#X3D V3.0 utf8
PROFILE Immersive
# [X3D] version=3.0
# [X3D] noNamespaceSchemaLocation=https://www.web3d.org/specifications/x3d-3.0.xsd
# X3D-to-ClassicVRML XSL translation autogenerated by X3dToClassicVrmlEncoding.xslt and X3dToVrml97.xslt
# https://www.web3d.org/x3d/content/X3dToClassicVrmlEncoding.xslt
# https://www.web3d.org/x3d/content/X3dToVrml97.xslt
# Transformation using XSLT processor: Saxonica
# head
META "title" "ATRV.x3d"
META "description" "All Terrain Robot Vehicle (ATRV) is primarily used for research in robotics."
META "creator" "LT Monty Williams"
META "created" "5 September 2002"
META "modified" "20 October 2019"
META "reference" "PneumaticTire.x3d"
META "reference" "atrv_tech_2001.pdf"
META "reference" "http://www.irobot.com/_post/rwi/atrv_tech_2001.pdf"
META "reference" "http://www.irobot.com/rwi/p02.asp"
META "subject" "Mobile wheeled robot"
META "identifier" "https://savage.nps.edu/Savage/Robots/UnmannedGroundVehicles/ATRV.x3d"
META "generator" "X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [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 {
  children [
      Group {
        children [
                  DEF FrontWheelAxle Transform {
              children [
                              DEF WheelAxle Group {
                    children [
                                          DEF FrontWheelTransform Transform {
                          scale 0.3 0.3 0.3
                          translation 1.0 0.0 -0.2
                          children [
                                                      DEF TIRE Inline {
                                url [ "PneumaticTire.x3d" "https://savage.nps.edu/Savage/GroundVehicles/Robots/PneumaticTire.x3d" "PneumaticTire.wrl" "https://savage.nps.edu/Savage/GroundVehicles/Robots/PneumaticTire.wrl" ]
                              }
                          ]
                        }
                        DEF RearWheelTransform Transform {
                          scale 0.3 0.3 0.3
                          translation -1.0 0.0 -0.2
                          children [
                                                      USE TIRE
                          ]
                        }
                    ]
                  }
              ]
            }
            Transform {
              translation 0.0 0.0 -2.6
              children [
                              USE WheelAxle
              ]
            }
            Transform {
              children [
                              DEF PlatformBase Group {
                    children [
                                          Transform {
                          translation 0.0 0.2 -1.5
                          children [
                                                      Shape {
                                appearance Appearance {
                                  material Material {
                                    diffuseColor 0.8 0.0 0.2
                                  }
                                }
                                geometry Box {
                                  size 4.0 1.0 2.0
                                }
                              }
                          ]
                        }
                        Transform {
                          translation 2.3 0.2 -1.5
                          children [
                                                      DEF Bumper Group {
                                children [
                                                                  Shape {
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor 0.2 0.2 0.2
                                        }
                                      }
                                      geometry Box {
                                        size 0.2 0.4 2.0
                                      }
                                    }
                                    Transform {
                                      rotation 0 0 1 1.57
                                      scale 0.2 0.2 0.2
                                      translation -0.3 0.0 0.8
                                      children [
                                                                              Transform {
                                            rotation 1 0 0 3.14
                                            children [
                                                                                          DEF Harness Group {
                                                  children [
                                                                                                      Transform {
                                                        children [
                                                                                                                  Shape {
                                                              appearance Appearance {
                                                                material Material {
                                                                  diffuseColor 0.2 0.2 0.2
                                                                }
                                                              }
                                                              geometry 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 ]
                                                              }
                                                            }
                                                        ]
                                                      }
                                                      Transform {
                                                        rotation 1 0 0 1.57
                                                        translation -0.5 0.5 0.0
                                                        children [
                                                                                                                  DEF HarnessHole Shape {
                                                              appearance Appearance {
                                                                material Material {
                                                                }
                                                              }
                                                              geometry Cylinder {
                                                                height 1.05
                                                                radius 0.3
                                                              }
                                                            }
                                                        ]
                                                      }
                                                      Transform {
                                                        rotation 1 0 0 1.57
                                                        translation 0.5 0.5 0.0
                                                        children [
                                                                                                                  USE HarnessHole
                                                        ]
                                                      }
                                                  ]
                                                }
                                            ]
                                          }
                                      ]
                                    }
                                    Transform {
                                      rotation 0 0 1 1.57
                                      scale 0.2 0.2 0.2
                                      translation -0.3 0.0 -0.8
                                      children [
                                                                              Transform {
                                            rotation 1 0 0 3.14
                                            children [
                                                                                          USE Harness
                                            ]
                                          }
                                      ]
                                    }
                                ]
                              }
                          ]
                        }
                        Transform {
                          rotation 0 1 0 3.14
                          translation -2.3 0.2 -1.5
                          children [
                                                      USE Bumper
                          ]
                        }
                    ]
                  }
              ]
            }
            Transform {
              translation 0.0 0.7 -0.5
              children [
                              Transform {
                    rotation 0 0 1 -1.57
                    children [
                                          DEF CaseCylinderSensor CylinderSensor {
                          description "touch to activate"
                          maxAngle 0.785
                        }
                        DEF CaseTransform Transform {
                          children [
                                                      Transform {
                                rotation 0 0 1 1.57
                                children [
                                                                  DEF CASE Group {
                                      children [
                                                                              Transform {
                                            children [
                                                                                          Shape {
                                                  appearance DEF CaseAppearance Appearance {
                                                    material Material {
                                                      diffuseColor 0.8 0.1 0.2
                                                    }
                                                  }
                                                  geometry 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 ]
                                                  }
                                                }
                                            ]
                                          }
                                          Transform {
                                            children [
                                                                                          Shape {
                                                  appearance USE CaseAppearance
                                                  geometry IndexedFaceSet {
                                                    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 ]
                                                    solid FALSE
                                                    coord 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 ]
                                                    }
                                                  }
                                                }
                                                Shape {
                                                  appearance Appearance {
                                                    material Material {
                                                      transparency 0.2
                                                    }
                                                  }
                                                  geometry IndexedFaceSet {
                                                    coordIndex [ 0 1 2 3 -1 ]
                                                    coord 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 ]
                                                    }
                                                  }
                                                }
                                            ]
                                          }
                                          Transform {
                                            translation 1.6 0.2 -0.09
                                            children [
                                                                                          DEF SONAR Group {
                                                  children [
                                                                                                      Transform {
                                                        children [
                                                                                                                  Shape {
                                                              appearance Appearance {
                                                                material Material {
                                                                  diffuseColor 0.2 0.2 0.2
                                                                }
                                                              }
                                                              geometry Box {
                                                                size 0.2 0.2 0.2
                                                              }
                                                            }
                                                        ]
                                                      }
                                                      Transform {
                                                        rotation 1 0 0 1.57
                                                        children [
                                                                                                                  Shape {
                                                              appearance Appearance {
                                                                material Material {
                                                                  diffuseColor 0.7 0.5 0.2
                                                                }
                                                              }
                                                              geometry Cylinder {
                                                                height 0.21
                                                                radius 0.08
                                                              }
                                                            }
                                                        ]
                                                      }
                                                  ]
                                                }
                                            ]
                                          }
                                          Transform {
                                            translation -1.6 0.2 -0.09
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            translation 1.6 0.2 -1.91
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            translation -1.6 0.2 -1.91
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation -1.91 0.2 -0.4
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation -1.91 0.2 -1.6
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation 1.91 0.2 -0.2
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation 1.91 0.2 -0.4
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation 1.91 0.2 -0.6
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation 1.91 0.2 -1.4
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation 1.91 0.2 -1.6
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            rotation 0 1 0 1.57
                                            translation 1.91 0.2 -1.8
                                            children [
                                                                                          USE SONAR
                                            ]
                                          }
                                          Transform {
                                            translation -1.6 1.2 -0.5
                                            children [
                                                                                          DEF HitchGroup Group {
                                                  children [
                                                                                                      Transform {
                                                        scale 0.2 0.2 0.1
                                                        children [
                                                                                                                  USE Harness
                                                        ]
                                                      }
                                                      Transform {
                                                        scale 0.2 0.2 0.1
                                                        translation 0.2 0.0 0.0
                                                        children [
                                                                                                                  USE Harness
                                                        ]
                                                      }
                                                      Transform {
                                                        scale 0.2 0.2 0.1
                                                        translation 0.4 0.0 0.0
                                                        children [
                                                                                                                  USE Harness
                                                        ]
                                                      }
                                                  ]
                                                }
                                            ]
                                          }
                                          Transform {
                                            translation -1.6 1.2 -1.5
                                            children [
                                                                                          USE HitchGroup
                                            ]
                                          }
                                          Transform {
                                            scale 0.8 0.8 0.8
                                            translation 0.2 1.2 -0.7
                                            children [
                                                                                          USE HitchGroup
                                            ]
                                          }
                                          Transform {
                                            scale 0.8 0.8 0.8
                                            translation 0.2 1.2 -1.3
                                            children [
                                                                                          USE HitchGroup
                                            ]
                                          }
                                          Transform {
                                            rotation 1 0 0 1.57
                                            translation -0.9 1.25 -1.0
                                            children [
                                                                                          Shape {
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor 0.2 0.2 0.2
                                                    }
                                                  }
                                                  geometry Cylinder {
                                                    height 1.0
                                                    radius 0.05
                                                  }
                                                }
                                            ]
                                          }
                                          Transform {
                                            translation -0.5 1.25 -1.0
                                            children [
                                                                                          Shape {
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor 1.0 1.0 1.0
                                                    }
                                                  }
                                                  geometry Box {
                                                    size 0.4 0.1 0.4
                                                  }
                                                }
                                            ]
                                          }
                                          Transform {
                                            translation -1.5 1.25 -1.0
                                            children [
                                                                                          Shape {
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor 0.2 0.2 0.2
                                                    }
                                                  }
                                                  geometry Box {
                                                    size 0.6 0.15 0.9
                                                  }
                                                }
                                            ]
                                          }
                                          Transform {
                                            rotation 1 0 0 -0.185
                                            translation -1.8 0.9 -0.17
                                            children [
                                                                                          Shape {
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor 0.2 0.2 0.2
                                                    }
                                                  }
                                                  geometry Text {
                                                    string [ "ATRV" ]
                                                    fontStyle FontStyle {
                                                      size 0.4
                                                      ### style='BOLD'
                                                    }
                                                  }
                                                }
                                            ]
                                          }
                                          Transform {
                                            translation 1.0 0.1 0.0
                                            children [
                                                                                          DEF HINGE Group {
                                                  children [
                                                                                                      Transform {
                                                        children [
                                                                                                                  Shape {
                                                              appearance Appearance {
                                                                material Material {
                                                                  diffuseColor 0.2 0.2 0.2
                                                                }
                                                              }
                                                              geometry Box {
                                                                size 0.4 0.2 0.05
                                                              }
                                                            }
                                                        ]
                                                      }
                                                      Transform {
                                                        rotation 0 0 1 1.57
                                                        translation 0.0 -0.12 0.0
                                                        children [
                                                                                                                  Shape {
                                                              appearance Appearance {
                                                                material Material {
                                                                  diffuseColor 0.4 0.4 0.4
                                                                }
                                                              }
                                                              geometry Cylinder {
                                                                height 0.37
                                                                radius 0.02
                                                              }
                                                            }
                                                        ]
                                                      }
                                                  ]
                                                }
                                            ]
                                          }
                                          Transform {
                                            translation -1.0 0.1 0.0
                                            children [
                                                                                          USE HINGE
                                            ]
                                          }
                                      ]
                                    }
                                ]
                              }
                          ]
                        ROUTE CaseCylinderSensor.rotation_changed TO CaseTransform.set_rotation
                        }
                    ]
                  }
                  Transform {
                    rotation 1 0 0 3.14
                    translation 1.0 -0.15 0.0
                    children [
                                          USE HINGE
                    ]
                  }
                  Transform {
                    rotation 1 0 0 3.14
                    translation -1.0 -0.15 0.0
                    children [
                                          USE HINGE
                    ]
                  }
              ]
            }
        ]
      }
  ]
}