#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" "RifledRecoilingMortar120mm.x3d"
META "description" "Rifled Recoiling Mortar, 120mm This mortar is a proposed candidate for the Marine Corps Expeditionary Fire Support System. The EFSS will replace the 105mm light howitzer."
META "creator" "William W. Yates"
META "created" "24 July 2003"
META "modified" "28 November 2019"
META "photograph" "dragonf.jpg"
META "reference" "http://www.hqmc.usmc.mil/marines.nsf/0/dcee8726af76db7f852565a100785b36/$FILE/Urbanw1.jpg"
META "reference" "http://www.dtic.mil/ndia/44fuze/rockets.pdf"
META "reference" "https://www.fas.org/man/dod-101/sys/land/docs/000519-covington-mortar.jpg"
META "identifier" "https://savage.nps.edu/Savage/Weapons/Guns/RifledRecoilingMortar120mm.x3d"
META "generator" "https://www.web3d.org/x3d/content/README.X3D-Edit.html"
META "license" "../../license.html"

# [Scene] ========== ========== ==========
WorldInfo {
  title "RifledRecoilingMortar120mm.x3d"
}
Transform {
  children [
      DEF Lower_Traverse_Plate Transform {
        translation 0 -.2 0
        children [
                  Shape {
              geometry Cylinder {
                height .2
                radius 2
              }
              appearance Appearance {
                material Material {
                  diffuseColor .4 .6 .1
                  emissiveColor 0 0 .1
                  shininess .2
                }
              }
            }
        ]
      }
      DEF Main_Chassis Transform {
        translation -.1 -.8 0
        children [
                  Shape {
              geometry Box {
                size 4.0 1 4.2
              }
              appearance Appearance {
                material Material {
                  diffuseColor .2 .3 0
                  emissiveColor 0 0 .1
                  shininess .2
                }
              }
            }
            DEF Front_Chassis Transform {
              translation 5.1 0.0 0
              children [
                              Shape {
                    geometry Box {
                      size 6.4 1 1.2
                    }
                    appearance Appearance {
                      material Material {
                        diffuseColor .2 .3 0
                        emissiveColor 0 0 .1
                        shininess .2
                      }
                    }
                  }
                  DEF Front_Stake_Plate Transform {
                    rotation 0 0 1 -1.5707
                    translation 3.20 0 0
                    children [
                                          Transform {
                          translation -.4 0 .4
                          children [
                                                      Shape {
                                geometry Extrusion {
                                  crossSection [ 0.0 0.0 0.7 0.0 0.7 -0.85 0.0 0.0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 0 0.2 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                        Transform {
                          rotation 0 0 1 1.5707
                          scale .3 .3 .3
                          translation 0.5 0.40 0
                          children [
                                                      Shape {
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                                geometry Extrusion {
                                  crossSection [ 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 1.5 0.0 1.5 2 -1.5 2 -1.5 -2 1.5 -2 1.5 0.0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 .7 0 ]
                                }
                              }
                          ]
                        }
                        Transform {
                          translation -.4 0 -0.6
                          children [
                                                      Shape {
                                geometry Extrusion {
                                  crossSection [ 0.0 0.0 0.7 0.0 0.7 -0.85 0.0 0.0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 0 0.2 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  DEF Battery_Carrier Transform {
                    translation 1 -.4 1.2
                    children [
                                          Shape {
                          geometry Box {
                            size 3 .2 1.2
                          }
                          appearance Appearance {
                            material Material {
                              diffuseColor .2 .3 0
                              emissiveColor 0 0 .1
                              shininess .2
                            }
                          }
                        }
                        Transform {
                          translation -.7 .6 0
                          children [
                                                      DEF BATTERY Group {
                                children [
                                                                  Transform {
                                      children [
                                                                              DEF BATTERY_BODY Shape {
                                            geometry Box {
                                              size 1.2 1 1
                                            }
                                            appearance Appearance {
                                              material Material {
                                                diffuseColor .5 .5 .5
                                              }
                                            }
                                          }
                                      ]
                                    }
                                    Transform {
                                      translation 0.4 0.7 -0.2
                                      children [
                                                                              DEF TERMINAL_POST Shape {
                                            geometry Cylinder {
                                              height .15
                                              radius .08
                                            }
                                            appearance Appearance {
                                              material Material {
                                                diffuseColor .3 .3 .3
                                                emissiveColor .1 .1 .1
                                                shininess .3
                                              }
                                            }
                                          }
                                      ]
                                    }
                                    Transform {
                                      translation -.4 .7 -0.2
                                      children [
                                                                              USE TERMINAL_POST
                                      ]
                                    }
                                    Transform {
                                      translation 0 .6 0
                                      children [
                                                                              DEF BATTERY_TOP Shape {
                                            geometry Box {
                                              size 1.2 .2 1
                                            }
                                            appearance Appearance {
                                              material Material {
                                                diffuseColor .1 .1 .1
                                              }
                                            }
                                          }
                                      ]
                                    }
                                ]
                              }
                          ]
                        }
                        Transform {
                          translation .7 .6 0
                          children [
                                                      USE BATTERY
                          ]
                        }
                        Transform {
                          translation -1.5 0.1 -.6
                          children [
                                                      DEF BATTERY_CASE_WALL Shape {
                                geometry Extrusion {
                                  crossSection [ 0 0 .1 0 .1 1.1 2.9 1.1 2.9 0 3 0 3 1.2 0 1.2 0 0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 .6 0 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  DEF Lunette_Assembly Transform {
                    children [
                                          Transform {
                          translation 2.30 0.5 .4
                          children [
                                                      DEF L_lunette_bracket Shape {
                                geometry Extrusion {
                                  crossSection [ 0.0 0.0 0.7 0.0 0.7 -0.7 0.0 0.0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 0 0.2 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                        Transform {
                          translation 2.30 0.5 -0.6
                          children [
                                                      DEF R_lunette_bracket Shape {
                                geometry Extrusion {
                                  crossSection [ 0.0 0.0 0.7 0.0 0.7 -0.7 0.0 0.0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 0 0.2 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                        Transform {
                          translation 3.1 .8 0
                          children [
                                                      DEF Lunette_bracket_front_Plate Shape {
                                geometry Box {
                                  size .2 .8 1.2
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                        Transform {
                          scale .15 .15 .15
                          translation 4.5 1 0
                          children [
                                                      DEF Lunette Shape {
                                geometry Extrusion {
                                  creaseAngle 1.57
                                  crossSection [ 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 ]
                                  spine [ 2.00 0.0 0.00 1.85 0.0 0.77 1.41 0.0 1.41 0.77 0.0 1.85 0.00 0.0 2.00 -0.77 0.0 1.85 -1.41 0.0 1.41 -1.85 0.0 0.77 -2.00 0.0 0.00 -1.85 0.0 -0.77 -1.41 0.0 -1.41 -0.77 0.0 -1.85 0.00 0.0 -2.00 0.77 0.0 -1.85 1.41 0.0 -1.41 1.85 0.0 -0.77 2.00 0.0 0.00 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .3 .3 .3
                                    emissiveColor .1 .1 .1
                                    shininess .3
                                  }
                                }
                              }
                          ]
                        }
                        Transform {
                          rotation 0 0 1 1.57
                          scale .15 .15 .15
                          translation 3.6 1 0
                          children [
                                                      DEF Lunette_Bar Shape {
                                geometry Cylinder {
                                  height 8
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .3 .3 .3
                                    emissiveColor .1 .1 .1
                                    shininess .3
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  Transform {
                    rotation 1 0 0 -1.57070
                    translation -.4 -.50 -.6
                    children [
                                          Shape {
                          geometry Extrusion {
                            crossSection [ 0 0 2.5 0 2.5 1.5 1 2.5 0 2.5 0 0 ]
                            solid FALSE
                            spine [ 0 0 0 0 1.2 0 ]
                          }
                          appearance Appearance {
                            material Material {
                              diffuseColor .2 .3 0
                              emissiveColor 0 0 .1
                              shininess .2
                            }
                          }
                        }
                    ]
                  }
              ]
            }
            DEF TRAILS Transform {
              children [
                              DEF Right_Trail_Bracket Transform {
                    translation .1 .8 0
                    children [
                                          DEF Bottom_trail_bracket Transform {
                          translation -2.1 -1.3 2.1
                          children [
                                                      DEF TRAIL_MOUNT_BRACKET Shape {
                                geometry Extrusion {
                                  crossSection [ 0 0 0.6 0.0 0.6 0.6 -0.6 0.6 0 0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 0.1 0 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                        DEF Top_trail_bracket Transform {
                          translation -2.1 -.6 2.1
                          children [
                                                      USE TRAIL_MOUNT_BRACKET
                          ]
                        }
                        Transform {
                          translation -2.1 -1.2 2.1
                          children [
                                                      DEF TRAIL_BRACKET_SIDE Shape {
                                geometry Extrusion {
                                  crossSection [ 0.0 0.0 0.1 0.0 -0.5 0.6 -0.6 0.6 0.0 0.0 ]
                                  solid FALSE
                                  spine [ 0 0 0 0 .7 0 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .2 .3 0
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  DEF Left_Trail_Bracket Transform {
                    rotation 1 0 0 3.14159
                    translation .1 -1 -4.2
                    children [
                                          DEF Left_Bottom_trail_bracket Transform {
                          translation -2.1 -1.3 -2.1
                          children [
                                                      USE TRAIL_MOUNT_BRACKET
                          ]
                        }
                        DEF Left_top_trail_bracket Transform {
                          translation -2.1 -.6 -2.1
                          children [
                                                      USE TRAIL_MOUNT_BRACKET
                          ]
                        }
                        Transform {
                          translation -2.1 -1.2 -2.1
                          children [
                                                      USE TRAIL_BRACKET_SIDE
                          ]
                        }
                    ]
                  }
                  Transform {
                    translation 0 -.1 -2.4
                    children [
                                          DEF Left_Trail_Pivot_Sensor CylinderSensor {
                          description "Extends and closes left trail"
                          maxAngle 2.356
                        }
                        DEF Left_Trail Transform {
                          translation -1.75 0 0
                          children [
                                                      Transform {
                                translation 1.45 0 0
                                children [
                                                                  Shape {
                                      geometry Box {
                                        size 3 .6 .6
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              Transform {
                                children [
                                                                  Shape {
                                      geometry Cylinder {
                                        height .6
                                        radius .3
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              Transform {
                                rotation 1 0 0 3.1415
                                translation 2.95 -.25 -.2
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ 0 0 0 .55 .77 0 0 0 ]
                                        spine [ 0 0 0 0 0 .1 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              Transform {
                                rotation 1 0 0 3.1415
                                translation 2.95 -.25 .3
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ 0 0 0 .55 .77 0 0 0 ]
                                        spine [ 0 0 0 0 0 .1 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              Transform {
                                rotation 0 1 0 1.57
                                scale .25 .25 .25
                                translation 3.3 -.3 0
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 1.2 0.0 1.2 1.7 -1.2 1.7 -1.2 -1.7 1.2 -1.7 1.2 0.0 ]
                                        solid FALSE
                                        spine [ 0 0 0 0 .2 0 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                          ]
                        ROUTE Left_Trail_Pivot_Sensor.rotation_changed TO Left_Trail.set_rotation
                        }
                    ]
                  }
                  Transform {
                    translation 0 -0.1 2.4
                    children [
                                          DEF Right_Trail_Pivot_Sensor CylinderSensor {
                          description "Extends and closes the right trail."
                          maxAngle 0
                          minAngle -2.356
                        }
                        DEF Right_Trail Transform {
                          translation -1.75 0 0
                          children [
                                                      Transform {
                                translation 1.45 0 0
                                children [
                                                                  Shape {
                                      geometry Box {
                                        size 3 .6 .6
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              Transform {
                                children [
                                                                  Shape {
                                      geometry Cylinder {
                                        height .6
                                        radius .3
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              Transform {
                                rotation 1 0 0 3.1415
                                translation 2.95 -.25 .3
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ 0 0 0 .55 .77 0 0 0 ]
                                        spine [ 0 0 0 0 0 .1 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              Transform {
                                rotation 1 0 0 3.1415
                                translation 2.95 -.25 -.2
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ 0 0 0 .55 .77 0 0 0 ]
                                        spine [ 0 0 0 0 0 .1 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                              DEF Trail_Stake_Plate Transform {
                                rotation 0 1 0 1.57
                                scale .25 .25 .25
                                translation 3.3 -.3 0
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 1.2 0.0 1.2 1.7 -1.2 1.7 -1.2 -1.7 1.2 -1.7 1.2 0.0 ]
                                        solid FALSE
                                        spine [ 0 0 0 0 .2 0 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .3 .3 .3
                                          emissiveColor .1 .1 .1
                                          shininess .3
                                        }
                                      }
                                    }
                                ]
                              }
                          ]
                        ROUTE Right_Trail_Pivot_Sensor.rotation_changed TO Right_Trail.set_rotation
                        }
                    ]
                  }
              ]
            }
        ]
      }
      Group {
        children [
                  DEF Traversing_Assembly Transform {
              children [
                              DEF Traversing_Sensor CylinderSensor {
                    description "Traverses the tube left and right"
                    maxAngle .9
                    minAngle -.9
                  }
                  DEF Transform_B Transform {
                    children [
                                          DEF Elevating_Assemblies Transform {
                          rotation 1 0 0 1.570
                          translation -.8 0.8 0
                          children [
                                                      DEF FIRST_CYLINDERSENSOR CylinderSensor {
                                description "Elevates and depresses the tube"
                                diskAngle 0
                                maxAngle 1.3
                                minAngle .25
                                offset 1.57
                              }
                              DEF FIRST_TRANSFORM Transform {
                                children [
                                                                  Transform {
                                      rotation 1 0 0 -1.57
                                      translation .8 0 .8
                                      children [
                                                                              Transform {
                                            rotation 1 0 0 3.14159
                                            translation 3.4 .8 0.1
                                            children [
                                                                                          DEF Tube_Assembly Transform {
                                                  rotation 0 0 1 1.57
                                                  scale .165 4.5 .165
                                                  children [
                                                                                                      DEF tube Shape {
                                                        geometry Extrusion {
                                                          creaseAngle 1.57
                                                          crossSection [ -1.00 0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 0.00 ]
                                                          solid FALSE
                                                          spine [ 2.00 0.0 0.00 1.85 0.0 0.77 1.41 0.0 1.41 0.77 0.0 1.85 0.00 0.0 2.00 -0.77 0.0 1.85 -1.41 0.0 1.41 -1.85 0.0 0.77 -2.00 0.0 0.00 -1.85 0.0 -0.77 -1.41 0.0 -1.41 -0.77 0.0 -1.85 0.00 0.0 -2.00 0.77 0.0 -1.85 1.41 0.0 -1.41 1.85 0.0 -0.77 2.00 0.0 0.00 ]
                                                        }
                                                        appearance Appearance {
                                                          material Material {
                                                            diffuseColor .3 .3 .3
                                                            emissiveColor .1 .1 .1
                                                            shininess .3
                                                          }
                                                        }
                                                      }
                                                  ]
                                                }
                                            ]
                                          }
                                          DEF Shroud_Top_Plate Transform {
                                            rotation 0 0 1 1.5707
                                            scale .4 .4 .4
                                            translation 5.2 .8 0.1
                                            children [
                                                                                          Shape {
                                                  geometry Extrusion {
                                                    crossSection [ 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 1.2 0.0 1.2 1.7 -1.2 1.7 -1.2 -1.7 1.2 -1.7 1.2 0.0 ]
                                                    solid FALSE
                                                    spine [ 0 0 0 0 .2 0 ]
                                                  }
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor .2 .3 0
                                                      emissiveColor 0 0 .1
                                                      shininess .2
                                                    }
                                                  }
                                                }
                                            ]
                                          }
                                          DEF Elevation_Pivot_Base Transform {
                                            rotation 1 0 0 1.57
                                            translation -.8 0.8 0.1
                                            children [
                                                                                          Shape {
                                                  geometry Cylinder {
                                                    height 1.7
                                                    radius .6
                                                  }
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor .2 .3 0
                                                      emissiveColor 0 0 .1
                                                      shininess .2
                                                    }
                                                  }
                                                }
                                            ]
                                          }
                                          DEF Shroud Transform {
                                            rotation 1 0 0 1.57
                                            scale 2 .85 1.2
                                            translation -.80 1.4 .1
                                            children [
                                                                                          Shape {
                                                  geometry Extrusion {
                                                    crossSection [ 0.0 0.0 -1 0 -1 1 1 1 1 0 0 0 0 .1 .8 .1 .8 .9 -.8 .9 -.8 .1 0 .1 ]
                                                    solid FALSE
                                                    spine [ 0.0 0.0 0.0 3.0 0 0 ]
                                                  }
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor .2 .3 0
                                                      emissiveColor 0 0 .1
                                                      shininess .2
                                                    }
                                                  }
                                                }
                                            ]
                                          }
                                          DEF FireControl Transform {
                                            rotation 1 0 0 0
                                            translation .50 0 -.75
                                            children [
                                                                                          Shape {
                                                  geometry Extrusion {
                                                    crossSection [ 0.0 1.0 0.7 1.4 4.0 1.4 4.0 1.0 3.2 -0.1 1.0 -0.1 0.0 0.5 0.0 1.0 ]
                                                    spine [ 0 0 0 0 0 -.8 ]
                                                  }
                                                  appearance Appearance {
                                                    material Material {
                                                      diffuseColor .2 .3 0
                                                      emissiveColor 0 0 .1
                                                      shininess .2
                                                    }
                                                  }
                                                }
                                            ]
                                          }
                                      ]
                                    ROUTE FIRST_CYLINDERSENSOR.rotation_changed TO FIRST_TRANSFORM.set_rotation
                                    }
                                ]
                              }
                          ]
                        }
                        Transform {
                          children [
                                                      DEF Upper_Traverse_Plate Transform {
                                children [
                                                                  Shape {
                                      # When attribute values are not specified, the default values from the VRML Specification are used.
                                      geometry Cylinder {
                                        height .2
                                        radius 2
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .2 .3 0
                                          emissiveColor 0 0 .1
                                          shininess .2
                                        }
                                      }
                                    }
                                ]
                              }
                              DEF Right_Base_Bracket Transform {
                                translation -1 .1 -1
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ -0.4 0.0 .8 0.0 1.2 0.2 -0.4 0.2 -0.4 0.0 ]
                                        solid FALSE
                                        spine [ 0.0 0.0 0.0 0.0 1.3 0.0 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .2 .3 0
                                          emissiveColor 0 0 .1
                                          shininess .2
                                        }
                                      }
                                    }
                                ]
                              }
                              DEF Left_Base_Bracket Transform {
                                translation -1 .1 1
                                children [
                                                                  Shape {
                                      geometry Extrusion {
                                        crossSection [ -0.4 0.0 1.2 0.0 0.8 0.2 -0.4 0.2 -0.4 0.0 ]
                                        solid FALSE
                                        spine [ 0.0 0.0 0.0 0.0 1.3 0.0 ]
                                      }
                                      appearance Appearance {
                                        material Material {
                                          diffuseColor .2 .3 0
                                          emissiveColor 0 0 .1
                                          shininess .2
                                        }
                                      }
                                    }
                                ]
                              }
                          ]
                        }
                    ]
                  ROUTE Traversing_Sensor.rotation_changed TO Traversing_Assembly.set_rotation
                  }
              ]
            }
        ]
      }
      DEF Right Viewpoint {
        description "Mortar 120mm"
        orientation 1 0 0 0
        position 2 0 17
      }
      DEF Top_View Viewpoint {
        description "Mortar 120mm top view"
        orientation 1 0 0 -1.2
        position 4 12 6
      }
      DEF Tube_View Viewpoint {
        description "Tube axis"
        orientation 0 1 0 1.70
        position 13 5 0
      }
      DEF ROLLING_ASSEMBLY Transform {
        children [
                  Transform {
              rotation 1 0 0 1.57
              scale .8 .8 .8
              translation 3.15 -.7 0
              children [
                              DEF AXLE Shape {
                    geometry Cylinder {
                      height 5
                      radius .2
                    }
                    appearance Appearance {
                      material Material {
                        diffuseColor .1 .1 .1
                      }
                    }
                  }
                  Transform {
                    scale .8 .8 .8
                    translation 0 2.4 0
                    children [
                                          DEF WHEEL_HUB Shape {
                          geometry Cylinder {
                            height .1
                            radius .4
                          }
                          appearance Appearance {
                            material Material {
                              diffuseColor .2 .2 .2
                              emissiveColor .1 .1 .1
                            }
                          }
                        }
                    ]
                  }
                  Transform {
                    scale .8 .8 .8
                    translation 0 -2.4 0
                    children [
                                          USE WHEEL_HUB
                    ]
                  }
              ]
            }
            Transform {
              scale .7 .7 .7
              translation .50 0 0
              children [
                              DEF Right_Tire Transform {
                    rotation 1 0 0 1.57
                    scale .6 .6 .6
                    translation 3.8 -1 2.6
                    children [
                                          DEF TIRE Shape {
                          geometry Extrusion {
                            creaseAngle 1.57
                            crossSection [ 1.00 0.00 0.92 -0.38 0.71 -0.71 0.38 -0.92 0.00 -1.00 -0.38 -0.92 -0.71 -0.71 -0.92 -0.38 -1.00 -0.00 -0.92 0.38 -0.71 0.71 -0.38 0.92 0.00 1.00 0.38 0.92 0.71 0.71 0.92 0.38 1.00 0.00 ]
                            spine [ 2.00 0.0 0.00 1.85 0.0 0.77 1.41 0.0 1.41 0.77 0.0 1.85 0.00 0.0 2.00 -0.77 0.0 1.85 -1.41 0.0 1.41 -1.85 0.0 0.77 -2.00 0.0 0.00 -1.85 0.0 -0.77 -1.41 0.0 -1.41 -0.77 0.0 -1.85 0.00 0.0 -2.00 0.77 0.0 -1.85 1.41 0.0 -1.41 1.85 0.0 -0.77 2.00 0.0 0.00 ]
                          }
                          appearance Appearance {
                            material Material {
                              diffuseColor .1 .2 .2
                              shininess .2
                            }
                          }
                        }
                        Transform {
                          scale .5 .8 .5
                          children [
                                                      DEF WHEEL Shape {
                                geometry Extrusion {
                                  creaseAngle 1.57
                                  crossSection [ -1.5 0.1 -0.7 0.1 -0.3 0.2 -0.2 0.4 -0.1 0.5 0.2 0.7 0.6 .9 0.6 -0.9 0.2 -0.7 -0.1 -0.5 -0.2 -0.4 -0.3 -0.2 -0.7 -0.1 -1.5 -0.1 ]
                                  spine [ 2.00 0.0 0.00 1.85 0.0 0.77 1.41 0.0 1.41 0.77 0.0 1.85 0.00 0.0 2.00 -0.77 0.0 1.85 -1.41 0.0 1.41 -1.85 0.0 0.77 -2.00 0.0 0.00 -1.85 0.0 -0.77 -1.41 0.0 -1.41 -0.77 0.0 -1.85 0.00 0.0 -2.00 0.77 0.0 -1.85 1.41 0.0 -1.41 1.85 0.0 -0.77 2.00 0.0 0.00 ]
                                }
                                appearance Appearance {
                                  material Material {
                                    diffuseColor .4 .6 .1
                                    emissiveColor 0 0 .1
                                    shininess .2
                                  }
                                }
                              }
                          ]
                        }
                    ]
                  }
                  DEF Left_Tire Transform {
                    rotation 1 0 0 1.57
                    scale .6 .6 .6
                    translation 3.8 -1 -2.6
                    children [
                                          USE TIRE
                        Transform {
                          scale .5 .8 .5
                          children [
                                                      USE WHEEL
                          ]
                        }
                    ]
                  }
              ]
            }
        ]
      }
  ]
}
Background {
  groundAngle [ 1.309 1.570796 ]
  groundColor [ 0.1 0.1 0 0.4 0.25 0.2 0.6 0.6 0.6 ]
  skyAngle [ 1.309 1.571 ]
  skyColor [ 0 0.2 0.8 0 0.5 1 1 1 1 ]
}