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    "head": {
        "meta": [
          {
            "@name":"title",
            "@content":"RemusSideScan.x3d"
          },
          {
            "@name":"description",
            "@content":"REMUS Autonomous Underwater Vehicle (AUV) with side-scan sonar beams."
          },
          {
            "@name":"creator",
            "@content":"Jeffrey Weekley and Don Brutzman"
          },
          {
            "@name":"created",
            "@content":"12 March 2001"
          },
          {
            "@name":"modified",
            "@content":"20 October 2019"
          },
          {
            "@name":"Image",
            "@content":"RemusAssetTrackPlayback3d.jpg"
          },
          {
            "@name":"identifier",
            "@content":"https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d"
          },
          {
            "@name":"generator",
            "@content":"X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit"
          },
          {
            "@name":"license",
            "@content":"../../license.html"
          },
          {
            "@name":"translated",
            "@content":"26 March 2026"
          },
          {
            "@name":"generator",
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        ]
    },
    "Scene": {
        "-children":[
          { "WorldInfo":
            {
              "@info":["Only unclassified open resources were used to create this model."],
              "@title":"REMUS Side Scan"
            }
          },
          { "ExternProtoDeclare":
            {
              "@name":"SideScanSonar",
              "@appinfo":"Produce wireframe or semi-transparent sonar sidescan beams",
              "@url":["../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar","https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar","../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar","https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar"],
              "field": [
                {
                  "@name":"altitude",
                  "@accessType":"inputOnly",
                  "@appinfo":"vertical distance above bottom in meters along y axis",
                  "@type":"SFFloat"
                },
                {
                  "@name":"defaultAltitude",
                  "@accessType":"initializeOnly",
                  "@appinfo":"default vertical distance above bottom in meters along y axis",
                  "@type":"SFFloat"
                },
                {
                  "@name":"maxAltitude",
                  "@accessType":"initializeOnly",
                  "@appinfo":"maximum effective altitude of sidescan sonar above bottom",
                  "@type":"SFFloat"
                },
                {
                  "@name":"defaultCrossTrackHalfRange",
                  "@accessType":"initializeOnly",
                  "@appinfo":"distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom",
                  "@type":"SFFloat"
                },
                {
                  "@name":"defaultTrackWidthMeters",
                  "@accessType":"initializeOnly",
                  "@appinfo":"longitudinal width of a single return",
                  "@type":"SFFloat"
                },
                {
                  "@name":"vehicleWidthMeters",
                  "@accessType":"initializeOnly",
                  "@appinfo":"width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers",
                  "@type":"SFFloat"
                },
                {
                  "@name":"contact",
                  "@accessType":"inputOnly",
                  "@appinfo":"(communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?",
                  "@type":"SFBool"
                },
                {
                  "@name":"wireframe",
                  "@accessType":"initializeOnly",
                  "@appinfo":"draw lines for tracking shape?",
                  "@type":"SFBool"
                },
                {
                  "@name":"solid",
                  "@accessType":"initializeOnly",
                  "@appinfo":"draw solid tracking shape?",
                  "@type":"SFBool"
                },
                {
                  "@name":"contactColor",
                  "@accessType":"initializeOnly",
                  "@appinfo":"rendering color when contact=true",
                  "@type":"SFColor"
                },
                {
                  "@name":"noContactColor",
                  "@accessType":"initializeOnly",
                  "@appinfo":"rendering color when contact=false",
                  "@type":"SFColor"
                },
                {
                  "@name":"transparency",
                  "@accessType":"inputOutput",
                  "@appinfo":"1 = fully transparent wireframe only",
                  "@type":"SFFloat"
                }
              ]
            }
          },
          { "Background":
            {
              "@skyColor":[0.2,0.7,0.7]
            }
          },
          { "Viewpoint":
            {
              "@description":"Remus from ahead 30m",
              "@orientation":[0,1,0,1.57],
              "@position":[30,0.1,0]
            }
          },
          {
            "#comment":"This file builds the REMUS Autonomous Underwater Vehicle (AUV). The dimensions were originally provided in English units and is converted to metric using a scale that 39.3 inches equal one meter."
          },
          { "Inline":
            {
              "@DEF":"Remus",
              "@url":["Remus.x3d","../../../Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d","Remus.wrl","../../../Savage/Robots/UnmannedUnderwaterVehicles/Remus.wrl","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/Remus.wrl"]
            }
          },
          {
            "#comment":"Remus maxAltitude typically 10% of swath width."
          },
          { "Transform":
            {
              "@translation":[0.04,0,0],
              "-children":[
                { "ProtoInstance":
                  {
                    "@name":"SideScanSonar",
                    "@DEF":"SideScanSonarBeam",
                    "fieldValue": [
                      {
                        "@name":"defaultTrackWidthMeters",
                        "@value":1
                      },
                      {
                        "@name":"transparency",
                        "@value":0.5
                      },
                      {
                        "@name":"wireframe",
                        "@value":true
                      },
                      {
                        "@name":"solid",
                        "@value":true
                      }
                    ]
                  }
                }
              ]
            }
          },
          {
            "#comment":"Authoring assist, hidden under Switch whichChoice=0"
          },
          { "Switch":
            {
              "@whichChoice":-1,
              "-children":[
                { "Group":
                  {
                    "-children":[
                      { "Transform":
                        {
                          "@translation":[0,-0.5,0],
                          "-children":[
                            { "Inline":
                              {
                                "@DEF":"CoordinateAxes",
                                "@url":["../../../Savage/Tools/Authoring/CoordinateAxes.x3d","../../../X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.x3d","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/CoordinateAxes.x3d","https://www.web3d.org/x3d/content/examples/X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.x3d","../../../Savage/Tools/Authoring/CoordinateAxes.wrl","../../../X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.wrl","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/CoordinateAxes.wrl","https://www.web3d.org/x3d/content/examples/X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.wrl"]
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                      },
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                          "@scale":[0.1,0.1,0.1],
                          "-children":[
                            { "Inline":
                              {
                                "@DEF":"Grid",
                                "@url":["../../../Savage/Tools/Authoring/GridXZ_20x20Movable.x3d","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZ_20x20Movable.x3d","../../../Savage/Tools/Authoring/GridXZ_20x20Movable.wrl","https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZ_20x20Movable.wrl"]
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