#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" "AcousticTransponderWhoi.x3d"
META "description" "Acoustic Modem Transponder for the WHOI REMUS"
META "creator" "Jeffrey Weekley"
META "created" "27 October 2001"
META "modified" "20 October 2019"
META "subject" "Acoustic Modem Transiever for the WHOI REMUS"
META "identifier" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AcousticTransponderWhoi.x3d"
META "generator" "X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
WorldInfo {
  title "AcousticTransponderWhoi.x3d"
}
Viewpoint {
  description "Acoustic Transponder Whoi"
  position 0 0 2
}
DEF AcousticSource Group {
  children [
      Transform {
        scale 0.1 0.1 0.1
        children [
                  DEF OuterHousing Transform {
              children [
                              DEF UpperRing Transform {
                    children [
                                          Shape {
                          geometry Extrusion {
                            creaseAngle 1.57
                            crossSection [ 0.1 0.00 0.092 -0.038 0.071 -0.071 0.038 -0.092 0.00 -0.10 -0.038 -0.092 -0.071 -0.071 -0.092 -0.038 -0.10 -0.00 -0.092 0.038 -0.071 0.071 -0.038 0.092 0.00 0.10 0.038 0.092 0.071 0.071 0.092 0.038 0.10 0.00 ]
                            spine [ 0.95 0.2 0.95 0.95 0.2 -0.95 -0.95 0.2 -0.95 -0.95 0.2 0.95 0.95 0.2 0.95 ]
                          }
                          appearance DEF Chrome Appearance {
                            material Material {
                              diffuseColor 0.75 0.75 0.8
                              shininess 1
                              specularColor 0.8 0.8 1
                            }
                          }
                        }
                    ]
                  }
                  Transform {
                    translation 0 -4 0
                    children [
                                          USE UpperRing
                    ]
                  }
                  DEF VerticalBar Transform {
                    children [
                                          Shape {
                          geometry Extrusion {
                            creaseAngle 1.57
                            crossSection [ 0.1 0.00 0.092 -0.038 0.071 -0.071 0.038 -0.092 0.00 -0.10 -0.038 -0.092 -0.071 -0.071 -0.092 -0.038 -0.10 -0.00 -0.092 0.038 -0.071 0.071 -0.038 0.092 0.00 0.10 0.038 0.092 0.071 0.071 0.092 0.038 0.10 0.00 ]
                            spine [ 0 2 0 0.95 0.2 0.95 0.95 -3.8 0.95 0 -5 0 ]
                          }
                          appearance USE Chrome
                        }
                    ]
                  }
                  Transform {
                    rotation 0 1 0 1.57
                    children [
                                          USE VerticalBar
                    ]
                  }
                  Transform {
                    rotation 0 1 0 3.14
                    children [
                                          USE VerticalBar
                    ]
                  }
                  Transform {
                    rotation 0 1 0 -1.57
                    children [
                                          USE VerticalBar
                    ]
                  }
              ]
            }
            DEF InnerHousing Transform {
              children [
                              Transform {
                    translation 0 -3 0
                    children [
                                          Shape {
                          geometry Cylinder {
                            height 0.125
                            radius 0.5
                          }
                          appearance USE Chrome
                        }
                        Transform {
                          rotation 0.36 0.36 0.86 1.72
                          children [
                                                      Shape {
                                geometry Cylinder {
                                  height 2.8
                                  radius 0.06
                                }
                                appearance USE Chrome
                              }
                          ]
                        }
                        Transform {
                          rotation -0.36 -0.36 0.86 1.72
                          children [
                                                      Shape {
                                geometry Cylinder {
                                  height 2.8
                                  radius 0.06
                                }
                                appearance USE Chrome
                              }
                          ]
                        }
                    ]
                  }
                  Transform {
                    translation 0 -2 0
                    children [
                                          Shape {
                          geometry Cylinder {
                            radius 0.25
                          }
                          appearance Appearance {
                            material Material {
                              diffuseColor 0.15 0.13 0.23
                              specularColor 0.45 0.55 0.6
                            }
                          }
                        }
                    ]
                  }
                  Transform {
                    translation 0 -2.925 0
                    children [
                                          Shape {
                          geometry Cylinder {
                            height 0.0625
                            radius 0.4
                          }
                          appearance DEF FlatBlack Appearance {
                            material Material {
                              diffuseColor 0.15 0.15 0.2
                            }
                          }
                        }
                    ]
                  }
                  Transform {
                    rotation 0 0 1 3.14
                    translation 0 -3.25 0
                    children [
                                          Shape {
                          geometry Cone {
                            bottomRadius 0.25
                            height 0.3
                          }
                          appearance USE FlatBlack
                        }
                        Transform {
                          children [
                                                      Shape {
                                geometry Cylinder {
                                  height 0.5
                                  radius 0.0625
                                }
                                appearance USE FlatBlack
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
            DEF Hook Transform {
              translation 0 2 0
              children [
                              DEF HookPlate Transform {
                    children [
                                          Shape {
                          geometry Box {
                            size 0.4 0.9 0.1
                          }
                          appearance USE Chrome
                        }
                    ]
                  }
                  Transform {
                    rotation 1 0 0 1.57
                    translation 0 0.45 0
                    children [
                                          Shape {
                          geometry Cylinder {
                            height 0.1
                            radius 0.2
                          }
                          appearance USE Chrome
                        }
                    ]
                  }
                  Transform {
                    rotation 1 0 0 1.57
                    translation 0 0.45 0
                    children [
                                          Shape {
                          geometry Cylinder {
                            height 0.1125
                            radius 0.1
                          }
                          appearance USE FlatBlack
                        }
                    ]
                  }
              ]
            }
            DEF Anchor Transform {
              children [
                              Transform {
                    rotation 1 0 0 3.14
                    translation 0 -5 0
                    children [
                                          Transform {
                          children [
                                                      Shape {
                                geometry Box {
                                  size 0.4 0.9 0.1
                                }
                                appearance USE Chrome
                              }
                          ]
                        }
                        Transform {
                          rotation 1 0 0 1.57
                          translation 0 0.45 0
                          children [
                                                      Shape {
                                geometry Cylinder {
                                  height 0.1
                                  radius 0.2
                                }
                                appearance USE Chrome
                              }
                          ]
                        }
                        Transform {
                          rotation 1 0 0 1.57
                          translation 0 0.45 0
                          children [
                                                      Shape {
                                geometry Cylinder {
                                  height 0.75
                                  radius 0.1825
                                }
                                appearance USE Chrome
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
        ]
      }
  ]
}