#VRML V2.0 utf8

# Lab 3:  A relaxed World
# developed on IRIX.

# Name: Yuan Kui Shen
# Login: cs184-ac
# SID: 12940472

DEF RobotX Transform {
   children [

DEF RobotY Transform {
   rotation 1 0 0 1.57075
   children [

DEF Body Transform {
   rotation 0 1 0 -0.75
   children [
      Transform {
	 translation 0 3 0
	 children Shape {
	    appearance DEF Chrome Appearance {
	       material Material {
		  diffuseColor 1 0.5 0.0 
		  specularColor 1 0.5 0.0
		  shininess 0.6
	       }
	    }
	    geometry Cylinder  {
	       height 6
	       radius 1
	    }
	 }
      }
      ,
      Transform {
	 translation 0.5 6 0
	 rotation 0 0 1 1.57075
	 children DEF UpperArm Transform {
	    rotation 0 1 0 -1
	    children [
	       DEF ShoulderJoint Shape {
		  appearance DEF Chrome1 Appearance {
		     material Material {
			diffuseColor 0.75 0.5 0.0 
			specularColor 0.75 0.5 0.0
			shininess 0.6
		     }
		  }
		  geometry Cylinder {
		     height 3
		     radius 0.75
		  }
	       }
	       Transform {
		  translation -0.75 -0.5 -0.75
		  rotation 1 0 0 1.57075
		  children [ 
		     Shape {
			appearance USE Chrome1
			geometry Extrusion {
			   crossSection [ 0 0, 0 1
					  1.5 1, 1.5 0
					  0 0 ]
			   spine [ 0 0 0,
				   0 5 0 ]
			   scale [ 1 1, 0.75 0.65]
			}
		     }
		     ,   
		     Transform {
			translation 0.5 5.0 0
			rotation 1 0 0 -1.57075
			
			children DEF LowerArm Transform {
			   rotation 0 1 0 1
			   children [ 
			      DEF ElbowJoint Transform { 
				 translation 0 -0.75 0
				 children Shape {
				    appearance DEF Chrome2 Appearance {
				       material Material {
					  diffuseColor 0.5 0.5 0.0 
					  specularColor 0.5 0.5 0.0
					  shininess 0.6
				       }
				    }
				    geometry Cylinder  {
				       height 1.5
				       radius 0.5
				    }
				 }
			      }
			      DEF LowerArmLength Transform {
				 translation -0.5 -0.75 0
				 rotation 1 0 0 1.57075
				 children [ 
				    Shape {
				       appearance USE Chrome2
				       geometry Extrusion {
					  crossSection [ 0 0, 0 0.75
							 1.125 0.75, 1.125 0
							 0 0 ]
					  spine [ 0 0 0,
						  0 3.5 0 ]
					  scale [ 1 1,  0.75 0.75 ]
				       }
				    }
				    ,
				    Transform {
				       translation 0.41 3.5 0.3
				       children DEF Wrist Transform {
					  children [
					     Transform {
						translation 0 0.25 0
						children Shape {
						   appearance DEF Chrome3 Appearance {
						      material Material {
							 diffuseColor 0.25 0.5 0.0 
							 specularColor 0.25 0.5 0.0
							 shininess 0.8
						      }
						   }
						   geometry Cylinder {
						      radius 0.25
						      height 0.5
						   }
						}
					     }  
					     Transform {
						translation 0 0.5 0
						rotation    1 0 0 1.57075
						children  [
						   Shape {
						      appearance USE Chrome3
						      geometry Cylinder {
							 radius 0.25
							 height 1
						      }
						   }
						   ##### The Pincers ######
						   DEF LeftPincer Transform {
						      translation 0 -0.5 0
						      children Shape {
							 appearance USE Chrome3
							 geometry Extrusion {
							    crossSection [ -0.125 -0.125,
									   -0.125 0.125,
									   0.125 0.125,
									   0.125 -0.125,
									   -0.125 -0.125 ]
							    spine [ 0 0 0
								    0 0 -0.5
								    0 0.25 -0.5 ]
							 }
						      }
						   }
						   DEF RightPincer Transform {
						      translation 0 0.5 0
						      children Shape {
							 appearance USE Chrome3
							 geometry Extrusion {
							    crossSection [ -0.125 -0.125,
									   -0.125 0.125,
									   0.125 0.125,
									   0.125 -0.125,
									   -0.125 -0.125 ]
							    spine [ 0 0 0
								    0 0 -0.5
								    0 -0.25 -0.5 ]
							 }
						      }
						   }
						   
						  ]
					     }
					    ]
				       }
				    }
				   ]   
			      }
			     ]
			}
		     }
		    ]
	       }
	      ]
	 }
      }
     ]
}


]} # RobotY
 
]} # ROBOTX

PROTO Label [ exposedField MFString labelText ""
	     ]
{
   Transform {
      translation -0.5 -2 0
      children Shape {
	 appearance Appearance {
	    material Material {} }
	 geometry Text {
	    string IS labelText
	    fontStyle FontStyle {
	       size 0.65
	    }
	    }
      }
   }
}

###########################
###### The Controls #######
###########################

Transform {
   translation 12 0 -3
   rotation 0 0 1 -1.57075
   children [
      Transform {
	 rotation 1 0 0 1.57075
	 children Transform {
	    rotation 0 1 0 1.57075
	    children Label { 
	       labelText ["Right", "Pincer"]
	    }
	 }
      }
      DEF RightPincerControl Transform {
	 children Shape {
	    appearance USE Chrome3
	    geometry Sphere {
	       radius 0.5
	    }
	 }
      }
      DEF RightPincerSensor PlaneSensor {
	 maxPosition 0 0.5
	 minPosition 0 0.25
	 offset 0 0.5 0
      }
   ]
}

Transform {
   translation 10 0 -3
   rotation 0 0 1 -1.57075
   children [
      Transform {
	 rotation 1 0 0 1.57075
	 children Transform {
	    rotation 0 1 0 1.57075
	    children Label { 
	       labelText ["Left","Pincer"] 
	    }
	 }
      }

      DEF LeftPincerControl Transform {
	 children Shape {
	    appearance USE Chrome3
	    geometry Sphere {
	       radius 0.5
	    }
	 }
      }
      DEF LeftPincerSensor PlaneSensor {
	 maxPosition 0 -0.25
	 minPosition 0 -0.5
	 offset 0 -0.5 0
      }
   ]
}

#### Main Body Rotational Control ######

Transform {
   translation 0 0 -3
   rotation 1 0 0 1.57075
   children [
      Label { 
	 labelText ["Rotate", "Body"] 
      }
      DEF BodyControl Transform {
	 children Shape {
	    appearance USE Chrome
	    geometry Cylinder {
	       radius 0.5
	       height 1
	    }
	 }
      }
      DEF BodySensor CylinderSensor {
	 offset -0.75
      }
   ]
}

##### UpperArm Control #########

Transform {
   translation 2 0 -3
   rotation 0 0 1 1.57075
   children [
      Transform {
	 rotation 1 0 0 1.57075
	 children Transform {
	    rotation 0 1 0 -1.57075
	    children Label { 
	          labelText ["Upper", "Arm"] 
	    }
	 }
      }
      Transform {
	 children DEF UpperArmControl Transform {
	    children Shape {
	       appearance USE Chrome1
	       geometry Cylinder {
		  radius 0.5
		  height 1
	       }
	    }
	 }
      }
      DEF UpperArmSensor CylinderSensor {
	 offset -1 
      }
     ]
}

##### LowerArm Control #########

Transform {
   translation 4 0 -3
   rotation 0 0 1 1.57075
   children [
      Transform {
	 rotation 1 0 0 1.57075
	 children Transform {
	    rotation 0 1 0 -1.57075
	    children Label { 
	       labelText ["Lower", "Arm"] 
	    }
	 }
      }
      Transform {
	 children DEF LowerArmControl Transform {
	    children Shape {
	       appearance USE Chrome2
	       geometry Cylinder {
		  radius 0.5
		  height 1
	       }
	    }
	 }
      }
      DEF LowerArmSensor CylinderSensor {
	 offset 1
      }
   ]
}

###### Wrist Control ############

Transform {
   translation 6 0 -3
   rotation 1 0 0 1.57075
   children [
      Label { labelText ["Turn", "Wrist"] }
      DEF WristControl Transform {
	 children Shape {
	    appearance USE Chrome3
	    geometry Cylinder {
	       radius 0.5
	       height 1
	    }
	 }
      }
      DEF WristSensor CylinderSensor {
      }
   ]
}

######## XY plane Motion controls ########

Transform {
   translation -6 0 -3
   children [
      Transform {
	 rotation 1 0 0 1.57075
	 children Label { labelText ["Slide", "Sideways"] }
      }
      DEF SidewaysControl Transform {
	 children Shape {
	    appearance USE Chrome2
	    geometry Sphere {
	       radius 0.5
	    }
	 }
      }
      DEF SidewaysSensor PlaneSensor {
	 maxPosition 5 0
	 minPosition -5 0 
      }
     ]
}

Transform {
   translation -10 0 3
   rotation 1 0 0 1.57075
   children [
      Transform {
	 children Label { labelText ["Slide", "Forward/Backward"] }
      }
      DEF ForwardBackwardControl Transform {
	 children Shape {
	    appearance USE Chrome2
	    geometry Sphere   {
	       radius 0.5
	    }
	 }
      }
      DEF ForwardBackwardSensor PlaneSensor {
	 minPosition 0 -5
	 maxPosition 0 5
      }
      
     ]
}

ROUTE ForwardBackwardSensor.translation_changed TO RobotY.set_translation
ROUTE ForwardBackwardSensor.translation_changed TO ForwardBackwardControl.set_translation
ROUTE SidewaysSensor.translation_changed TO RobotX.set_translation
ROUTE SidewaysSensor.translation_changed TO SidewaysControl.set_translation

ROUTE LeftPincerSensor.translation_changed TO LeftPincer.set_translation
ROUTE LeftPincerSensor.translation_changed TO LeftPincerControl.set_translation
ROUTE RightPincerSensor.translation_changed TO RightPincer.set_translation
ROUTE RightPincerSensor.translation_changed TO RightPincerControl.set_translation

ROUTE BodySensor.rotation_changed TO Body.set_rotation
ROUTE BodySensor.rotation_changed TO BodyControl.set_rotation

ROUTE UpperArmSensor.rotation_changed TO UpperArm.set_rotation
ROUTE UpperArmSensor.rotation_changed TO UpperArmControl.set_rotation

ROUTE LowerArmSensor.rotation_changed TO LowerArm.set_rotation
ROUTE LowerArmSensor.rotation_changed TO LowerArmControl.set_rotation
ROUTE WristSensor.rotation_changed TO Wrist.set_rotation
ROUTE WristSensor.rotation_changed TO WristControl.set_rotation

Viewpoint {
   position 0 -25 3 
   orientation 1 0 0 1.57075
   description "General"
}

NavigationInfo {
   type "EXAMINE"
}