#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" "Remus.x3d"
META "description" "Remote Environmental Monitoring UnitS (REMUS) is a low-cost autonomous underwater vehicle (AUV) for coastal monitoring and multiple vehicle survey operations. REMUS is developed and operated by the Woods Hole Oceanographic Institute (WHOI) Oceanographic Systems Laboratory. Red fin is topside. p.s. Jeff Weekley's first model!"
META "creator" "Jeffrey Weekley"
META "created" "16 March 2001"
META "modified" "20 October 2019"
META "reference" "http://adcp.whoi.edu"
META "reference" "http://www.whoi.edu/home/marine/remus_main.html"
META "reference" "remus_main_May2001.pdf"
META "photo" "marine_remus_top.jpg"
META "reference" "SAHRV-SemiAutonomousHydrographicReconnaissainceVehicle.pdf"
META "reference" "http://www.onr.navy.mil/sci_tech/ocean/info/yerpts/oeye00/oe5vona1.pdf"
META "reference" "oe5vona1-NavalSpecialWarfareSupportWithREMUS.pdf"
META "identifier" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d"
META "generator" "X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
WorldInfo {
  info [ "Only unclassified open resources were used to create this model." ]
  title "Remus AUV"
}
Background {
  skyColor [ 0.2 0.8 0.8 ]
}
Transform {
  rotation 0 1 0 -1.57
  translation -5 1 0
  children [
      Viewpoint {
        description "Remus over-the-shoulder 5m"
        orientation 1 0 0 -0.25
        position 0 0 0
      }
  ]
}
Group {
  children [
      Viewpoint {
        description "Remus from above 100m"
        orientation -0.58 -0.58 -0.58 2.09
        position 0 100 0
      }
      Viewpoint {
        description "Remus starboard side 30m"
        position 0 0 30
      }
      Viewpoint {
        description "Remus starboard side 3m"
        position 0 0 3
      }
      Viewpoint {
        description "Remus astern 30m"
        orientation 0 1 0 -1.57
        position -30 0.1 0
      }
      Viewpoint {
        description "Remus astern 3m"
        orientation 0 1 0 -1.57
        position -3 0.1 0
      }
      Viewpoint {
        description "Remus port side 30m"
        orientation 0 1 0 3.14
        position 0 0 -30
      }
      Viewpoint {
        description "Remus port side 3m"
        orientation 0 1 0 3.14
        position 0 0 -3
      }
  ]
}
WorldInfo {
  info [ "null node outside of LOD range" ]
}
# This file builds the REMUS Autonomous Underwater Vehicle (AUV). The dimensions were originally provided in English units and is converted to metric using a scale that 39.3 inches equal one meter.
Transform {
  rotation 0.0 0.0 1.0 1.57079
  scale 0.2145 0.2145 0.2145
  translation 1 0 0
  children [
      DEF torpedoband1 Transform {
        translation 0.0 2.475 0.0
        children [
                  Shape {
              geometry Cylinder {
                bottom FALSE
                height 0.45
                radius .267
                top FALSE
              }
              appearance Appearance {
                material Material {
                  diffuseColor 0 0.5 0.5
                }
              }
            }
        ]
      }
      DEF torpedoband2 Transform {
        translation 0.0 2.735 0.0
        children [
                  Shape {
              geometry Cylinder {
                bottom FALSE
                height .07
                radius .267
                top FALSE
              }
              appearance Appearance {
                material Material {
                  diffuseColor 0 0.5 0.5
                }
              }
            }
        ]
      }
      DEF torpedobody2 Transform {
        translation 0.0 3.37 0.0
        children [
                  Shape {
              geometry Cylinder {
                bottom FALSE
                height 1.2
                radius 0.267
                top FALSE
              }
              appearance Appearance {
                material Material {
                  diffuseColor 1.0 1.0 0.0
                }
              }
            }
        ]
      }
      DEF torpedoband3 Transform {
        translation 0.0 4.005 0.0
        children [
                  Shape {
              geometry Cylinder {
                bottom FALSE
                height .07
                radius .267
                top FALSE
              }
              appearance Appearance {
                material Material {
                  diffuseColor 1.0 1.0 0.0
                }
              }
            }
        ]
      }
      DEF torpedobody3 Transform {
        translation 0.0 4.638 0.0
        children [
                  Shape {
              geometry Cylinder {
                bottom FALSE
                height 1.2
                radius 0.267
                top FALSE
              }
              appearance Appearance {
                material Material {
                  diffuseColor 1.0 1.0 0.0
                }
              }
            }
        ]
      }
      DEF torpedoband4 Transform {
        translation 0.0 3.8075 0.0
        children [
                  Transform {
              translation 0.0 1.465 0.0
              children [
                              Shape {
                    geometry Cylinder {
                      bottom FALSE
                      height .07
                      radius .267
                      top FALSE
                    }
                    appearance Appearance {
                      material Material {
                        diffuseColor 1.0 1.0 0.0
                      }
                    }
                  }
              ]
            }
        ]
      }
      DEF torpedobody4 Transform {
        translation 0.0 3.8075 0.0
        children [
                  Transform {
              translation 0.0 2.1 0.0
              children [
                              Shape {
                    geometry Cylinder {
                      bottom FALSE
                      height 1.2
                      radius .267
                      top FALSE
                    }
                    appearance Appearance {
                      material Material {
                        diffuseColor 1.0 1.0 0.0
                      }
                    }
                  }
              ]
            }
        ]
      }
      DEF torpedonose Transform {
        rotation 1.0 0.0 0.0 3.1416
        translation 0 2.2525 0
        children [
                  Shape {
              appearance Appearance {
                material Material {
                  shininess 0.5
                }
              }
              geometry Extrusion {
                creaseAngle 1.785
                crossSection [ 0.267 0.000 0.231 -0.134 0.134 -0.231 0.0 -0.267 -0.134 -0.231 -0.231 -0.134 -0.267 0.000 -0.231 0.134 -0.134 0.231 0.0 0.267 0.134 0.231 0.231 0.134 0.267 0.0 ]
                scale [ 1.00 1.00 0.95 0.95 0.88 0.88 0.76 0.76 0.48 0.48 ]
                spine [ 0.00 0.00 0.00 0.00 0.10 0.00 0.00 0.20 0.00 0.00 0.30 0.00 0.00 0.40 0.00 ]
              }
            }
        ]
      }
      DEF controlfins Group {
        children [
                  Transform {
              translation 0.0 -0.25 0.0
              children [
                              DEF ControlFin1 Transform {
                    children [
                                          Transform {
                          translation 0.19 7.81 0.0
                          children [
                                                      Shape {
                                geometry Box {
                                  size 0.4 .2 0.02
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor 1.0 0.0 0.0
                                    shininess 0.5
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  DEF ControlFin2 Transform {
                    rotation 0 1 0 3.17
                    children [
                                          Transform {
                          translation 0.19 7.81 0.0
                          children [
                                                      Shape {
                                geometry Box {
                                  size 0.4 .2 0.02
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor 0.1 0.1 0.1
                                    shininess 0.5
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  DEF ControlFin3 Transform {
                    rotation 0 1 0 1.57
                    children [
                                          Transform {
                          translation 0.19 7.81 0.0
                          children [
                                                      Shape {
                                geometry Box {
                                  size 0.4 .2 0.02
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor 0.1 0.1 0.1
                                    shininess 0.5
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  DEF ControlFin4 Transform {
                    rotation 0.0 1.0 0.0 4.74
                    children [
                                          Transform {
                          translation 0.19 7.81 0.0
                          children [
                                                      Shape {
                                geometry Box {
                                  size 0.4 .2 0.02
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor 0.1 0.1 0.1
                                    shininess 0.5
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
              ]
            }
        ]
      }
      DEF stabilzerfins Group {
      }
      DEF TailSection Group {
        children [
                  DEF torpedotail Transform {
              rotation 1.0 0.0 0.0 3.1416
              translation 0.0 7.9375 0.0
              children [
                              Shape {
                    appearance Appearance {
                      material Material {
                        shininess 1.0
                      }
                    }
                    geometry Extrusion {
                      creaseAngle 2.0
                      crossSection [ 0.267 0.000 0.231 -0.134 0.134 -0.231 0.0 -0.267 -0.134 -0.231 -0.231 -0.134 -0.267 0.000 -0.231 0.134 -0.134 0.231 0.0 0.267 0.134 0.231 0.231 0.134 0.267 0.0 ]
                      endCap FALSE
                      scale [ 0.342 0.342 0.500 0.500 0.643 0.643 0.766 0.766 0.866 0.866 0.940 0.940 0.985 0.985 1.0 1.0 ]
                      spine [ 0.0 0.0 0.000 0.0 0.114 0.000 0.0 0.266 0.000 0.0 0.453 0.000 0.0 0.670 0.000 0.0 0.910 0.000 0.0 1.166 0.000 0.0 1.431 0.0 ]
                    }
                  }
                  LOD {
                    range [ 20 ]
                    children [ ### children2
                      DEF torpedostator Group {
                        children [
                                                  DEF propeller Transform {
                              translation 0.0 -0.15 0.0
                              children [
                                                              DEF statorblade1 Group {
                                    children [
                                                                          DEF torpedostatorblade1 Transform {
                                          children [
                                                                                      Transform {
                                                rotation -1.0 0.0 0.0 1.0472
                                                translation 0.075 0.0 0.0
                                                children [
                                                                                                  Shape {
                                                      geometry Box {
                                                        size 0.125 0.09 0.015
                                                      }
                                                      appearance Appearance {
                                                        material Material {
                                                          diffuseColor 0.1 0.1 0.1
                                                          shininess 0.75
                                                        }
                                                      }
                                                    }
                                                ]
                                              }
                                          ]
                                        }
                                        DEF torpedostatorblade2 Transform {
                                          rotation 0.0 1.0 0.0 1.0472
                                          children [
                                                                                      Transform {
                                                rotation 1 0 0 1.0472
                                                translation -0.075 0.0 0.0
                                                children [
                                                                                                  Shape {
                                                      geometry Box {
                                                        size 0.125 0.09 0.015
                                                      }
                                                      appearance Appearance {
                                                        material Material {
                                                          diffuseColor 0.1 0.1 0.1
                                                          shininess 0.5
                                                        }
                                                      }
                                                    }
                                                ]
                                              }
                                          ]
                                        }
                                        DEF torpedostatorblade3 Transform {
                                          rotation 0.0 1.0 0.0 -1.0472
                                          children [
                                                                                      Transform {
                                                rotation 1 0 0 1.0472
                                                translation -0.075 0.0 0.0
                                                children [
                                                                                                  Shape {
                                                      geometry Box {
                                                        size 0.125 0.09 0.015
                                                      }
                                                      appearance Appearance {
                                                        material Material {
                                                          diffuseColor 0.1 0.1 0.1
                                                        }
                                                      }
                                                    }
                                                ]
                                              }
                                          ]
                                        }
                                    ]
                                  }
                                  DEF statorcrankshaft Transform {
                                    rotation 1.0 0.0 0.0 3.1416
                                    translation 0.0 0.05 0.0
                                    children [
                                                                          Shape {
                                          geometry Cone {
                                            bottomRadius 0.09
                                            height 0.2
                                          }
                                          appearance Appearance {
                                            material Material {
                                              diffuseColor 0.1 0.1 0.1
                                            }
                                          }
                                        }
                                    ]
                                  }
                              ]
                            }
                            # Spins the propellor and stator once every 4 seconds
                            DEF Clock TimeSensor {
                              cycleInterval 0.5
                              loop TRUE
                            }
                            DEF PropSpin OrientationInterpolator {
                              key [ 0.0 0.5 1.0 ]
                              keyValue [ 0.0 1.0 0.0 0.00 0.0 1.0 0.0 3.14 0.0 1.0 0.0 6.28 ]
                            }
                        ]
                      ROUTE Clock.fraction_changed TO PropSpin.set_fraction
                      ROUTE PropSpin.value_changed TO propeller.rotation
                      }
                      WorldInfo {
                        info [ "null node" ]
                      }
                    ]
                  }
              ]
            }
        ]
      }
      DEF SideScanningSonarArray1 Transform {
        translation 0.0 4.5 0.27
        children [
                  Shape {
              geometry Box {
                size 0.04 2.0 0.025
              }
              appearance Appearance {
                material Material {
                  diffuseColor 0.1 0.1 0.1
                  shininess 0.5
                }
              }
            }
        ]
      }
      DEF SideScanningSonarArray2 Transform {
        translation 0.0 0.0 -.54
        children [
                  USE SideScanningSonarArray1
        ]
      }
      DEF TopHook Transform {
        translation 0.27 4.25 0.0
        children [
                  Shape {
              geometry Box {
                size 0.04 0.1 0.04
              }
              appearance Appearance {
                material Material {
                  diffuseColor 0.1 0.1 0.1
                  shininess .75
                }
              }
            }
        ]
      }
  ]
}
DEF GPSTransiever Group {
  children [
      Transform {
        rotation 0 1 0 1.57
        scale 0.0125 0.0125 0.0125
        translation -0.3 0.06 0
        children [
                  DEF Top Transform {
              children [
                              Shape {
                    geometry Extrusion {
                      creaseAngle 3.14
                      crossSection [ 0 1.1 0.65 0.4 0.7 0.2 0.7 -0.2 0 -1.6 -0.7 -0.2 -0.7 0.2 -0.65 0.4 0 1.1 ]
                      scale [ 0.9 0.9 1 1 1 1 0.9 0.9 ]
                      spine [ 0 5 0 0 5.1 0 0 5.9 0 0 6 0 ]
                    }
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.8 0.63 0.7
                        transparency 0.2
                      }
                    }
                  }
              ]
            }
            DEF Fin Transform {
              children [
                              Shape {
                    geometry Extrusion {
                      creaseAngle 3.14
                      crossSection [ 0 2.2 0.2 1.8 0 -2.2 -0.2 1.8 0 2.2 ]
                      scale [ 1 1 0.4 0.4 ]
                      spine [ 0 0 0 0 5.9 0 ]
                    }
                    appearance DEF Orange Appearance {
                      material Material {
                        diffuseColor 0.8 0.43 0.3
                      }
                    }
                  }
              ]
            }
            DEF Base Transform {
              children [
                              Shape {
                    geometry Extrusion {
                      creaseAngle 2
                      crossSection [ 0 2.3 0.2 2.2 0.4 2 0.5 1.6 0.5 -1.6 0.3 -2 0 -2.3 -0.3 -2 -0.5 -1.6 -0.5 1.6 -0.4 2 -0.2 2.2 0 2.3 ]
                      scale [ 1 1 1 1 0.9 0.9 ]
                      spine [ 0 -0.5 0 0 0.1 0 0 0.11 0 ]
                    }
                    appearance USE Orange
                  }
              ]
            }
            Transform {
              translation 0 5.825 0
              children [
                              Shape {
                    geometry Box {
                      size 0.8 0.3 1
                    }
                    appearance Appearance {
                      material Material {
                        diffuseColor 0.15 0.15 0.25
                      }
                    }
                  }
              ]
            }
        ]
      }
  ]
}