<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
<X3D profile='Immersive' version='3.0' xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.0.xsd'>
  <head>
    <meta content='AriesExample.x3d' name='title'/>
    <meta content='Example showing NPS Aries Unmanned Underwater Vehicle (AUV) prototype.' name='description'/>
    <meta content='Don Brutzman, Jane Wu' name='creator'/>
    <meta content='30 July 2000' name='created'/>
    <meta content='20 October 2019' name='modified'/>
    <meta content='AriesHoistCloseup.jpg' name='photo'/>
    <meta content='AriesFlyerMarch2001.pdf' name='reference'/>
    <meta content='organic_mcmONR2002.pdf' name='reference'/>
    <meta content='AriesSchematic.png' name='reference'/>
    <meta content='AriesSchematic.ppt' name='reference'/>
    <meta content='https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesExample.x3d' name='identifier'/>
    <meta content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit' name='generator'/>
    <meta content='../../license.html' name='license'/>
  </head>
  <Scene>
    <WorldInfo title='AriesExample.x3d'/>
    <ExternProtoDeclare appinfo='Acoustic Radio Interactive Exploratory Server (ARIES) is an operational NPS-designed Unmanned Underwater Vehicle (AUV)' name='Aries' url='"AriesPrototype.x3d#Aries" "../../Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.x3d#Aries" "AriesPrototype.wrl#Aries" "../../Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/AriesPrototype.wrl#Aries"'>
      <field accessType='inputOutput' appinfo='hull color for this UUV instance' name='hullColor' type='SFColor'/>
      <field accessType='inputOutput' appinfo='plane color for this UUV instance' name='planeColor' type='SFColor'/>
      <field accessType='inputOutput' appinfo='can be overridden at instantiation time only' name='hullName' type='SFString'/>
      <field accessType='inputOutput' name='translation' type='SFVec3f'/>
      <field accessType='inputOutput' name='rotation' type='SFRotation'/>
      <field accessType='inputOnly' name='set_portRpm' type='SFFloat'/>
      <field accessType='inputOnly' name='set_stbdRpm' type='SFFloat'/>
      <field accessType='inputOnly' name='set_forwardRudders' type='SFFloat'/>
      <field accessType='inputOnly' name='set_afterRudders' type='SFFloat'/>
      <field accessType='inputOnly' name='set_forwardPlanes' type='SFFloat'/>
      <field accessType='inputOnly' name='set_afterPlanes' type='SFFloat'/>
      <field accessType='inputOnly' name='set_forwardVerticalThruster' type='SFFloat'/>
      <field accessType='inputOnly' name='set_afterVerticalThruster' type='SFFloat'/>
      <field accessType='inputOnly' name='set_forwardLateralThruster' type='SFFloat'/>
      <field accessType='inputOnly' name='set_afterLateralThruster' type='SFFloat'/>
      <field accessType='inputOnly' appinfo='meters along sonar axis' name='set_ST725Range' type='SFFloat'/>
      <field accessType='inputOnly' appinfo='meters along sonar axis' name='set_ST1000Range' type='SFFloat'/>
      <field accessType='inputOnly' appinfo='degrees about vertical axis' name='set_ST725Bearing' type='SFFloat'/>
      <field accessType='inputOnly' appinfo='degrees about vertical axis' name='set_ST1000Bearing' type='SFFloat'/>
      <field accessType='inputOnly' appinfo='signal-to-noise ratio decibels' name='set_ST725Intensity' type='SFFloat'/>
      <field accessType='inputOnly' appinfo='signal-to-noise ratio decibels' name='set_ST1000Intensity' type='SFFloat'/>
    </ExternProtoDeclare>
    <Group>
      <Background groundAngle='1.57' groundColor='.05 .05 .15 .05 .05 .15' skyAngle='.05 1.4 1.55 1.56 1.57' skyColor='1 1 .5 .4 .4 .6 .4 .4 .6 .5 .5 .75 .6 .6 .8 .8 .8 .8'/>
      <Transform>
        <ProtoInstance name='Aries'>
          <fieldValue name='hullName' value='Aries UUV'/>
          <fieldValue name='hullColor' value='.9 .9 .9'/>
          <fieldValue name='planeColor' value='.1 .1 .8'/>
        </ProtoInstance>
      </Transform>
    </Group>
  </Scene>
</X3D>