<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
<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 '>
<head>
<meta name='title' content='ATRV.x3d'/>
<meta name='description' content='All Terrain Robot Vehicle (ATRV) is primarily used for research in robotics.'/>
<meta name='creator' content='LT Monty Williams'/>
<meta name='created' content='5 September 2002'/>
<meta name='modified' content='20 October 2019'/>
<meta name='reference' content='PneumaticTire.x3d'/>
<meta name='reference' content='atrv_tech_2001.pdf'/>
<meta name='reference' content=' http://www.irobot.com/_post/rwi/atrv_tech_2001.pdf '/>
<meta name='reference' content=' http://www.irobot.com/rwi/p02.asp '/>
<meta name='subject' content='Mobile wheeled robot'/>
<meta name='identifier' content=' https://savage.nps.edu/Savage/Robots/UnmannedGroundVehicles/ATRV.x3d '/>
<meta name='generator' content='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
<meta name='license' content=' ../../license.html'/>
</head>
<!--
Index for DEF nodes : Bumper, CASE, CaseAppearance, CaseCylinderSensor, CaseTransform, FrontWheelAxle, FrontWheelTransform, Harness, HarnessHole, HINGE, HitchGroup, PlatformBase, RearWheelTransform, SONAR, TIRE, WheelAxle
-->
<Scene>
<WorldInfo title='ATRV.x3d'/>
<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'/>
<Transform>
<Group>
<Transform DEF='FrontWheelAxle'>
<Group DEF='WheelAxle'>
<Transform DEF='FrontWheelTransform' scale='0.3 0.3 0.3' translation='1.0 0.0 -0.2'>
<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" '/>
</Transform>
<Transform DEF='RearWheelTransform' scale='0.3 0.3 0.3' translation='-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 1.57' scale='0.2 0.2 0.2' translation='-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 0.0' solid='false' spine='0.0 0.0 0.5 0.0 0.0 -0.5'/>
</Shape>
</Transform>
<Transform rotation='1 0 0 1.57' translation='-0.5 0.5 0.0'>
<Shape DEF='HarnessHole'>
<Appearance>
<Material/>
</Appearance>
<Cylinder height='1.05' radius='0.3'/>
</Shape>
</Transform>
<Transform rotation='1 0 0 1.57' translation='0.5 0.5 0.0'>
<Shape USE='HarnessHole'/>
</Transform>
</Group>
</Transform>
</Transform>
<Transform rotation='0 0 1 1.57' scale='0.2 0.2 0.2' translation='-0.3 0.0 -0.8'>
<Transform rotation='1 0 0 3.14'>
<Group USE='Harness'/>
</Transform>
</Transform>
</Group>
</Transform>
<Transform rotation='0 1 0 3.14' translation='-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='CaseCylinderSensor' description='touch to activate' maxAngle='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='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'/>
</Shape>
</Transform>
<Transform>
<Shape>
<Appearance USE='CaseAppearance'/>
<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'>
<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='0.21' radius='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 1.57' translation='-1.91 0.2 -0.4'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57' translation='-1.91 0.2 -1.6'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57' translation='1.91 0.2 -0.2'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57' translation='1.91 0.2 -0.4'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57' translation='1.91 0.2 -0.6'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57' translation='1.91 0.2 -1.4'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57' translation='1.91 0.2 -1.6'>
<Group USE='SONAR'/>
</Transform>
<Transform rotation='0 1 0 1.57' translation='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 0.1' translation='0.2 0.0 0.0'>
<Group USE='Harness'/>
</Transform>
<Transform scale='0.2 0.2 0.1' translation='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 0.8' translation='0.2 1.2 -0.7'>
<Group USE='HitchGroup'/>
</Transform>
<Transform scale='0.8 0.8 0.8' translation='0.2 1.2 -1.3'>
<Group USE='HitchGroup'/>
</Transform>
<Transform rotation='1 0 0 1.57' translation='-0.9 1.25 -1.0'>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Cylinder height='1.0' radius='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 -0.185' translation='-1.8 0.9 -0.17'>
<Shape>
<Appearance>
<Material diffuseColor='0.2 0.2 0.2'/>
</Appearance>
<Text string='"ATRV"'>
<FontStyle size='0.4' style='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 1.57' translation='0.0 -0.12 0.0'>
<Shape>
<Appearance>
<Material diffuseColor='0.4 0.4 0.4'/>
</Appearance>
<Cylinder height='0.37' radius='0.02'/>
</Shape>
</Transform>
</Group>
</Transform>
<Transform translation='-1.0 0.1 0.0'>
<Group USE='HINGE'/>
</Transform>
</Group>
</Transform>
<ROUTE fromNode='CaseCylinderSensor' fromField='rotation_changed' toNode='CaseTransform' toField='set_rotation'/>
</Transform>
</Transform>
<Transform rotation='1 0 0 3.14' translation='1.0 -0.15 0.0'>
<Group USE='HINGE'/>
</Transform>
<Transform rotation='1 0 0 3.14' translation='-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
-->

<!-- 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)
-->

<!-- For additional help information about X3D scenes, please see X3D Tooltips, X3D Resources and X3D Scene Authoring Hints. -->