#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 ] } ] } ] } ] }