0.120113 0.07875 -0.116504 0.084375 -0.1125 0.09 -0.108057 0.095625 -0.103106 0.10125 -0.097594 0.106875 -0.091398 0.1125 -0.084375 0.118125 -0.076303 0.12375 -0.066796 0.129375 -0.055115 0.135 -0.039375 0.140625 0scale='0.195 0.195 0.195 0.195 0.195 0.195 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.195 0.195 0.195 0.195 0.195 0.195solid='falsespine='-0.033692 0.013184 0 -0.027833 0.013184 0 -0.024901 0.013184 0 -0.021972 0.013184 0 -0.019042 0.013184 0 -0.016113 0.013184 0 -0.013184 0.013184 0 -0.010254 0.013184 0 -0.007325 0.013184 0 -0.004395 0.013184 0 -0.004395 0.013184 0 0.0045 0.012785 0 0.007325 0.011613 0 0.00975 0.00975 0 0.011613 0.007325 0 0.012785 0.0045 0 0.013184 -0.004395 0 0.013184 -0.004395 0 0.013184 -0.007325 0 0.013184 -0.010254 0 0.013184 -0.013184 0 0.013184 -0.016113 0 0.013184 -0.019042 0 0.013184 -0.021972 0 0.013184 -0.024901 0 0.013184 -0.027833 0 0.013184 -0.03041 0 0.013184 -0.033692 0'/>
</Shape>
</Transform>
</Transform>
<Transform DEF='FrontLeftSideOut90rotation='0 0 1 1.57059translation='.495 .19 -.495'>
<Group DEF='PartSideOut90'>
<Shape>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
<Extrusion creaseAngle='1.5708crossSection='0.144231 0 0.138462 0.040385 0.132692 0.056529 0.126923 0.068509 0.121154 0.078259 0.115384 0.086539 0.109615 0.093741 0.103846 0.100096 0.098077 0.10575 0.092308 0.110827 0.086539 0.115384 0.080769 0.11949 0.075 0.123192 0.069231 0.126529 0.063461 0.12952 0.057692 0.132193 0.051923 0.134558 0.046154 0.136644 0.040385 0.138462 0.034616 0.14002 0.028847 0.141317 0.023077 0.142375 0.017308 0.143192 0.011538 0.143769 0.005769 0.144115 0 0.144231 -0.005769 0.144115 -0.011538 0.143769 -0.017308 0.143192 -0.023077 0.142375 -0.028847 0.141317 -0.034616 0.14002 -0.040385 0.138462 -0.046154 0.136644 -0.051923 0.134558 -0.057692 0.132193 -0.063461 0.12952 -0.069231 0.126529 -0.075 0.123192 -0.080769 0.11949 -0.086539 0.115384 -0.092308 0.110827 -0.098077 0.10575 -0.103846 0.100096 -0.109615 0.093741 -0.115384 0.086539 -0.121154 0.078259 -0.126923 0.068509 -0.132692 0.056529 -0.138462 0.040385 -0.144231 0.000115 -0.138462 -0.040385 -0.132692 -0.056529 -0.126923 -0.068509 -0.121154 -0.078259 -0.115384 -0.086539 -0.109615 -0.093741 -0.103846 -0.100096 -0.098077 -0.10575 -0.092308 -0.110827 -0.086539 -0.115384 -0.080769 -0.11949 -0.075 -0.123192 -0.069231 -0.126529 -0.063461 -0.12952 -0.051923 -0.134558 -0.046154 -0.136644 -0.040385 -0.138462 -0.034616 -0.14002 -0.028847 -0.141317 -0.023077 -0.142375 -0.017308 -0.143192 -0.011538 -0.143769 -0.005769 -0.144115 0 -0.144231 0.005769 -0.144115 0.011538 -0.143769 0.017308 -0.143192 0.023077 -0.142375 0.028847 -0.141317 0.034616 -0.14002 0.040385 -0.138462 0.046154 -0.136644 0.051923 -0.134558 0.057692 -0.132193 0.063461 -0.12952 0.069231 -0.126529 0.075 -0.123192 0.080769 -0.11949 0.086539 -0.115384 0.092308 -0.110827 0.098077 -0.10575 0.103846 -0.100096 0.109615 -0.093741 0.115384 -0.086539 0.121154 -0.078259 0.126923 -0.068509 0.132692 -0.056529 0.138462 -0.040385 0.144231 0scale='0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.175 0.2 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.15 0.15solid='falsespine='0.004508 -0.013521 0 0.004508 -0.013521 0 0.007512 -0.013521 0 0.010517 -0.013521 0 0.013521 -0.013521 0 0.016526 -0.013521 0 0.019531 -0.013521 0 0.022536 -0.013521 0 0.025541 -0.013521 0 0.028546 -0.013521 0 0.034555 -0.013521 0 0.057756 -0.013521 0'/>
</Shape>
</Group>
</Transform>
</Group>
<!-- End of copy -->
<!-- Copy TConnecters from here -->
<Group DEF='TConnecters'>
<Transform DEF='MidFrontRigtBTConnetertranslation='0.5 0.25 -.25'>
<Group DEF='TConneter'>
<Transform DEF='HorizontalTConneterrotation='1 0 0 1.57059'>
<Shape>
<Cylinder height='0.076radius='.0254'/>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='VerticalTConneterrotation='0 0 1 -1.57059translation='0.02 0 0'>
<Shape>
<Cylinder height='0.04radius='.0254'/>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
</Shape>
</Transform>
</Group>
</Transform>
</Group>
<!-- End Copy -->
<!-- Copy XConnecters from here -->
<Group DEF='XConnecters'>
<Transform DEF='RightTopXConnecterrotation='0 0 1 -1.57059translation='.5 .25 .25'>
<Group DEF='XConnecter'>
<Transform DEF='HorizontalXConnecterrotation='1 0 0 1.57059'>
<Shape>
<Cylinder height='0.08radius='.0254'/>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
</Shape>
</Transform>
<Transform DEF='VerticalXConnecterrotation='0 0 1 -1.57059translation='-0.002 0 0'>
<Shape>
<Cylinder height='0.08radius='.0254'/>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
</Shape>
</Transform>
</Group>
</Transform>
</Group>
<!-- End Copy here -->
<!-- Copy Elbow45Connecters from here -->
<Group DEF='Elbow45Connecters'>
<Group DEF='SideOut45'>
<Transform DEF='Elbow45Connecterrotation='0 1 0 1.59translation='0.5 0.25 0.5'>
<Transform DEF='ElbowPlacementOnVerticalPiperotation='0 0 1 -.6'>
<Shape>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
<Extrusion creaseAngle='1.5708crossSection='0.140625 0 0.135 0.039375 0.129375 0.055115 0.12375 0.066796 0.118125 0.076303 0.1125 0.084375 0.106875 0.091398 0.10125 0.097594 0.095625 0.103106 0.09 0.108057 0.084375 0.1125 0.07875 0.116504 0.073125 0.120113 0.0675 0.123366 0.061875 0.126282 0.05625 0.128888 0.050625 0.131193 0.045 0.133228 0.039375 0.135 0.03375 0.136519 0.028125 0.137784 0.0225 0.138816 0.016875 0.139612 0.01125 0.140175 0.005625 0.140512 0 0.140625 -0.005625 0.140512 -0.01125 0.140175 -0.016875 0.139612 -0.0225 0.138816 -0.028125 0.137784 -0.03375 0.136519 -0.039375 0.135 -0.045 0.133228 -0.050625 0.131193 -0.05625 0.128888 -0.061875 0.126282 -0.0675 0.123366 -0.073125 0.120113 -0.07875 0.116504 -0.084375 0.1125 -0.09 0.108057 -0.095625 0.103106 -0.10125 0.097594 -0.106875 0.091398 -0.1125 0.084375 -0.118125 0.076303 -0.12375 0.066796 -0.129375 0.055115 -0.135 0.039375 -0.140625 0.000113 -0.135 -0.039375 -0.129375 -0.055115 -0.12375 -0.066796 -0.118125 -0.076303 -0.1125 -0.084375 -0.106875 -0.091398 -0.10125 -0.097594 -0.095625 -0.103106 -0.09 -0.108057 -0.084375 -0.1125 -0.07875 -0.116504 -0.073125 -0.120113 -0.0675 -0.123366 -0.061875 -0.126282 -0.050625 -0.131193 -0.045 -0.133228 -0.039375 -0.135 -0.03375 -0.136519 -0.028125 -0.137784 -0.0225 -0.138816 -0.016875 -0.139612 -0.01125 -0.140175 -0.005625 -0.140512 0 -0.140625 0.005625 -0.140512 0.01125 -0.140175 0.016875 -0.139612 0.0225 -0.138816 0.028125 -0.137784 0.03375 -0.136519 0.039375 -0.135 0.045 -0.133228 0.050625 -0.131193 0.05625 -0.128888 0.061875 -0.126282 0.0675 -0.123366 0.073125 -0.120113 0.07875 -0.116504 0.084375 -0.1125 0.09 -0.108057 0.095625 -0.103106 0.10125 -0.097594 0.106875 -0.091398 0.1125 -0.084375 0.118125 -0.076303 0.12375 -0.066796 0.129375 -0.055115 0.135 -0.039375 0.140625 0scale='0.195 0.195 0.195 0.195 0.195 0.195 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.195 0.195 0.195 0.195 0.195 0.195solid='falsespine='-0.033692 0.013184 0 -0.027833 0.013184 0 -0.024901 0.013184 0 -0.021972 0.013184 0 -0.019042 0.013184 0 -0.016113 0.013184 0 -0.013184 0.013184 0 -0.010254 0.013184 0 -0.007325 0.013184 0 -0.004395 0.013184 0 0.0045 0.012785 0 0.007325 0.011613 0 0.00975 0.00975 0 0.020144 -0.010254 0 0.026141 -0.016113 0 0.029113 -0.021142 0 0.032121 -0.024172 0 0.034004 -0.027133 0'/>
</Shape>
</Transform>
</Transform>
</Group>
</Group>
<!-- End Copy -->
<!-- Copy SideOut90 from here -->
<Group DEF='SideOut90Connecter'>
<Transform DEF='SideOut90rotation='0 1 0 1.563translation='0.5 0.25 -.75'>
<Shape>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
<Extrusion creaseAngle='1.5708crossSection='0.140625 0 0.135 0.039375 0.129375 0.055115 0.12375 0.066796 0.118125 0.076303 0.1125 0.084375 0.106875 0.091398 0.10125 0.097594 0.095625 0.103106 0.09 0.108057 0.084375 0.1125 0.07875 0.116504 0.073125 0.120113 0.0675 0.123366 0.061875 0.126282 0.05625 0.128888 0.050625 0.131193 0.045 0.133228 0.039375 0.135 0.03375 0.136519 0.028125 0.137784 0.0225 0.138816 0.016875 0.139612 0.01125 0.140175 0.005625 0.140512 0 0.140625 -0.005625 0.140512 -0.01125 0.140175 -0.016875 0.139612 -0.0225 0.138816 -0.028125 0.137784 -0.03375 0.136519 -0.039375 0.135 -0.045 0.133228 -0.050625 0.131193 -0.05625 0.128888 -0.061875 0.126282 -0.0675 0.123366 -0.073125 0.120113 -0.07875 0.116504 -0.084375 0.1125 -0.09 0.108057 -0.095625 0.103106 -0.10125 0.097594 -0.106875 0.091398 -0.1125 0.084375 -0.118125 0.076303 -0.12375 0.066796 -0.129375 0.055115 -0.135 0.039375 -0.140625 0.000113 -0.135 -0.039375 -0.129375 -0.055115 -0.12375 -0.066796 -0.118125 -0.076303 -0.1125 -0.084375 -0.106875 -0.091398 -0.10125 -0.097594 -0.095625 -0.103106 -0.09 -0.108057 -0.084375 -0.1125 -0.07875 -0.116504 -0.073125 -0.120113 -0.0675 -0.123366 -0.061875 -0.126282 -0.050625 -0.131193 -0.045 -0.133228 -0.039375 -0.135 -0.03375 -0.136519 -0.028125 -0.137784 -0.0225 -0.138816 -0.016875 -0.139612 -0.01125 -0.140175 -0.005625 -0.140512 0 -0.140625 0.005625 -0.140512 0.01125 -0.140175 0.016875 -0.139612 0.0225 -0.138816 0.028125 -0.137784 0.03375 -0.136519 0.039375 -0.135 0.045 -0.133228 0.050625 -0.131193 0.05625 -0.128888 0.061875 -0.126282 0.0675 -0.123366 0.073125 -0.120113 0.07875 -0.116504 0.084375 -0.1125 0.09 -0.108057 0.095625 -0.103106 0.10125 -0.097594 0.106875 -0.091398 0.1125 -0.084375 0.118125 -0.076303 0.12375 -0.066796 0.129375 -0.055115 0.135 -0.039375 0.140625 0scale='0.195 0.195 0.195 0.195 0.195 0.195 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.175 0.195 0.195 0.195 0.195 0.195 0.195solid='falsespine='-0.033692 0.013184 0 -0.027833 0.013184 0 -0.024901 0.013184 0 -0.021972 0.013184 0 -0.019042 0.013184 0 -0.016113 0.013184 0 -0.013184 0.013184 0 -0.010254 0.013184 0 -0.007325 0.013184 0 -0.004395 0.013184 0 -0.004395 0.013184 0 0.0045 0.012785 0 0.007325 0.011613 0 0.00975 0.00975 0 0.011613 0.007325 0 0.012785 0.0045 0 0.013184 -0.004395 0 0.013184 -0.004395 0 0.013184 -0.007325 0 0.013184 -0.010254 0 0.013184 -0.013184 0 0.013184 -0.016113 0 0.013184 -0.019042 0 0.013184 -0.021972 0 0.013184 -0.024901 0 0.013184 -0.027833 0 0.013184 -0.03041 0 0.013184 -0.033692 0'/>
</Shape>
</Transform>
</Group>
<!-- End here -->
</Group>
<Group DEF='Camera'>
<Transform DEF='BackCameraToolscale='0.2 0.2 0.2translation='.5 0.25 .85'>
<Group DEF='BackCameraGroup'>
<Transform DEF='BackCamerarotation='0 0 1 -1.5708translation='-0.09 0.28 -0.5'>
<!-- Remove comment when using viewpoint -->
<!-- Transform DEF='RepositionCameraAtLens' rotation='0 1 0 3.1416' translation='0 0.2 0'> <Viewpoint description='Back camera' fieldOfView='2.0944' orientation='1 0 0 1.5708' position='0 0 0'/> </Transform -->
<Group DEF='BackCameraCover'>
<Shape>
<Cylinder height='0.408radius='0.2solid='falsetop='false'/>
<Appearance>
<Material DEF='BackCameraCaseCoverColordiffuseColor='0.921569 0.941176 0'/>
</Appearance>
</Shape>
</Group>
<Group DEF='BackCameraElectronicBase'>
<Shape>
<Cylinder height='0.3radius='0.19'/>
<Appearance>
<Material DEF='BCEBambientIntensity='0.19diffuseColor='0.05098 0.05098 0.05098shininess='0.74'/>
</Appearance>
</Shape>
</Group>
</Transform>
<Transform DEF='CameraShaftTransformrotation='0 0 1 1.57059translation='-0.09 -0.0475 -0.5'>
<Shape>
<Cylinder height='0.375radius='0.14'/>
<Appearance>
<Material USE='BackCameraCaseCoverColor'/>
</Appearance>
</Shape>
</Transform>
</Group>
</Transform>
</Group>
<!-- End of Camera -->
<!-- Copy Frame here -->
<Group DEF='Frame'>
<Transform DEF='BottomFrontFramerotation='0 1 0 1.57059translation='0.5 .25 1'>
<Group DEF='FBWFrameROV'>
<Shape>
<Cylinder height='0.37radius='.022225'/>
<Appearance>
<Material USE='PVCColor'/>
</Appearance>
</Shape>
</Group>
</Transform>
</Group>
<!-- End of frame -->
<!-- Copy Bilge Pump here -->
<Group DEF='BilgePumpMotors'>
<Transform DEF='Motortranslation='0.5 0.25 -1.25'>
<Transform DEF='BilgePumpMotorrotation='0 1 0 1.579'>
<Shape>
<Appearance>
<Material diffuseColor='0 0 0'/>
</Appearance>
<Extrusion creaseAngle='1.5708crossSection='0.28125 0 0.27 0.07875 0.25875 0.110232 0.2475 0.133593 0.23625 0.152607 0.225 0.16875 0.21375 0.182793 0.2025 0.195189 0.19125 0.206211 0.18 0.216114 0.16875 0.225 0.1575 0.233007 0.14625 0.240225 0.135 0.246732 0.12375 0.252564 0.1125 0.257775 0.10125 0.262386 0.09 0.266457 0.07875 0.27 0.0675 0.273039 0.05625 0.275568 0.045 0.277632 0.03375 0.279225 0.0225 0.28035 0.01125 0.281025 0 0.28125 -0.01125 0.281025 -0.0225 0.28035 -0.03375 0.279225 -0.045 0.277632 -0.05625 0.275568 -0.0675 0.273039 -0.07875 0.27 -0.09 0.266457 -0.10125 0.262386 -0.1125 0.257775 -0.12375 0.252564 -0.135 0.246732 -0.14625 0.240225 -0.1575 0.233007 -0.16875 0.225 -0.18 0.216114 -0.19125 0.206211 -0.2025 0.195189 -0.21375 0.182793 -0.225 0.16875 -0.23625 0.152607 -0.2475 0.133593 -0.25875 0.110232 -0.27 0.07875 -0.28125 0.000225 -0.27 -0.07875 -0.25875 -0.110232 -0.2475 -0.133593 -0.23625 -0.152607 -0.225 -0.16875 -0.21375 -0.182793 -0.2025 -0.195189 -0.19125 -0.206211 -0.18 -0.216114 -0.16875 -0.225 -0.1575 -0.233007 -0.14625 -0.240225 -0.135 -0.246732 -0.12375 -0.252564 -0.10125 -0.262386 -0.09 -0.266457 -0.07875 -0.27 -0.0675 -0.273039 -0.05625 -0.275568 -0.045 -0.277632 -0.03375 -0.279225 -0.0225 -0.28035 -0.01125 -0.281025 0 -0.28125 0.01125 -0.281025 0.0225 -0.28035 0.03375 -0.279225 0.045 -0.277632 0.05625 -0.275568 0.0675 -0.273039 0.07875 -0.27 0.09 -0.266457 0.10125 -0.262386 0.1125 -0.257775 0.12375 -0.252564 0.135 -0.246732 0.14625 -0.240225 0.1575 -0.233007 0.16875 -0.225 0.18 -0.216114 0.19125 -0.206211 0.2025 -0.195189 0.21375 -0.182793 0.225 -0.16875 0.23625 -0.152607 0.2475 -0.133593 0.25875 -0.110232 0.27 -0.07875 0.28125 0scale='0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.15 0.15 0.15 0.15 0.15 0.15 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03solid='falsespine='0.00879 -0.026367 0 0.00879 -0.026367 0 0.014649 -0.026367 0 0.020508 -0.026367 0 0.026367 -0.026367 0 0.032226 -0.026367 0 0.038085 -0.026367 0 0.043944 -0.026367 0 0.049803 -0.026367 0 0.055665 -0.026367 0 0.067383 -0.026367 0 0.112623 -0.026367 0 0.114843 -0.026367 0 0.117186 -0.026367 0 0.121875 -0.026367 0 0.124218 -0.026367 0 0.126564 -0.026367 0 0.130782 -0.026367 0 0.13125 -0.026367 0 0.133593 -0.026367 0 0.135939 -0.026367 0 0.138282 -0.026367 0 0.140625 -0.026367 0'/>
</Shape>
</Transform>
</Transform>
</Group>
<!-- End of Bilge motor -->
<!-- Copy ShaftAndPropeller from here -->
<Group DEF='ShaftAndPropeller'>
<!-- ROUTE information for Clock node:  [from fraction_changed to PropellerTurn.set_fraction ] -->
<TimeSensor DEF='Clockloop='true'/>
<Transform DEF='RightShaftrotation='1 0 0 1.57059translation='0.5 .25 -1'>
<Group DEF='BilgePumpShaft'>
<Shape>
<Cylinder height='0.0237radius='0.0098'/>
<Appearance>
<Material ambientIntensity='0.256diffuseColor='0.372322 0.371574 0.373173shininess='0.8specularColor='0.890909 0.887832 0.890909'/>
</Appearance>
</Shape>
</Group>
<Transform DEF='SidePropellerrotation='1 0 0 1.57059'>
<!-- ROUTE information for Propeller node:  [from PropellerTurn.value_changed to rotation ] -->
<Transform DEF='Propellertranslation='0 0 0.01'>
<Transform rotation='1 0 0 1.57059scale='0.007 0.007 0.007'>
<Shape>
<Appearance>
<Material DEF='MA_MaterialambientIntensity='0.167diffuseColor='1.0 0.0 0.0shininess='0.098specularColor='0.401 0.401 0.401'/>
</Appearance>
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<!-- ROUTE information for PropellerTurn node:  [from Clock.fraction_changed to set_fraction ] [from value_changed to Propeller.rotation ] -->
<OrientationInterpolator DEF='PropellerTurnkey='0 0.5 1keyValue='0 0 1 0 0 0 1 3.14 0 0 1 6.28'/>
<ROUTE fromNode='ClockfromField='fraction_changedtoNode='PropellerTurntoField='set_fraction'/>
<ROUTE fromNode='PropellerTurnfromField='value_changedtoNode='PropellertoField='rotation'/>
</Transform>
</Transform>
</Transform>
</Transform>
</Group>
<!-- End of ShaftAndPropeller -->
<!-- /Switch> <Group DEF='AnimationGroup'> <Total cycleInterval="8" gives 2 seconds to each of the 4 colors > <TimeSensor DEF='Timer' cycleInterval='8' enabled='true' loop='true'/> <IntegerSequencer DEF='Counter' key='0 .5 ' keyValue='0 .5'/> <ROUTE fromField='fraction_changed' fromNode='Timer' toField='set_fraction' toNode='Counter'/> <ROUTE fromField='value_changed' fromNode='Counter' toField='whichChoice' toNode='Switcher'/> </Group -->
</Scene>
</X3D>
<!--

Index for DEF nodes : AnimationClock, Arm, BackCamera, BackCameraCaseCoverColor, BackCameraCover, BackCameraElectronicBase, BackCameraGroup, BackCameraTool, BaseArmConnector, BaseArmGrip, BaseOfArm, BCEB, BilgePumpMotor, BilgePumpMotors, BilgePumpShaft, BottomFrontFrame, BottomRail, Camera, CameraShaftTransform, Clock, Connecters, coord_Cube, Elbow45Connecter, Elbow45Connecters, ElbowPlacementOnVerticalPipe, ExtensionFinger, FBWFrameROV, Finger, FingerRail, Frame, FrontLeftSideOut90, FTLeftElbow, GripConnector, HorizontalTConneter, HorizontalXConnecter, Left, LeftExtensionFinger, LeftExtensionFingerAnimator, LeftFinger, LeftLowerArm, LeftUpperArm, LowerLeftFinger, LowerLeftFingerAnimator, MA_Material, MidArmConnector, MidFrontRigtBTConneter, Motor, OrientationAnimator, PartSideOut90, Propeller, PropellerTurn, PVCColor, Rail, RightExtensionFinger, RightExtensionFingerAnimator, RightFinger, RightFingerAnimator, RightLowerArm, RightShaft, RightSideRail, RightTopXConnecter, RightUpperArm, RoboticArm, RoboticArmTool, ScaleFeetToMetersRoboticArm, ShaftAndPropeller, SideOut45, SideOut90, SideOut90Connecter, SideOut90Elbow, SideOutConnecters, SidePropeller, SideRail, TConnecters, TConneter, TopRail, UpperArmConnector, UpperLeftFinger, UpperLeftFingerAnimator, VerticalTConneter, VerticalXConnecter, Viewpoints, XConnecter, XConnecters

Index for Viewpoint images : Viewpoint_1, Viewpoint_2, Viewpoint_3, Viewpoint_4, Viewpoint_5
-->

<!-- 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)
-->

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