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<head>
<meta name='titlecontent='ATRV.x3d'/>
<meta name='descriptioncontent='All Terrain Robot Vehicle (ATRV) is primarily used for research in robotics.'/>
<meta name='creatorcontent='LT Monty Williams'/>
<meta name='createdcontent='5 September 2002'/>
<meta name='modifiedcontent='27 March 2016'/>
<meta name='referencecontent='PneumaticTire.x3d'/>
<meta name='referencecontent='atrv_tech_2001.pdf'/>
<meta name='referencecontent=' http://www.irobot.com/_post/rwi/atrv_tech_2001.pdf '/>
<meta name='referencecontent=' http://www.irobot.com/rwi/p02.asp '/>
<meta name='subjectcontent='Mobile wheeled robot'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/UnmannedGroundVehicles/ATRV.x3d '/>
<meta name='generatorcontent='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
<meta name='licensecontent=' ../../license.html'/>
</head>
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<Scene>
<Background groundAngle='1.309 1.5702groundColor='0.5 0.3 0.3 0.5 0.3 0.3 0.5 0.4 0.4skyAngle='1.309 1.572skyColor='0 0.2 0.7 0 0.5 1 1 1 1'/>
<Transform>
<Group>
<Transform DEF='FrontWheelAxle'>
<Group DEF='WheelAxle'>
<Transform DEF='FrontWheelTransformscale='0.3 0.3 0.3translation='1.0 0.0 -0.2'> </Transform>
<Transform DEF='RearWheelTransformscale='0.3 0.3 0.3translation='-1.0 0.0 -0.2'>
<Inline USE='TIRE'/>
</Transform>
</Group>
</Transform>
<Transform translation='0.0 0.0 -2.6'>
<Group USE='WheelAxle'/>
</Transform>
<Transform>
<Group DEF='PlatformBase'>
<Transform translation='0.0 0.2 -1.5'>
<Shape>
<Appearance>
<Material diffuseColor='0.8 0.0 0.2'/>
</Appearance>
<Box size='4.0 1.0 2.0'/>
</Shape>
</Transform>
<Transform translation='2.3 0.2 -1.5'>
<Group DEF='Bumper'>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Box size='0.2 0.4 2.0'/>
</Shape>
<Transform rotation='0 0 1 1.57scale='0.2 0.2 0.2translation='-0.3 0.0 0.8'>
<Transform rotation='1 0 0 3.14'>
<Group DEF='Harness'>
<Transform>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Extrusion crossSection='1.6 0.0 1.0 1.0 -1.0 1.0 -1.0 0.0 1.6 0.0solid='falsespine='0.0 0.0 0.5 0.0 0.0 -0.5'/>
</Shape>
</Transform>
<Transform rotation='1 0 0 1.57translation='-0.5 0.5 0.0'>
<Shape DEF='HarnessHole'>
<Appearance>
<Material/>
</Appearance>
<Cylinder height='1.05radius='0.3'/>
</Shape>
</Transform>
<Transform rotation='1 0 0 1.57translation='0.5 0.5 0.0'>
<Shape USE='HarnessHole'/>
</Transform>
</Group>
</Transform>
</Transform>
<Transform rotation='0 0 1 1.57scale='0.2 0.2 0.2translation='-0.3 0.0 -0.8'>
<Transform rotation='1 0 0 3.14'>
<Group USE='Harness'/>
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</Transform>
</Group>
</Transform>
<Transform rotation='0 1 0 3.14translation='-2.3 0.2 -1.5'>
<Group USE='Bumper'/>
</Transform>
</Group>
</Transform>
<Transform translation='0.0 0.7 -0.5'>
<Transform rotation='0 0 1 -1.57'>
<!-- ROUTE information for CaseCylinderSensor node:  [from rotation_changed to CaseTransform.set_rotation ] -->
<CylinderSensor DEF='CaseCylinderSensordescription='touch to activatemaxAngle='0.785'/>
<!-- ROUTE information for CaseTransform node:  [from CaseCylinderSensor.rotation_changed to set_rotation ] -->
<Transform DEF='CaseTransform'>
<Transform rotation='0 0 1 1.57'>
<Group DEF='CASE'>
<Transform>
<Shape>
<Appearance DEF='CaseAppearance'>
<Material diffuseColor='0.8 0.1 0.2'/>
</Appearance>
<Extrusion beginCap='falsecrossSection='2.0 0.0 2.0 -2.0 -2.0 -2.0 -2.0 0.0 2.0 0.0endCap='falsesolid='falsespine='0.0 0.0 0.0 0.0 0.4 0.0'/>
</Shape>
</Transform>
<Transform>
<Shape>
<Appearance USE='CaseAppearance'/>
<IndexedFaceSet solid='falsecoordIndex='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'>
<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'/>
</IndexedFaceSet>
</Shape>
<Shape>
<Appearance>
<Material transparency='0.2'/>
</Appearance>
<IndexedFaceSet coordIndex='0 1 2 3 -1'>
<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'/>
</IndexedFaceSet>
</Shape>
</Transform>
<Transform translation='1.6 0.2 -0.09'>
<Group DEF='SONAR'>
<Transform>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Box size='0.2 0.2 0.2'/>
</Shape>
</Transform>
<Transform rotation='1 0 0 1.57'>
<Shape>
<Appearance>
<Material diffuseColor='0.7 0.5 0.2'/>
</Appearance>
<Cylinder height='0.21radius='0.08'/>
</Shape>
</Transform>
</Group>
</Transform>
<Transform translation='-1.6 0.2 -0.09'>
<Group USE='SONAR'/>
</Transform>
<Transform translation='1.6 0.2 -1.91'>
<Group USE='SONAR'/>
</Transform>
<Transform translation='-1.6 0.2 -1.91'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57translation='-1.91 0.2 -0.4'>
<Group USE='SONAR'/>
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<Transform rotation='0 1 0 1.57translation='-1.91 0.2 -1.6'>
<Group USE='SONAR'/>
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<Transform rotation='0 1 0 1.57translation='1.91 0.2 -0.2'>
<Group USE='SONAR'/>
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<Transform rotation='0 1 0 1.57translation='1.91 0.2 -0.4'>
<Group USE='SONAR'/>
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<Transform rotation='0 1 0 1.57translation='1.91 0.2 -0.6'>
<Group USE='SONAR'/>
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<Transform rotation='0 1 0 1.57translation='1.91 0.2 -1.4'>
<Group USE='SONAR'/>
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<Group USE='SONAR'/>
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<Transform rotation='0 1 0 1.57translation='1.91 0.2 -1.8'>
<Group USE='SONAR'/>
</Transform>
<Transform translation='-1.6 1.2 -0.5'>
<Group DEF='HitchGroup'>
<Transform scale='0.2 0.2 0.1'>
<Group USE='Harness'/>
</Transform>
<Transform scale='0.2 0.2 0.1translation='0.2 0.0 0.0'>
<Group USE='Harness'/>
</Transform>
<Transform scale='0.2 0.2 0.1translation='0.4 0.0 0.0'>
<Group USE='Harness'/>
</Transform>
</Group>
</Transform>
<Transform translation='-1.6 1.2 -1.5'>
<Group USE='HitchGroup'/>
</Transform>
<Transform scale='0.8 0.8 0.8translation='0.2 1.2 -0.7'>
<Group USE='HitchGroup'/>
</Transform>
<Transform scale='0.8 0.8 0.8translation='0.2 1.2 -1.3'>
<Group USE='HitchGroup'/>
</Transform>
<Transform rotation='1 0 0 1.57translation='-0.9 1.25 -1.0'>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Cylinder height='1.0radius='0.05'/>
</Shape>
</Transform>
<Transform translation='-0.5 1.25 -1.0'>
<Shape>
<Appearance>
<Material diffuseColor='1.0 1.0 1.0'/>
</Appearance>
<Box size='0.4 0.1 0.4'/>
</Shape>
</Transform>
<Transform translation='-1.5 1.25 -1.0'>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Box size='0.6 0.15 0.9'/>
</Shape>
</Transform>
<Transform rotation='1 0 0 -0.185translation='-1.8 0.9 -0.17'>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Text string='"ATRV"'>
<FontStyle size='0.4style='BOLD'/>
</Text>
</Shape>
</Transform>
<Transform translation='1.0 0.1 0.0'>
<Group DEF='HINGE'>
<Transform>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Box size='0.4 0.2 0.05'/>
</Shape>
</Transform>
<Transform rotation='0 0 1 1.57translation='0.0 -0.12 0.0'>
<Shape>
<Appearance>
<Material diffuseColor='0.4 0.4 0.4'/>
</Appearance>
<Cylinder height='0.37radius='0.02'/>
</Shape>
</Transform>
</Group>
</Transform>
<Transform translation='-1.0 0.1 0.0'>
<Group USE='HINGE'/>
</Transform>
</Group>
</Transform>
<ROUTE fromNode='CaseCylinderSensorfromField='rotation_changedtoNode='CaseTransformtoField='set_rotation'/>
</Transform>
</Transform>
<Transform rotation='1 0 0 3.14translation='1.0 -0.15 0.0'>
<Group USE='HINGE'/>
</Transform>
<Transform rotation='1 0 0 3.14translation='-1.0 -0.15 0.0'>
<Group USE='HINGE'/>
</Transform>
</Transform>
</Group>
</Transform>
</Scene>
</X3D>
<!--

Index for DEF nodes : Bumper, CASE, CaseAppearance, CaseCylinderSensor, CaseTransform, FrontWheelAxle, FrontWheelTransform, Harness, HarnessHole, HINGE, HitchGroup, PlatformBase, RearWheelTransform, SONAR, TIRE, WheelAxle
-->

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(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 -->