#VRML V2.0 utf8

#Inline {
#  url "axes.wrl"
#}

#ROBOT ARM
Group {
  children [
    Viewpoint {
      position 10 5 40
      description "Beginning"
    }
    Transform {
      translation 33 -10 -30
      children [
        DEF Base Transform {
          children [
            Inline {
              url "Base.wrl"
            }
            Transform {
              rotation 0 0 1 1.570796
              translation 3 10 0
              children DEF UpperArm Transform {
                children [
                  Inline {
                    url "UpperArm.wrl"
                  }
                  Transform {
                    translation 11 3 0
                    children DEF LowerArm Transform {
                      children [
                        Inline {
                          url "LowerArm.wrl"
                        }
                        Transform {
                          rotation 0 0 1 -1.570796
                          translation 12 0 0
                          children DEF Wrist Transform {
                            children Inline {
                              url "Wrist.wrl"
                            }
                          }
                        }
                      ]
                    }
                  }
                ]
              }
            }
          ]
        }
      ]
    }
  ]
}

#SLIDER
Transform {
  translation -7.5 -5 0
  children [
    Shape {
      appearance Appearance {
        material Material {
          diffuseColor .961 1 .518
        }
      }
      geometry Box {
        size 15 .5 .25
      }
    }
    Group {
      children [
        DEF Slider Transform {
          children Shape {
            appearance Appearance {
              material Material { }
            }
            geometry Box {
              size 2.0 2.0 0.5
            }
          }
        }
        DEF Slider_Sensor PlaneSensor {
          maxPosition 7.5 0
          minPosition -7.5 0
        }
      ]
    }
  ]
}

#LEVERS
Transform {
  rotation 0 0 1 1.570796
  children [
    Transform {
      translation 0 7.5 0
      children Shape {
        appearance Appearance {
          material Material {
            diffuseColor .961 1 .518
          }
        }
        geometry Cylinder {
          radius 0.75
          height 16.0
          bottom TRUE
          top TRUE
          side TRUE
        }
      }
    }
    Group {
      children [
        DEF Wrist_Lever Transform {
          translation 0 15 0
          children Inline {
            url "WristLever.wrl"
          }
        }
        DEF Wrist_Sensor CylinderSensor {
          minAngle -1.570796
          maxAngle 0
        }
      ]
    }
    Group {
      children [
        DEF LowerArm_Lever Transform {
          translation 0 10 0
          children Inline {
            url "LowerArmLever.wrl"
          }
        }
        DEF LowerArm_Sensor CylinderSensor {
          minAngle -1.570796
          maxAngle 0
        }
      ]
    }
    Group {
      children [
        DEF UpperArm_Lever Transform {
          translation 0 5 0
          children Inline {
            url "UpperArmLever.wrl"
          }
        }
        DEF UpperArm_Sensor CylinderSensor {
          minAngle -1.570796
          maxAngle 0
        }
      ]
    }
    Group {
      children [
        DEF Base_Lever Transform {
          children Inline {
            url "BaseLever.wrl"
          }
        }
        DEF Base_Sensor CylinderSensor {
          minAngle -1.570796
          maxAngle 0
        }
      ]
    }
  ]
}

ROUTE Base_Sensor.rotation_changed TO Base_Lever.set_rotation
ROUTE Base_Sensor.rotation_changed TO Base.set_rotation

ROUTE UpperArm_Sensor.rotation_changed TO UpperArm_Lever.set_rotation
ROUTE UpperArm_Sensor.rotation_changed TO UpperArm.set_rotation

ROUTE LowerArm_Sensor.rotation_changed TO LowerArm_Lever.set_rotation
ROUTE LowerArm_Sensor.rotation_changed TO LowerArm.set_rotation

ROUTE Wrist_Sensor.rotation_changed TO Wrist_Lever.set_rotation
ROUTE Wrist_Sensor.rotation_changed TO Wrist.set_rotation

ROUTE Slider_Sensor.translation_changed TO Slider.set_translation
ROUTE Slider_Sensor.translation_changed TO Base.set_translation