#VRML V2.0 utf8
# Name: ANH LE
# SID: 13291487
# CS 184 Fall 98
# Section: 104
# Lab 3
# Due date: 9/16/98
# Developed on SGI in lab
Transform {
rotation 1 0 0 -1.5708
children [
DEF robot Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 2 -2.95 0
scale 2.5 0.15 2.5
children [
DEF rod Shape {
appearance DEF rodCl Appearance {
material Material {
diffuseColor 0.5 0.5 0.5
specularColor 0.2 0.4 0.3
shininess 0.6
}}
geometry Cylinder {
height 5
radius 0.5
}}]
}
DEF waistSensor Transform {
translation 2 0 0
children [
DEF waist Shape {
appearance DEF waistCl Appearance {
material Material {
diffuseColor 0.2 0.9 0.9
specularColor 0.4 1 0.2
shininess 1
}}
geometry Cylinder {
height 5
radius 0.5
}
}
Transform {
translation 0 -2.5 0
scale 2 0.05 2
children [USE waist]
}
Transform {
translation 1.5 2 0
rotation 0 0 1 1.5708
scale 0.6 1 0.6
children [
USE rod
]
}
Transform {
translation -0.5 2 0
rotation 0 0 1 1.5708
children [
DEF my_bolt Shape {
appearance DEF boltCl Appearance {
material Material {
diffuseColor 0.5 0.2 0.2
}}
geometry Cylinder {
height 0.15
radius 0.35
}
}]
}
Transform {
rotation 0 0 1 -1.5708
children [
DEF shoulderSensor Transform {
center -2 4.5 0
children [
Transform {
rotation 0 0 1 1.5708
children [
Transform {
translation 2.5 1.5 0
# rotation 1 0 0 2.5
children [
DEF shoulder Shape {
appearance DEF shoulderCl Appearance {
material Material {
diffuseColor 0.4 0.2 0.6
}}
geometry Box {
size 0.35 2.5 0.8
}
}
]
}
Transform {
translation 3.4 1.5 0
# rotation 1 0 0 2.5
children [ USE shoulder]
}
Transform {
translation 3 0.8 0
rotation 0 0 1 1.5708
scale 0.4 0.35 0.4
children [USE rod]
}
Transform {
translation 2.3 0.8 0
rotation 0 0 1 1.5708
scale 0.8 0.8 0.8
children [USE my_bolt]
}
Transform {
translation 3.6 0.8 0
rotation 0 0 1 1.5708
scale 0.8 0.8 0.8
children [USE my_bolt]
}
Transform {
rotation 0 0 1 -1.5708
children [
DEF elbowSensor Transform {
center -0.8 2.95 0
children [
Transform {
rotation 0 0 1 1.5708
children [
Transform {
translation 2.95 0 0
children [
DEF elbow Shape {
appearance DEF elbowCl Appearance {
material Material {
diffuseColor 1.0 0.2 0.5
}}
geometry Box {
size 0.4 2.5 0.8
}
} ]
}
DEF wristSensor Transform {
translation 3 -1.5 0
children [
DEF wrist Transform {
scale 0.2 0.2 0.2
children [
Shape {
appearance DEF wristCl Appearance {
material Material {
diffuseColor 0 0 1
specularColor 0.2 0.4 0.4
shininess 0.8
}}
geometry Cylinder {
height 5
radius 0.5
}
}
]
}
Transform {
translation 0 -0.3 0
scale 0.1 0.3 0.1
rotation 0 0 1 1.5708
children [ USE rod]
}
Transform {
translation -0.35 -0.3 0
scale 0.35 0.07 0.35
rotation 0 0 1 1.5708
children [
DEF hand Shape {
appearance DEF handCl Appearance {
material Material {
diffuseColor 1 0 0
specularColor 1 0.4 0
shininess 0.6
}}
geometry Cylinder {
height 5
radius 0.5
}}
]
}
Transform {
translation 0.35 -0.3 0
scale 0.35 0.07 0.35
rotation 0 0 1 1.5708
children [ USE hand]
}
Transform {
rotation 0 0 1 -1.5708
children [
DEF handSensor Transform {
center 0.3 0 0
children [
Transform {
rotation 0 0 1 1.5708
children [
Transform {
translation -0.58 -0.5 0
scale 0.3 0.3 0.3
children [
DEF upperfinger Shape {
appearance USE handCl
geometry Box {
size 0.35 2.5 0.8
}
}
]
}
Transform {
translation 0.58 -0.5 0
scale 0.3 0.3 0.3
children [ USE upperfinger]
}
Transform {
rotation 1 0 0 -1.5708
children [
DEF rightfingerSensor Transform {
center 0.45 0 -0.8
#rotation 0 1 0 0.9
children [
Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 0.58 -1.1 0
scale 0.35 0.3 0.06
children [
DEF lowfinger Shape {
appearance DEF fingerCl Appearance {
material Material {
diffuseColor 0 1 0
specularColor 0.2 0.4 0.3
shininess 0.6
}}
geometry Box {
size 0.35 3 0.8
}
}]
}
]
}
]
}
]
}
Transform {
rotation 1 0 0 1.5708
children [
DEF leftfingerSensor Transform {
center -0.5 0 0.55
children [
Transform {
rotation 1 0 0 -1.5708
children [
Transform {
translation -0.58 -1.1 0
scale 0.35 0.3 0.06
children [
DEF lowfinger Shape {
appearance DEF fingerCl Appearance {
material Material {
diffuseColor 0 1 0
specularColor 0.2 0.4 0.3
shininess 0.6
}}
geometry Box {
size 0.35 3 0.8
}
}]
}
# Transform {
# translation 0.58 -1 0
# scale 0.35 0.3 0.06
#
# children [ USE lowfinger]
# }
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
]
}
DEF waistLever Transform {
translation -5.5 4 0
children [
DEF waistControl CylinderSensor {
minAngle -1.5
maxAngle 1.5
}
Group {
children [
Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 0 1.5 0
children [
Shape {
appearance USE waistCl
geometry Sphere {
radius 0.25
}
}]
}
Transform {
translation 0 0.7 0
children [
Shape {
appearance USE waistCl
geometry Cylinder {
radius 0.15
height 1.5
}
}
]
}
]
}
]
}
]
}
Transform {
translation -6.5 1.9 0
rotation 0 0 1 -1.5708
children [
DEF shoulderLever Transform {
rotation 0 0 1 -1.5708
children [
DEF shoulderControl CylinderSensor {
minAngle -2
maxAngle 2
}
Group {
children [
Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 0 1.5 0
children [
Shape {
appearance USE shoulderCl
geometry Sphere {
radius 0.25
}
}]
}
Transform {
translation 0 0.7 0
children [
Shape {
appearance USE shoulderCl
geometry Cylinder {
radius 0.15
height 1.5
}
}
]
}
]
}
]
}
]
}
]
}
Transform {
translation -4.5 1.9 0
rotation 0 0 1 -1.5708
children [
DEF elbowLever Transform {
rotation 0 0 1 -1.5708
children [
DEF elbowControl CylinderSensor {
minAngle -0.785
maxAngle 0.785
}
Group {
children [
Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 0 1.5 0
children [
Shape {
appearance USE elbowCl
geometry Sphere {
radius 0.25
}
}]
}
Transform {
translation 0 0.7 0
children [
Shape {
appearance USE elbowCl
geometry Cylinder {
radius 0.15
height 1.5
}
}
]
}
]
}
]
}
]
}
]
}
DEF wristLever Transform {
translation -6.5 -0.2 0
children [
DEF wristControl CylinderSensor {
minAngle -1.5708
maxAngle 1.5708
}
Group {
children [
Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 0 2 0
children [
Shape {
appearance USE wristCl
geometry Sphere {
radius 0.25
}
}]
}
Transform {
translation 0 1 0
children [
Shape {
appearance USE wristCl
geometry Cylinder {
radius 0.15
height 2
}
}
]
}
]
}
]
}
]
}
Transform {
translation -3.5 -0.2 0
rotation 0 0 1 -1.5708
children [
DEF handLever Transform {
rotation 0 0 1 -1.5708
children [
DEF handControl CylinderSensor {
minAngle -0.9
maxAngle 0.9
}
Group {
children [
Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 0 1.5 0
children [
Shape {
appearance USE handCl
geometry Sphere {
radius 0.25
}
}]
}
Transform {
translation 0 0.7 0
children [
Shape {
appearance USE handCl
geometry Cylinder {
radius 0.15
height 1.5
}
}
]
}
]
}
]
}
]
}
]
}
DEF fingerLever Transform {
translation -6.5 -1.6 0
children [
DEF fingerControl CylinderSensor {
minAngle 0
maxAngle 0.5
}
Group {
children [
Transform {
rotation 1 0 0 1.5708
children [
Transform {
translation 0 2 0
children [
Shape {
appearance USE fingerCl
geometry Sphere {
radius 0.25
}
}]
}
Transform {
translation 0 1 0
children [
Shape {
appearance USE fingerCl
geometry Cylinder {
radius 0.15
height 2
}
}
]
}
]
}
]
}
]
}
Transform {
translation -5.5 4 0
rotation 1 0 0 1.5708
children [
DEF base Shape {
appearance USE rodCl
geometry Extrusion {
crossSection [
1.0000 0.0000 # Coordinates of a unit CCW circle
0.8090 -0.5878
0.3090 -0.9511
-0.3090 -0.9511
-0.8090 -0.5878
-1.0000 0.0000
-0.8090 0.5878
-0.3090 0.9511
0.3090 0.9511
0.8090 0.5878
1.0000 0.0000
]
spine [
0 0 -0.05
0 0 0.05
]
scale [0.5 0.5]
endCap TRUE
beginCap TRUE
solid FALSE
convex FALSE
}
}
]
}
# base of shoulderLever
Transform {
translation -6.5 1.9 0
rotation 0 1 0 -1.5708
children [USE base]
}
# base of elbowLever
Transform {
translation -4.5 1.9 0
rotation 0 1 0 -1.5708
children [USE base]
}
# base of wristLever
Transform {
rotation 1 0 0 1.5708
translation -6.5 -0.2 0
children [USE base]
}
# base of handLever
Transform {
translation -3.5 -0.2 0
rotation 0 1 0 -1.5708
children [USE base]
}
# base of fingerLever
Transform {
translation -6.5 -1.6 0
rotation 1 0 0 1.5708
children [USE base]
}
Transform {
translation -5.5 -0.8 -0.5
children [
Shape {
appearance DEF panelCl Appearance {
material Material {
diffuseColor 0.8 0.6 0.5
}}
geometry Box {
size 5 11 0.5
}
}
]
}
Transform {
translation -5.3 -4.5 0
children [
Shape {
appearance DEF sliderpanelCl Appearance {
material Material {
diffuseColor 1 0.5 0.2
}}
geometry Box {
size 4.1 2.8 1
}
}
]
}
Transform {
translation -5.5 -4.5 0.75
children [
DEF panel Transform {
children [
DEF sliderControl PlaneSensor {
minPosition -1.2 -1
maxPosition 1.6 1
}
Shape {
appearance DEF sliderCl Appearance {
material Material {
diffuseColor 1 1 0
}}
geometry Box {
size 0.5 0.5 0.5
}
}
]
}]
}
ROUTE waistControl.rotation_changed TO waistLever.set_rotation
ROUTE waistControl.rotation_changed TO waistSensor.set_rotation
ROUTE shoulderControl.rotation_changed TO shoulderLever.set_rotation
ROUTE shoulderControl.rotation_changed TO shoulderSensor.set_rotation
ROUTE elbowControl.rotation_changed TO elbowLever.set_rotation
ROUTE elbowControl.rotation_changed TO elbowSensor.set_rotation
ROUTE wristControl.rotation_changed TO wristLever.set_rotation
ROUTE wristControl.rotation_changed TO wristSensor.set_rotation
ROUTE handControl.rotation_changed TO handLever.set_rotation
ROUTE handControl.rotation_changed TO handSensor.set_rotation
ROUTE fingerControl.rotation_changed TO fingerLever.set_rotation
ROUTE fingerControl.rotation_changed TO leftfingerSensor.set_rotation
ROUTE fingerControl.rotation_changed TO rightfingerSensor.set_rotation
ROUTE sliderControl.translation_changed TO panel.set_translation
ROUTE sliderControl.translation_changed TO robot.set_translation
Viewpoint {
position -1 0 15
description "Front"
}
NavigationInfo {
type "EXAMINE"
}