1 |
<?xml version="1.0" encoding="UTF-8"?>
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2 |
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
|
3 | <X3D profile='Immersive' version='3.0' xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.0.xsd'> |
4 | <head> |
5 | <meta name='title' content='ATRV.x3d'/> |
6 | <meta name='description' content='All Terrain Robot Vehicle (ATRV) is primarily used for research in robotics.'/> |
7 | <meta name='creator' content='LT Monty Williams'/> |
8 | <meta name='created' content='5 September 2002'/> |
9 | <meta name='modified' content='20 October 2019'/> |
10 | <meta name='reference' content='PneumaticTire.x3d'/> |
11 | <meta name='reference' content='atrv_tech_2001.pdf'/> |
12 | <meta name='reference' content='http://www.irobot.com/_post/rwi/atrv_tech_2001.pdf'/> |
13 | <meta name='reference' content='http://www.irobot.com/rwi/p02.asp'/> |
14 | <meta name='subject' content='Mobile wheeled robot'/> |
15 | <meta name='identifier' content='https://savage.nps.edu/Savage/Robots/UnmannedGroundVehicles/ATRV.x3d'/> |
16 | <meta name='generator' content='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/> |
17 | <meta name='license' content='../../license.html'/> |
18 | </head> |
19 | <Scene> |
20 | <WorldInfo title='ATRV.x3d'/> |
21 | <Background groundAngle='1.309 1.5702' groundColor='0.5 0.3 0.3 0.5 0.3 0.3 0.5 0.4 0.4' skyAngle='1.309 1.572' skyColor='0 0.2 0.7 0 0.5 1 1 1 1'/> |
22 | <Transform> |
23 | <Group> |
24 | <Transform DEF='FrontWheelAxle'> |
25 | |
26 | <Transform DEF='FrontWheelTransform' scale='0.3 0.3 0.3' translation='1.0 0.0 -0.2'> |
27 |
<!-- Inline
TIRE is a DEF node that has 1 USE node: USE_1 --> <Inline DEF='TIRE' url=' "PneumaticTire.x3d" "https://savage.nps.edu/Savage/GroundVehicles/Robots/PneumaticTire.x3d" "PneumaticTire.wrl" "https://savage.nps.edu/Savage/GroundVehicles/Robots/PneumaticTire.wrl" '/> |
28 | </Transform> |
29 | <Transform DEF='RearWheelTransform' scale='0.3 0.3 0.3' translation='-1.0 0.0 -0.2'> |
30 | <Inline USE='TIRE'/> |
31 | </Transform> |
32 | </Group> |
33 | </Transform> |
34 | <Transform translation='0.0 0.0 -2.6'> |
35 | <Group USE='WheelAxle'/> |
36 | </Transform> |
37 | <Transform> |
38 | <Group DEF='PlatformBase'> |
39 | <Transform translation='0.0 0.2 -1.5'> |
40 | <Shape> |
41 | <Appearance> |
42 | <Material diffuseColor='0.8 0.0 0.2'/> |
43 | </Appearance> |
44 | <Box size='4.0 1.0 2.0'/> |
45 | </Shape> |
46 | </Transform> |
47 | <Transform translation='2.3 0.2 -1.5'> |
48 | |
49 | <Shape> |
50 | <Appearance> |
51 | <Material diffuseColor='0.2 0.2 0.2'/> |
52 | </Appearance> |
53 | <Box size='0.2 0.4 2.0'/> |
54 | </Shape> |
55 | <Transform rotation='0 0 1 1.57' scale='0.2 0.2 0.2' translation='-0.3 0.0 0.8'> |
56 | <Transform rotation='1 0 0 3.14'> |
57 | |
58 | <Transform> |
59 | <Shape> |
60 | <Appearance> |
61 | <Material diffuseColor='0.2 0.2 0.2'/> |
62 | </Appearance> |
63 | <Extrusion crossSection='1.6 0.0 1.0 1.0 -1.0 1.0 -1.0 0.0 1.6 0.0' solid='false' spine='0.0 0.0 0.5 0.0 0.0 -0.5'/> |
64 | </Shape> |
65 | </Transform> |
66 | <Transform rotation='1 0 0 1.57' translation='-0.5 0.5 0.0'> |
67 |
<!-- Shape
HarnessHole is a DEF node that has 1 USE node: USE_1 -->
<Shape DEF='HarnessHole'> |
68 | <Appearance> |
69 | <Material/> |
70 | </Appearance> |
71 | <Cylinder height='1.05' radius='0.3'/> |
72 | </Shape> |
73 | </Transform> |
74 | <Transform rotation='1 0 0 1.57' translation='0.5 0.5 0.0'> |
75 | <Shape USE='HarnessHole'/> |
76 | </Transform> |
77 | </Group> |
78 | </Transform> |
79 | </Transform> |
80 | <Transform rotation='0 0 1 1.57' scale='0.2 0.2 0.2' translation='-0.3 0.0 -0.8'> |
81 | <Transform rotation='1 0 0 3.14'> |
82 | <Group USE='Harness'/> |
83 | </Transform> |
84 | </Transform> |
85 | </Group> |
86 | </Transform> |
87 | <Transform rotation='0 1 0 3.14' translation='-2.3 0.2 -1.5'> |
88 | <Group USE='Bumper'/> |
89 | </Transform> |
90 | </Group> |
91 | </Transform> |
92 | <Transform translation='0.0 0.7 -0.5'> |
93 | <Transform rotation='0 0 1 -1.57'> |
94 |
<!-- ROUTE information for CaseCylinderSensor node:
[from rotation_changed to CaseTransform.set_rotation
]
-->
<CylinderSensor DEF='CaseCylinderSensor' description='touch to activate' maxAngle='0.785'/> |
95 |
<!-- ROUTE information for CaseTransform node:
[from CaseCylinderSensor.rotation_changed to set_rotation
]
-->
<Transform DEF='CaseTransform'> |
96 | <Transform rotation='0 0 1 1.57'> |
97 | <Group DEF='CASE'> |
98 | <Transform> |
99 | <Shape> |
100 |
<!-- Appearance
CaseAppearance is a DEF node that has 1 USE node: USE_1 -->
<Appearance DEF='CaseAppearance'> |
101 | <Material diffuseColor='0.8 0.1 0.2'/> |
102 | </Appearance> |
103 | <Extrusion beginCap='false' crossSection='2.0 0.0 2.0 -2.0 -2.0 -2.0 -2.0 0.0 2.0 0.0' endCap='false' solid='false' spine='0.0 0.0 0.0 0.0 0.4 0.0'/> |
104 | </Shape> |
105 | </Transform> |
106 | <Transform> |
107 | <Shape> |
108 | <Appearance USE='CaseAppearance'/> |
109 | <IndexedFaceSet solid='false' coordIndex='0 1 2 -1 2 1 3 4 -1 1 5 6 3 -1 4 3 6 7 -1 7 6 5 8 -1 8 5 9 -1'> |
110 | <Coordinate point='2.0 0.4 0.0 1.0 1.2 -0.3 1.0 0.4 0.0 -2.0 1.2 -0.3 -2.0 0.4 0.0 1.0 1.2 -1.7 -2.0 1.2 -1.7 -2.0 0.4 -2.0 1.0 0.4 -2.0 2.0 0.4 -2.0'/> |
111 | </IndexedFaceSet> |
112 | </Shape> |
113 | <Shape> |
114 | <Appearance> |
115 | <Material transparency='0.2'/> |
116 | </Appearance> |
117 | <IndexedFaceSet coordIndex='0 1 2 3 -1'> |
118 | <Coordinate point='2.0 0.4 0.0 2.0 0.4 -2.0 1.0 1.2 -1.7 1.0 1.2 -0.3'/> |
119 | </IndexedFaceSet> |
120 | </Shape> |
121 | </Transform> |
122 | <Transform translation='1.6 0.2 -0.09'> |
123 | |
124 | <Transform> |
125 | <Shape> |
126 | <Appearance> |
127 | <Material diffuseColor='0.2 0.2 0.2'/> |
128 | </Appearance> |
129 | <Box size='0.2 0.2 0.2'/> |
130 | </Shape> |
131 | </Transform> |
132 | <Transform rotation='1 0 0 1.57'> |
133 | <Shape> |
134 | <Appearance> |
135 | <Material diffuseColor='0.7 0.5 0.2'/> |
136 | </Appearance> |
137 | <Cylinder height='0.21' radius='0.08'/> |
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139 | </Transform> |
140 | </Group> |
141 | </Transform> |
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143 | <Group USE='SONAR'/> |
144 | </Transform> |
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146 | <Group USE='SONAR'/> |
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148 | <Transform translation='-1.6 0.2 -1.91'> |
149 | <Group USE='SONAR'/> |
150 | </Transform> |
151 | <Transform rotation='0 1 0 1.57' translation='-1.91 0.2 -0.4'> |
152 | <Group USE='SONAR'/> |
153 | </Transform> |
154 | <Transform rotation='0 1 0 1.57' translation='-1.91 0.2 -1.6'> |
155 | <Group USE='SONAR'/> |
156 | </Transform> |
157 | <Transform rotation='0 1 0 1.57' translation='1.91 0.2 -0.2'> |
158 | <Group USE='SONAR'/> |
159 | </Transform> |
160 | <Transform rotation='0 1 0 1.57' translation='1.91 0.2 -0.4'> |
161 | <Group USE='SONAR'/> |
162 | </Transform> |
163 | <Transform rotation='0 1 0 1.57' translation='1.91 0.2 -0.6'> |
164 | <Group USE='SONAR'/> |
165 | </Transform> |
166 | <Transform rotation='0 1 0 1.57' translation='1.91 0.2 -1.4'> |
167 | <Group USE='SONAR'/> |
168 | </Transform> |
169 | <Transform rotation='0 1 0 1.57' translation='1.91 0.2 -1.6'> |
170 | <Group USE='SONAR'/> |
171 | </Transform> |
172 | <Transform rotation='0 1 0 1.57' translation='1.91 0.2 -1.8'> |
173 | <Group USE='SONAR'/> |
174 | </Transform> |
175 | <Transform translation='-1.6 1.2 -0.5'> |
176 |
<!-- Group
HitchGroup is a DEF node that has 3 USE nodes: USE_1, USE_2, USE_3 -->
<Group DEF='HitchGroup'> |
177 | <Transform scale='0.2 0.2 0.1'> |
178 | <Group USE='Harness'/> |
179 | </Transform> |
180 | <Transform scale='0.2 0.2 0.1' translation='0.2 0.0 0.0'> |
181 | <Group USE='Harness'/> |
182 | </Transform> |
183 | <Transform scale='0.2 0.2 0.1' translation='0.4 0.0 0.0'> |
184 | <Group USE='Harness'/> |
185 | </Transform> |
186 | </Group> |
187 | </Transform> |
188 | <Transform translation='-1.6 1.2 -1.5'> |
189 | <Group USE='HitchGroup'/> |
190 | </Transform> |
191 | <Transform scale='0.8 0.8 0.8' translation='0.2 1.2 -0.7'> |
192 | <Group USE='HitchGroup'/> |
193 | </Transform> |
194 | <Transform scale='0.8 0.8 0.8' translation='0.2 1.2 -1.3'> |
195 | <Group USE='HitchGroup'/> |
196 | </Transform> |
197 | <Transform rotation='1 0 0 1.57' translation='-0.9 1.25 -1.0'> |
198 | <Shape> |
199 | <Appearance> |
200 | <Material diffuseColor='0.2 0.2 0.2'/> |
201 | </Appearance> |
202 | <Cylinder height='1.0' radius='0.05'/> |
203 | </Shape> |
204 | </Transform> |
205 | <Transform translation='-0.5 1.25 -1.0'> |
206 | <Shape> |
207 | <Appearance> |
208 | <Material diffuseColor='1.0 1.0 1.0'/> |
209 | </Appearance> |
210 | <Box size='0.4 0.1 0.4'/> |
211 | </Shape> |
212 | </Transform> |
213 | <Transform translation='-1.5 1.25 -1.0'> |
214 | <Shape> |
215 | <Appearance> |
216 | <Material diffuseColor='0.2 0.2 0.2'/> |
217 | </Appearance> |
218 | <Box size='0.6 0.15 0.9'/> |
219 | </Shape> |
220 | </Transform> |
221 | <Transform rotation='1 0 0 -0.185' translation='-1.8 0.9 -0.17'> |
222 | <Shape> |
223 | <Appearance> |
224 | <Material diffuseColor='0.2 0.2 0.2'/> |
225 | </Appearance> |
226 | <Text string='"ATRV"'> |
227 | <FontStyle size='0.4' style='BOLD'/> |
228 | </Text> |
229 | </Shape> |
230 | </Transform> |
231 | <Transform translation='1.0 0.1 0.0'> |
232 | |
233 | <Transform> |
234 | <Shape> |
235 | <Appearance> |
236 | <Material diffuseColor='0.2 0.2 0.2'/> |
237 | </Appearance> |
238 | <Box size='0.4 0.2 0.05'/> |
239 | </Shape> |
240 | </Transform> |
241 | <Transform rotation='0 0 1 1.57' translation='0.0 -0.12 0.0'> |
242 | <Shape> |
243 | <Appearance> |
244 | <Material diffuseColor='0.4 0.4 0.4'/> |
245 | </Appearance> |
246 | <Cylinder height='0.37' radius='0.02'/> |
247 | </Shape> |
248 | </Transform> |
249 | </Group> |
250 | </Transform> |
251 | <Transform translation='-1.0 0.1 0.0'> |
252 | <Group USE='HINGE'/> |
253 | </Transform> |
254 | </Group> |
255 | </Transform> |
256 | < ROUTE fromNode='CaseCylinderSensor' fromField='rotation_changed' toNode='CaseTransform' toField='set_rotation'/> |
257 | </Transform> |
258 | </Transform> |
259 | <Transform rotation='1 0 0 3.14' translation='1.0 -0.15 0.0'> |
260 | <Group USE='HINGE'/> |
261 | </Transform> |
262 | <Transform rotation='1 0 0 3.14' translation='-1.0 -0.15 0.0'> |
263 | <Group USE='HINGE'/> |
264 | </Transform> |
265 | </Transform> |
266 | </Group> |
267 | </Transform> |
268 | </Scene> |
269 | </X3D> |
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