####################################################################################################
#
# Invoking X3D model self-test:
#
#   $ python ROVParts.py
#
# Python package x3d.py package is available on PyPI for import.
#   This approach simplifies Python X3D deployment and use.
#   https://pypi.org/project/x3d
#
# Installation:
#       pip install x3d
# or
#       python -m pip install x3d
#
# Developer options for loading x3d package in other Python programs:
#
#    from x3d import *  # preferred approach, terser source that avoids x3d.* class prefixes
#
# or
#    import x3d         # traditional way to subclass x3d package, all classes require x3d.* prefix,
#                       # but python source is very verbose, for example x3d.Material x3d.Shape etc.
#                       # X3dToPython.xslt stylesheet insertPackagePrefix=true supports this option.
#
# Project home page:    # X3D Python Scene Access Interface Library (X3DPSAIL)
#                       # https://www.web3d.org/x3d/stylesheets/python/python.html
# Conversion generator: # https://www.web3d.org/x3d/stylesheets/X3dToPython.xslt
#
####################################################################################################

from x3d import *

newModel=X3D(profile='Immersive',version='3.2',
  head=head(
    children=[
    meta(content='ROVParts.x3d',name='title'),
    meta(content='Parts list of ROV',name='description'),
    meta(content='Luciano Cerritos',name='creator'),
    meta(content='3 August 2010',name='created'),
    meta(content='20 October 2019',name='modified'),
    meta(content='OjoDelMarROV.x3d',name='reference'),
    meta(content='Beetle.x3d',name='reference'),
    meta(content='TODO put report for summer internship',name='reference'),
    meta(content='TODO put pictures PVC pipes',name='drawing'),
    meta(content='http://en.wikipedia.org/wiki/Remotely_operated_underwater_vehicle',name='reference'),
    meta(content='http://www.marinetech.org/home.php',name='reference'),
    meta(content='http://www.marinetech.org/rov_competition/2009/technical_reports/ranger/Monterey_HS_MAOS%20Tech%20Report%202009.pdf',name='reference'),
    meta(content='Dale Tourtelotte creator of propeller',name='contributor'),
    meta(content='ROV Remote Operated Vehicle',name='subject'),
    meta(content='https://www.web3d.org/x3d/content/examples/Savage/Robots/RemotelyOperatedVehicles/ROVParts.x3d',name='identifier'),
    meta(content='X3D-Edit, https://www.web3d.org/x3d/tools/X3D-Edit',name='generator'),
    meta(content='../../license.html',name='license')]),
  Scene=Scene(
    children=[
    WorldInfo(title='ROVParts.x3d'),
    Background(groundColor=[(0,0.388235,0.580392)],skyColor=[(0.741176,0.929412,1)]),
    Group(DEF='Viewpoints',
      children=[
      Viewpoint(description='ShaftAndPropeller BilgePumpMotor',orientation=(0,1,0,1.59),position=(1,.25,-1.25)),
      Viewpoint(description='TConnecter SideOutConnecter SideOut90Connecter',orientation=(0,1,0,1.59),position=(1,.25,-.5)),
      Viewpoint(description='XConnecter RoboticArm TConnecter',orientation=(0,1,0,1.59),position=(1,.25,0)),
      Viewpoint(description='Camera Elbow45Connecter XConnecter',orientation=(0,1,0,1.59),position=(1,.25,.5)),
      Viewpoint(description='Frame Camera',orientation=(0,1,0,1.59),position=(1,.25,1))]),
    Comment(' Switch DEF=\'Switcher\' whichChoice=\'0\' '),
    Group(DEF='RoboticArmTool',
      children=[
      Comment(' Note:Robotic arm was not in correct units need to scale from feet to meters '),
      Comment(' Copy from here '),
      Transform(DEF='ScaleFeetToMetersRoboticArm',rotation=(0,1,0,1.59),scale=(0.2,0.2,0.2),
        children=[
        Group(DEF='RoboticArm',
          children=[
          Transform(DEF='BaseOfArm',translation=(0,1,2.262),
            children=[
            Shape(
              geometry=Box(size=(.4,.5,.05)),
              appearance=Appearance(
                material=Material(diffuseColor=(0,0,0),emissiveColor=(0.086275,0.086275,0.086275),specularColor=(0.184314,0.184314,0.184314))))]),
          Transform(DEF='BaseArmConnector',rotation=(0,0,1,1.57059),translation=(0,1,2.39),
            children=[
            Shape(
              geometry=Cylinder(height=0.125,radius=0.15),
              appearance=Appearance(
                material=Material(ambientIntensity=0.16,diffuseColor=(0,0.031373,0.760784),emissiveColor=(0.101961,0,0.003922),shininess=0.6,specularColor=(0,0.023529,0.219608))))]),
          Transform(DEF='RightLowerArm',translation=(0.083,1.2,2.385),
            children=[
            Group(DEF='Arm',
              children=[
              Shape(
                geometry=Box(size=(0.025,0.50,0.1)),
                appearance=Appearance(
                  material=Material(ambientIntensity=0.25,diffuseColor=(1,0.854922,0),shininess=0.32,specularColor=(0.972549,1,0.439216))))])]),
          Transform(DEF='LeftLowerArm',translation=(-0.083,1.2,2.385),
            children=[
            Group(USE='Arm')]),
          Transform(DEF='RightUpperArm',rotation=(1,0,0,1.57059),translation=(0.068,1.4,2.579),
            children=[
            Group(USE='Arm')]),
          Transform(DEF='LeftUpperArm',rotation=(1,0,0,1.57059),translation=(-0.068,1.4,2.579),
            children=[
            Group(USE='Arm')]),
          Transform(DEF='MidArmConnector',rotation=(0,0,1,1.57059),translation=(0,1.40,2.382),
            children=[
            Shape(
              geometry=Cylinder(height=0.20,radius=0.04),
              appearance=Appearance(
                material=Material(ambientIntensity=0.02,diffuseColor=(1,0.058824,0.058824),shininess=0.45,specularColor=(0.341176,0,0))))]),
          Transform(DEF='UpperArmConnector',rotation=(0,0,1,1.57059),translation=(0,1.40,2.762),
            children=[
            Shape(
              geometry=Cylinder(height=0.2,radius=0.04),
              appearance=Appearance(
                material=Material(ambientIntensity=0.02,diffuseColor=(1,0.058824,0.058824),shininess=0.45,specularColor=(0.341176,0,0))))]),
          Transform(DEF='GripConnector',rotation=(1,0,0,1.57059),translation=(0,1.40,2.89),
            children=[
            Shape(
              geometry=Cylinder(height=0.05,radius=0.04),
              appearance=Appearance(
                material=Material(ambientIntensity=0.02,diffuseColor=(1,0.058824,0.058824),shininess=0.45,specularColor=(0.341176,0,0))))]),
          Transform(DEF='BaseArmGrip',translation=(0,1.40,2.795),
            children=[
            Shape(
              geometry=Box(size=(0.11,0.1,0.15)),
              appearance=Appearance(
                material=Material(ambientIntensity=0.16,diffuseColor=(0,0.031373,0.760784),emissiveColor=(0.101961,0,0.003922),shininess=0.6,specularColor=(0,0.023529,0.219608))))]),
          Transform(DEF='FingerRail',translation=(0,1.4,2.92),
            children=[
            Shape(
              geometry=Box(size=(0.5,0.1,0.05)),
              appearance=Appearance(
                material=Material(diffuseColor=(0,0,0),emissiveColor=(0.086275,0.086275,0.086275),specularColor=(0.184314,0.184314,0.184314))))]),
          Transform(DEF='TopRail',translation=(0,1.445,2.95),
            children=[
            Group(DEF='Rail',
              children=[
              Shape(
                geometry=Box(size=(0.5,0.01,0.03)),
                appearance=Appearance(
                  material=Material(diffuseColor=(0,0,0),emissiveColor=(0.086275,0.086275,0.086275),specularColor=(0.184314,0.184314,0.184314))))])]),
          Transform(DEF='BottomRail',translation=(0,1.3555,2.95),
            children=[
            Group(USE='Rail')]),
          Transform(DEF='RightSideRail',translation=(0.2475,1.4,2.95),
            children=[
            Group(DEF='SideRail',
              children=[
              Shape(
                geometry=Box(size=(0.005,0.08,.03)),
                appearance=Appearance(
                  material=Material(diffuseColor=(0,0,0),emissiveColor=(0.086275,0.086275,0.086275),specularColor=(0.184314,0.184314,0.184314))))])]),
          Transform(DEF='Left',translation=(-0.2475,1.4,2.95),
            children=[
            Group(USE='SideRail')]),
          Transform(DEF='RightExtensionFinger',translation=(.2273,1.4,3.015),
            children=[
            Group(DEF='ExtensionFinger',
              children=[
              Shape(
                geometry=Box(size=(0.03,0.080,0.23)),
                appearance=Appearance(
                  material=Material(),))])]),
          Transform(DEF='LeftExtensionFinger',translation=(-.2273,1.45,3.015),
            children=[
            Group(USE='ExtensionFinger')]),
          Transform(DEF='Finger',
            children=[
            Transform(DEF='RightFinger',translation=(.15,1.4,3.1048),
              children=[
              Shape(
                geometry=Box(size=(0.15,0.07,0.05)),
                appearance=Appearance(
                  material=Material(),))]),
            Transform(DEF='UpperLeftFinger',translation=(-.1675,1.45,3.1048),
              children=[
              Group(DEF='LeftFinger',
                children=[
                Shape(
                  geometry=Box(size=(0.15,0.02,0.05)),
                  appearance=Appearance(
                    material=Material(),))])]),
            Transform(DEF='LowerLeftFinger',translation=(-.1675,1.35,3.1048),
              children=[
              Group(USE='LeftFinger')]),
            Comment(' note that final value equals first value in keyValue array in order to support smooth looping '),
            Comment(' first drive around the location '),
            PositionInterpolator(DEF='RightFingerAnimator',key=[0,0.2,0.25,0.45,0.5,0.7,0.75,0.95,1],keyValue=[(0.15,1.4,3.1048),(0.15,1.4,3.1048),(0.15,1.4,3.1048),(0.15,1.4,3.1048),(0,1.4,3.1048),(0.15,1.4,3.1048),(0.15,1.4,3.1048),(0.15,1.4,3.1048),(0.15,1.4,3.1048)]),
            PositionInterpolator(DEF='RightExtensionFingerAnimator',key=[0,0.2,0.25,0.45,0.5,0.7,0.75,0.95,1],keyValue=[(0.2273,1.4,3.015),(0.2273,1.4,3.015),(0.2273,1.4,3.015),(0.2273,1.4,3.015),(0.090,1.4,3.015),(0.2273,1.4,3.015),(0.2273,1.4,3.015),(0.2273,1.4,3.015),(0.2273,1.4,3.015)]),
            PositionInterpolator(DEF='LeftExtensionFingerAnimator',key=[0,0.2,0.25,0.45,0.5,0.7,0.75,0.95,1],keyValue=[(-0.2273,1.4,3.015),(-0.2273,1.4,3.015),(-0.2273,1.4,3.015),(-0.2273,1.4,3.015),(-0.06,1.4,3.015),(-0.2273,1.4,3.015),(-0.2273,1.4,3.015),(-0.2273,1.4,3.015),(-0.2273,1.4,3.015)]),
            PositionInterpolator(DEF='UpperLeftFingerAnimator',key=[0,0.2,0.25,0.45,0.5,0.7,0.75,0.95,1],keyValue=[(-0.1675,1.45,3.1048),(-0.1675,1.45,3.1048),(-0.1675,1.45,3.1048),(-0.1675,1.45,3.1048),(0,1.45,3.1048),(-0.1675,1.45,3.1048),(-0.1675,1.45,3.1048),(-0.1675,1.45,3.1048),(-0.1675,1.45,3.1048)]),
            PositionInterpolator(DEF='LowerLeftFingerAnimator',key=[0,0.2,0.25,0.45,0.5,0.7,0.75,0.95,1],keyValue=[(-0.1675,1.35,3.1048),(-0.1675,1.35,3.1048),(-0.1675,1.35,3.1048),(-0.1675,1.35,3.1048),(0,1.35,3.1048),(-0.1675,1.35,3.1048),(-0.1675,1.35,3.1048),(-0.1675,1.35,3.1048),(-0.1675,1.35,3.1048)]),
            ROUTE(fromField='value_changed',fromNode='RightFingerAnimator',toField='set_translation',toNode='RightFinger'),
            ROUTE(fromField='value_changed',fromNode='RightExtensionFingerAnimator',toField='set_translation',toNode='RightExtensionFinger'),
            ROUTE(fromField='value_changed',fromNode='LeftExtensionFingerAnimator',toField='set_translation',toNode='LeftExtensionFinger'),
            ROUTE(fromField='value_changed',fromNode='UpperLeftFingerAnimator',toField='set_translation',toNode='UpperLeftFinger'),
            ROUTE(fromField='value_changed',fromNode='LowerLeftFingerAnimator',toField='set_translation',toNode='LowerLeftFinger'),
            Comment(' then rotate the pointer to match next direction while paused at each position '),
            Comment(' TODO missing angle values '),
            OrientationInterpolator(DEF='OrientationAnimator',key=[0,0.2,0.25,0.45,0.5,0.7,0.75,0.95,1],keyValue=[(1,0,0,0),(1,0,0,0),(1,0,0,0),(1,0,0,0),(1,0,0,0),(1,0,0,0),(1,0,0,0),(1,0,0,0),(1,0,0,0)]),
            Comment(' final rotation value is 2pi rather than 0 so that rotation animation is smooth, not flip-flopping '),
            ROUTE(fromField='value_changed',fromNode='OrientationAnimator',toField='set_rotation',toNode='RightFinger'),
            ROUTE(fromField='value_changed',fromNode='OrientationAnimator',toField='set_rotation',toNode='RightExtensionFinger'),
            ROUTE(fromField='value_changed',fromNode='OrientationAnimator',toField='set_rotation',toNode='LeftExtensionFinger'),
            ROUTE(fromField='value_changed',fromNode='OrientationAnimator',toField='set_rotation',toNode='UpperLeftFinger'),
            ROUTE(fromField='value_changed',fromNode='OrientationAnimator',toField='set_rotation',toNode='LowerLeftFinger'),
            Comment(' put TimeSensor clock last so that animation design pattern and ROUTE events flow upward '),
            TimeSensor(DEF='AnimationClock',cycleInterval=2,loop=True),
            ROUTE(fromField='fraction_changed',fromNode='AnimationClock',toField='set_fraction',toNode='RightFingerAnimator'),
            ROUTE(fromField='fraction_changed',fromNode='AnimationClock',toField='set_fraction',toNode='RightExtensionFingerAnimator'),
            ROUTE(fromField='fraction_changed',fromNode='AnimationClock',toField='set_fraction',toNode='LeftExtensionFingerAnimator'),
            ROUTE(fromField='fraction_changed',fromNode='AnimationClock',toField='set_fraction',toNode='UpperLeftFingerAnimator'),
            ROUTE(fromField='fraction_changed',fromNode='AnimationClock',toField='set_fraction',toNode='LowerLeftFingerAnimator'),
            ROUTE(fromField='fraction_changed',fromNode='AnimationClock',toField='set_fraction',toNode='OrientationAnimator')])])])]),
    Comment(' End copy here '),
    Comment(' End of robotic arm '),
    Comment(' Parts of PVC Connecters '),
    Group(DEF='Connecters',
      children=[
      Comment(' Copy SideOutConnecters from here '),
      Group(DEF='SideOutConnecters',
        children=[
        Transform(DEF='FTLeftElbow',translation=(0.5,0.25,-.5),
          children=[
          Transform(DEF='SideOut90Elbow',rotation=(1,0,0,1.563),
            children=[
            Shape(
              appearance=Appearance(
                material=Material(DEF='PVCColor',diffuseColor=(1,1,1))),
              geometry=Extrusion(creaseAngle=1.5708,crossSection=[(0.140625,0),(0.135,0.039375),(0.129375,0.055115),(0.12375,0.066796),(0.118125,0.076303),(0.1125,0.084375),(0.106875,0.091398),(0.10125,0.097594),(0.095625,0.103106),(0.09,0.108057),(0.084375,0.1125),(0.07875,0.116504),(0.073125,0.120113),(0.0675,0.123366),(0.061875,0.126282),(0.05625,0.128888),(0.050625,0.131193),(0.045,0.133228),(0.039375,0.135),(0.03375,0.136519),(0.028125,0.137784),(0.0225,0.138816),(0.016875,0.139612),(0.01125,0.140175),(0.005625,0.140512),(0,0.140625),(-0.005625,0.140512),(-0.01125,0.140175),(-0.016875,0.139612),(-0.0225,0.138816),(-0.028125,0.137784),(-0.03375,0.136519),(-0.039375,0.135),(-0.045,0.133228),(-0.050625,0.131193),(-0.05625,0.128888),(-0.061875,0.126282),(-0.0675,0.123366),(-0.073125,0.120113),(-0.07875,0.116504),(-0.084375,0.1125),(-0.09,0.108057),(-0.095625,0.103106),(-0.10125,0.097594),(-0.106875,0.091398),(-0.1125,0.084375),(-0.118125,0.076303),(-0.12375,0.066796),(-0.129375,0.055115),(-0.135,0.039375),(-0.140625,0.000113),(-0.135,-0.039375),(-0.129375,-0.055115),(-0.12375,-0.066796),(-0.118125,-0.076303),(-0.1125,-0.084375),(-0.106875,-0.091398),(-0.10125,-0.097594),(-0.095625,-0.103106),(-0.09,-0.108057),(-0.084375,-0.1125),(-0.07875,-0.116504),(-0.073125,-0.120113),(-0.0675,-0.123366),(-0.061875,-0.126282),(-0.050625,-0.131193),(-0.045,-0.133228),(-0.039375,-0.135),(-0.03375,-0.136519),(-0.028125,-0.137784),(-0.0225,-0.138816),(-0.016875,-0.139612),(-0.01125,-0.140175),(-0.005625,-0.140512),(0,-0.140625),(0.005625,-0.140512),(0.01125,-0.140175),(0.016875,-0.139612),(0.0225,-0.138816),(0.028125,-0.137784),(0.03375,-0.136519),(0.039375,-0.135),(0.045,-0.133228),(0.050625,-0.131193),(0.05625,-0.128888),(0.061875,-0.126282),(0.0675,-0.123366),(0.073125,-0.120113),(0.07875,-0.116504),(0.084375,-0.1125),(0.09,-0.108057),(0.095625,-0.103106),(0.10125,-0.097594),(0.106875,-0.091398),(0.1125,-0.084375),(0.118125,-0.076303),(0.12375,-0.066796),(0.129375,-0.055115),(0.135,-0.039375),(0.140625,0)],scale=[(0.195,0.195),(0.195,0.195),(0.195,0.195),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.195,0.195),(0.195,0.195),(0.195,0.195)],solid=False,spine=[(-0.033692,0.013184,0),(-0.027833,0.013184,0),(-0.024901,0.013184,0),(-0.021972,0.013184,0),(-0.019042,0.013184,0),(-0.016113,0.013184,0),(-0.013184,0.013184,0),(-0.010254,0.013184,0),(-0.007325,0.013184,0),(-0.004395,0.013184,0),(-0.004395,0.013184,0),(0.0045,0.012785,0),(0.007325,0.011613,0),(0.00975,0.00975,0),(0.011613,0.007325,0),(0.012785,0.0045,0),(0.013184,-0.004395,0),(0.013184,-0.004395,0),(0.013184,-0.007325,0),(0.013184,-0.010254,0),(0.013184,-0.013184,0),(0.013184,-0.016113,0),(0.013184,-0.019042,0),(0.013184,-0.021972,0),(0.013184,-0.024901,0),(0.013184,-0.027833,0),(0.013184,-0.03041,0),(0.013184,-0.033692,0)]))])]),
        Transform(DEF='FrontLeftSideOut90',rotation=(0,0,1,1.57059),translation=(.495,.19,-.495),
          children=[
          Group(DEF='PartSideOut90',
            children=[
            Shape(
              appearance=Appearance(
                material=Material(USE='PVCColor')),
              geometry=Extrusion(creaseAngle=1.5708,crossSection=[(0.144231,0),(0.138462,0.040385),(0.132692,0.056529),(0.126923,0.068509),(0.121154,0.078259),(0.115384,0.086539),(0.109615,0.093741),(0.103846,0.100096),(0.098077,0.10575),(0.092308,0.110827),(0.086539,0.115384),(0.080769,0.11949),(0.075,0.123192),(0.069231,0.126529),(0.063461,0.12952),(0.057692,0.132193),(0.051923,0.134558),(0.046154,0.136644),(0.040385,0.138462),(0.034616,0.14002),(0.028847,0.141317),(0.023077,0.142375),(0.017308,0.143192),(0.011538,0.143769),(0.005769,0.144115),(0,0.144231),(-0.005769,0.144115),(-0.011538,0.143769),(-0.017308,0.143192),(-0.023077,0.142375),(-0.028847,0.141317),(-0.034616,0.14002),(-0.040385,0.138462),(-0.046154,0.136644),(-0.051923,0.134558),(-0.057692,0.132193),(-0.063461,0.12952),(-0.069231,0.126529),(-0.075,0.123192),(-0.080769,0.11949),(-0.086539,0.115384),(-0.092308,0.110827),(-0.098077,0.10575),(-0.103846,0.100096),(-0.109615,0.093741),(-0.115384,0.086539),(-0.121154,0.078259),(-0.126923,0.068509),(-0.132692,0.056529),(-0.138462,0.040385),(-0.144231,0.000115),(-0.138462,-0.040385),(-0.132692,-0.056529),(-0.126923,-0.068509),(-0.121154,-0.078259),(-0.115384,-0.086539),(-0.109615,-0.093741),(-0.103846,-0.100096),(-0.098077,-0.10575),(-0.092308,-0.110827),(-0.086539,-0.115384),(-0.080769,-0.11949),(-0.075,-0.123192),(-0.069231,-0.126529),(-0.063461,-0.12952),(-0.051923,-0.134558),(-0.046154,-0.136644),(-0.040385,-0.138462),(-0.034616,-0.14002),(-0.028847,-0.141317),(-0.023077,-0.142375),(-0.017308,-0.143192),(-0.011538,-0.143769),(-0.005769,-0.144115),(0,-0.144231),(0.005769,-0.144115),(0.011538,-0.143769),(0.017308,-0.143192),(0.023077,-0.142375),(0.028847,-0.141317),(0.034616,-0.14002),(0.040385,-0.138462),(0.046154,-0.136644),(0.051923,-0.134558),(0.057692,-0.132193),(0.063461,-0.12952),(0.069231,-0.126529),(0.075,-0.123192),(0.080769,-0.11949),(0.086539,-0.115384),(0.092308,-0.110827),(0.098077,-0.10575),(0.103846,-0.100096),(0.109615,-0.093741),(0.115384,-0.086539),(0.121154,-0.078259),(0.126923,-0.068509),(0.132692,-0.056529),(0.138462,-0.040385),(0.144231,0)],scale=[(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.175,0.2),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.15,0.15)],solid=False,spine=[(0.004508,-0.013521,0),(0.004508,-0.013521,0),(0.007512,-0.013521,0),(0.010517,-0.013521,0),(0.013521,-0.013521,0),(0.016526,-0.013521,0),(0.019531,-0.013521,0),(0.022536,-0.013521,0),(0.025541,-0.013521,0),(0.028546,-0.013521,0),(0.034555,-0.013521,0),(0.057756,-0.013521,0)]))])])]),
      Comment(' End of copy '),
      Comment(' Copy TConnecters from here '),
      Group(DEF='TConnecters',
        children=[
        Transform(DEF='MidFrontRigtBTConneter',translation=(0.5,0.25,-.25),
          children=[
          Group(DEF='TConneter',
            children=[
            Transform(DEF='HorizontalTConneter',rotation=(1,0,0,1.57059),
              children=[
              Shape(
                geometry=Cylinder(height=0.076,radius=.0254),
                appearance=Appearance(
                  material=Material(USE='PVCColor')))]),
            Transform(DEF='VerticalTConneter',rotation=(0,0,1,-1.57059),translation=(0.02,0,0),
              children=[
              Shape(
                geometry=Cylinder(height=0.04,radius=.0254),
                appearance=Appearance(
                  material=Material(USE='PVCColor')))])])])]),
      Comment(' End Copy '),
      Comment(' Copy XConnecters from here '),
      Group(DEF='XConnecters',
        children=[
        Transform(DEF='RightTopXConnecter',rotation=(0,0,1,-1.57059),translation=(.5,.25,.25),
          children=[
          Group(DEF='XConnecter',
            children=[
            Transform(DEF='HorizontalXConnecter',rotation=(1,0,0,1.57059),
              children=[
              Shape(
                geometry=Cylinder(height=0.08,radius=.0254),
                appearance=Appearance(
                  material=Material(USE='PVCColor')))]),
            Transform(DEF='VerticalXConnecter',rotation=(0,0,1,-1.57059),translation=(-0.002,0,0),
              children=[
              Shape(
                geometry=Cylinder(height=0.08,radius=.0254),
                appearance=Appearance(
                  material=Material(USE='PVCColor')))])])])]),
      Comment(' End Copy here '),
      Comment(' Copy Elbow45Connecters from here '),
      Group(DEF='Elbow45Connecters',
        children=[
        Group(DEF='SideOut45',
          children=[
          Transform(DEF='Elbow45Connecter',rotation=(0,1,0,1.59),translation=(0.5,0.25,0.5),
            children=[
            Transform(DEF='ElbowPlacementOnVerticalPipe',rotation=(0,0,1,-.6),
              children=[
              Shape(
                appearance=Appearance(
                  material=Material(USE='PVCColor')),
                geometry=Extrusion(creaseAngle=1.5708,crossSection=[(0.140625,0),(0.135,0.039375),(0.129375,0.055115),(0.12375,0.066796),(0.118125,0.076303),(0.1125,0.084375),(0.106875,0.091398),(0.10125,0.097594),(0.095625,0.103106),(0.09,0.108057),(0.084375,0.1125),(0.07875,0.116504),(0.073125,0.120113),(0.0675,0.123366),(0.061875,0.126282),(0.05625,0.128888),(0.050625,0.131193),(0.045,0.133228),(0.039375,0.135),(0.03375,0.136519),(0.028125,0.137784),(0.0225,0.138816),(0.016875,0.139612),(0.01125,0.140175),(0.005625,0.140512),(0,0.140625),(-0.005625,0.140512),(-0.01125,0.140175),(-0.016875,0.139612),(-0.0225,0.138816),(-0.028125,0.137784),(-0.03375,0.136519),(-0.039375,0.135),(-0.045,0.133228),(-0.050625,0.131193),(-0.05625,0.128888),(-0.061875,0.126282),(-0.0675,0.123366),(-0.073125,0.120113),(-0.07875,0.116504),(-0.084375,0.1125),(-0.09,0.108057),(-0.095625,0.103106),(-0.10125,0.097594),(-0.106875,0.091398),(-0.1125,0.084375),(-0.118125,0.076303),(-0.12375,0.066796),(-0.129375,0.055115),(-0.135,0.039375),(-0.140625,0.000113),(-0.135,-0.039375),(-0.129375,-0.055115),(-0.12375,-0.066796),(-0.118125,-0.076303),(-0.1125,-0.084375),(-0.106875,-0.091398),(-0.10125,-0.097594),(-0.095625,-0.103106),(-0.09,-0.108057),(-0.084375,-0.1125),(-0.07875,-0.116504),(-0.073125,-0.120113),(-0.0675,-0.123366),(-0.061875,-0.126282),(-0.050625,-0.131193),(-0.045,-0.133228),(-0.039375,-0.135),(-0.03375,-0.136519),(-0.028125,-0.137784),(-0.0225,-0.138816),(-0.016875,-0.139612),(-0.01125,-0.140175),(-0.005625,-0.140512),(0,-0.140625),(0.005625,-0.140512),(0.01125,-0.140175),(0.016875,-0.139612),(0.0225,-0.138816),(0.028125,-0.137784),(0.03375,-0.136519),(0.039375,-0.135),(0.045,-0.133228),(0.050625,-0.131193),(0.05625,-0.128888),(0.061875,-0.126282),(0.0675,-0.123366),(0.073125,-0.120113),(0.07875,-0.116504),(0.084375,-0.1125),(0.09,-0.108057),(0.095625,-0.103106),(0.10125,-0.097594),(0.106875,-0.091398),(0.1125,-0.084375),(0.118125,-0.076303),(0.12375,-0.066796),(0.129375,-0.055115),(0.135,-0.039375),(0.140625,0)],scale=[(0.195,0.195),(0.195,0.195),(0.195,0.195),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.195,0.195),(0.195,0.195),(0.195,0.195)],solid=False,spine=[(-0.033692,0.013184,0),(-0.027833,0.013184,0),(-0.024901,0.013184,0),(-0.021972,0.013184,0),(-0.019042,0.013184,0),(-0.016113,0.013184,0),(-0.013184,0.013184,0),(-0.010254,0.013184,0),(-0.007325,0.013184,0),(-0.004395,0.013184,0),(0.0045,0.012785,0),(0.007325,0.011613,0),(0.00975,0.00975,0),(0.020144,-0.010254,0),(0.026141,-0.016113,0),(0.029113,-0.021142,0),(0.032121,-0.024172,0),(0.034004,-0.027133,0)]))])])])]),
      Comment(' End Copy '),
      Comment(' Copy SideOut90 from here '),
      Group(DEF='SideOut90Connecter',
        children=[
        Transform(DEF='SideOut90',rotation=(0,1,0,1.563),translation=(0.5,0.25,-.75),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(USE='PVCColor')),
            geometry=Extrusion(creaseAngle=1.5708,crossSection=[(0.140625,0),(0.135,0.039375),(0.129375,0.055115),(0.12375,0.066796),(0.118125,0.076303),(0.1125,0.084375),(0.106875,0.091398),(0.10125,0.097594),(0.095625,0.103106),(0.09,0.108057),(0.084375,0.1125),(0.07875,0.116504),(0.073125,0.120113),(0.0675,0.123366),(0.061875,0.126282),(0.05625,0.128888),(0.050625,0.131193),(0.045,0.133228),(0.039375,0.135),(0.03375,0.136519),(0.028125,0.137784),(0.0225,0.138816),(0.016875,0.139612),(0.01125,0.140175),(0.005625,0.140512),(0,0.140625),(-0.005625,0.140512),(-0.01125,0.140175),(-0.016875,0.139612),(-0.0225,0.138816),(-0.028125,0.137784),(-0.03375,0.136519),(-0.039375,0.135),(-0.045,0.133228),(-0.050625,0.131193),(-0.05625,0.128888),(-0.061875,0.126282),(-0.0675,0.123366),(-0.073125,0.120113),(-0.07875,0.116504),(-0.084375,0.1125),(-0.09,0.108057),(-0.095625,0.103106),(-0.10125,0.097594),(-0.106875,0.091398),(-0.1125,0.084375),(-0.118125,0.076303),(-0.12375,0.066796),(-0.129375,0.055115),(-0.135,0.039375),(-0.140625,0.000113),(-0.135,-0.039375),(-0.129375,-0.055115),(-0.12375,-0.066796),(-0.118125,-0.076303),(-0.1125,-0.084375),(-0.106875,-0.091398),(-0.10125,-0.097594),(-0.095625,-0.103106),(-0.09,-0.108057),(-0.084375,-0.1125),(-0.07875,-0.116504),(-0.073125,-0.120113),(-0.0675,-0.123366),(-0.061875,-0.126282),(-0.050625,-0.131193),(-0.045,-0.133228),(-0.039375,-0.135),(-0.03375,-0.136519),(-0.028125,-0.137784),(-0.0225,-0.138816),(-0.016875,-0.139612),(-0.01125,-0.140175),(-0.005625,-0.140512),(0,-0.140625),(0.005625,-0.140512),(0.01125,-0.140175),(0.016875,-0.139612),(0.0225,-0.138816),(0.028125,-0.137784),(0.03375,-0.136519),(0.039375,-0.135),(0.045,-0.133228),(0.050625,-0.131193),(0.05625,-0.128888),(0.061875,-0.126282),(0.0675,-0.123366),(0.073125,-0.120113),(0.07875,-0.116504),(0.084375,-0.1125),(0.09,-0.108057),(0.095625,-0.103106),(0.10125,-0.097594),(0.106875,-0.091398),(0.1125,-0.084375),(0.118125,-0.076303),(0.12375,-0.066796),(0.129375,-0.055115),(0.135,-0.039375),(0.140625,0)],scale=[(0.195,0.195),(0.195,0.195),(0.195,0.195),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.175,0.175),(0.195,0.195),(0.195,0.195),(0.195,0.195)],solid=False,spine=[(-0.033692,0.013184,0),(-0.027833,0.013184,0),(-0.024901,0.013184,0),(-0.021972,0.013184,0),(-0.019042,0.013184,0),(-0.016113,0.013184,0),(-0.013184,0.013184,0),(-0.010254,0.013184,0),(-0.007325,0.013184,0),(-0.004395,0.013184,0),(-0.004395,0.013184,0),(0.0045,0.012785,0),(0.007325,0.011613,0),(0.00975,0.00975,0),(0.011613,0.007325,0),(0.012785,0.0045,0),(0.013184,-0.004395,0),(0.013184,-0.004395,0),(0.013184,-0.007325,0),(0.013184,-0.010254,0),(0.013184,-0.013184,0),(0.013184,-0.016113,0),(0.013184,-0.019042,0),(0.013184,-0.021972,0),(0.013184,-0.024901,0),(0.013184,-0.027833,0),(0.013184,-0.03041,0),(0.013184,-0.033692,0)]))])]),
      Comment(' End here '),],),
    Group(DEF='Camera',
      children=[
      Transform(DEF='BackCameraTool',scale=(0.2,0.2,0.2),translation=(.5,0.25,.85),
        children=[
        Group(DEF='BackCameraGroup',
          children=[
          Transform(DEF='BackCamera',rotation=(0,0,1,-1.5708),translation=(-0.09,0.28,-0.5),
            children=[
            Comment(' Remove comment when using viewpoint '),
            Comment(' Transform DEF=\'RepositionCameraAtLens\' rotation=\'0 1 0 3.1416\' translation=\'0 0.2 0\'> <Viewpoint description=\'Back camera\' fieldOfView=\'2.0944\' orientation=\'1 0 0 1.5708\' position=\'0 0 0\'/> </Transform '),
            Group(DEF='BackCameraCover',
              children=[
              Shape(
                geometry=Cylinder(height=0.408,radius=0.2,solid=False,top=False),
                appearance=Appearance(
                  material=Material(DEF='BackCameraCaseCoverColor',diffuseColor=(0.921569,0.941176,0))))]),
            Group(DEF='BackCameraElectronicBase',
              children=[
              Shape(
                geometry=Cylinder(height=0.3,radius=0.19),
                appearance=Appearance(
                  material=Material(DEF='BCEB',ambientIntensity=0.19,diffuseColor=(0.05098,0.05098,0.05098),shininess=0.74)))])]),
          Transform(DEF='CameraShaftTransform',rotation=(0,0,1,1.57059),translation=(-0.09,-0.0475,-0.5),
            children=[
            Shape(
              geometry=Cylinder(height=0.375,radius=0.14),
              appearance=Appearance(
                material=Material(USE='BackCameraCaseCoverColor')))])])])]),
    Comment(' End of Camera '),
    Comment(' Copy Frame here '),
    Group(DEF='Frame',
      children=[
      Transform(DEF='BottomFrontFrame',rotation=(0,1,0,1.57059),translation=(0.5,.25,1),
        children=[
        Group(DEF='FBWFrameROV',
          children=[
          Shape(
            geometry=Cylinder(height=0.37,radius=.022225),
            appearance=Appearance(
              material=Material(USE='PVCColor')))])])]),
    Comment(' End of frame '),
    Comment(' Copy Bilge Pump here '),
    Group(DEF='BilgePumpMotors',
      children=[
      Transform(DEF='Motor',translation=(0.5,0.25,-1.25),
        children=[
        Transform(DEF='BilgePumpMotor',rotation=(0,1,0,1.579),
          children=[
          Shape(
            appearance=Appearance(
              material=Material(diffuseColor=(0,0,0))),
            geometry=Extrusion(creaseAngle=1.5708,crossSection=[(0.28125,0),(0.27,0.07875),(0.25875,0.110232),(0.2475,0.133593),(0.23625,0.152607),(0.225,0.16875),(0.21375,0.182793),(0.2025,0.195189),(0.19125,0.206211),(0.18,0.216114),(0.16875,0.225),(0.1575,0.233007),(0.14625,0.240225),(0.135,0.246732),(0.12375,0.252564),(0.1125,0.257775),(0.10125,0.262386),(0.09,0.266457),(0.07875,0.27),(0.0675,0.273039),(0.05625,0.275568),(0.045,0.277632),(0.03375,0.279225),(0.0225,0.28035),(0.01125,0.281025),(0,0.28125),(-0.01125,0.281025),(-0.0225,0.28035),(-0.03375,0.279225),(-0.045,0.277632),(-0.05625,0.275568),(-0.0675,0.273039),(-0.07875,0.27),(-0.09,0.266457),(-0.10125,0.262386),(-0.1125,0.257775),(-0.12375,0.252564),(-0.135,0.246732),(-0.14625,0.240225),(-0.1575,0.233007),(-0.16875,0.225),(-0.18,0.216114),(-0.19125,0.206211),(-0.2025,0.195189),(-0.21375,0.182793),(-0.225,0.16875),(-0.23625,0.152607),(-0.2475,0.133593),(-0.25875,0.110232),(-0.27,0.07875),(-0.28125,0.000225),(-0.27,-0.07875),(-0.25875,-0.110232),(-0.2475,-0.133593),(-0.23625,-0.152607),(-0.225,-0.16875),(-0.21375,-0.182793),(-0.2025,-0.195189),(-0.19125,-0.206211),(-0.18,-0.216114),(-0.16875,-0.225),(-0.1575,-0.233007),(-0.14625,-0.240225),(-0.135,-0.246732),(-0.12375,-0.252564),(-0.10125,-0.262386),(-0.09,-0.266457),(-0.07875,-0.27),(-0.0675,-0.273039),(-0.05625,-0.275568),(-0.045,-0.277632),(-0.03375,-0.279225),(-0.0225,-0.28035),(-0.01125,-0.281025),(0,-0.28125),(0.01125,-0.281025),(0.0225,-0.28035),(0.03375,-0.279225),(0.045,-0.277632),(0.05625,-0.275568),(0.0675,-0.273039),(0.07875,-0.27),(0.09,-0.266457),(0.10125,-0.262386),(0.1125,-0.257775),(0.12375,-0.252564),(0.135,-0.246732),(0.14625,-0.240225),(0.1575,-0.233007),(0.16875,-0.225),(0.18,-0.216114),(0.19125,-0.206211),(0.2025,-0.195189),(0.21375,-0.182793),(0.225,-0.16875),(0.23625,-0.152607),(0.2475,-0.133593),(0.25875,-0.110232),(0.27,-0.07875),(0.28125,0)],scale=[(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.2,0.2),(0.15,0.15),(0.15,0.15),(0.15,0.15),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03),(0.03,0.03)],solid=False,spine=[(0.00879,-0.026367,0),(0.00879,-0.026367,0),(0.014649,-0.026367,0),(0.020508,-0.026367,0),(0.026367,-0.026367,0),(0.032226,-0.026367,0),(0.038085,-0.026367,0),(0.043944,-0.026367,0),(0.049803,-0.026367,0),(0.055665,-0.026367,0),(0.067383,-0.026367,0),(0.112623,-0.026367,0),(0.114843,-0.026367,0),(0.117186,-0.026367,0),(0.121875,-0.026367,0),(0.124218,-0.026367,0),(0.126564,-0.026367,0),(0.130782,-0.026367,0),(0.13125,-0.026367,0),(0.133593,-0.026367,0),(0.135939,-0.026367,0),(0.138282,-0.026367,0),(0.140625,-0.026367,0)]))])])]),
    Comment(' End of Bilge motor '),
    Comment(' Copy ShaftAndPropeller from here '),
    Group(DEF='ShaftAndPropeller',
      children=[
      TimeSensor(DEF='Clock',loop=True),
      Transform(DEF='RightShaft',rotation=(1,0,0,1.57059),translation=(0.5,.25,-1),
        children=[
        Group(DEF='BilgePumpShaft',
          children=[
          Shape(
            geometry=Cylinder(height=0.0237,radius=0.0098),
            appearance=Appearance(
              material=Material(ambientIntensity=0.256,diffuseColor=(0.372322,0.371574,0.373173),shininess=0.8,specularColor=(0.890909,0.887832,0.890909))))]),
        Transform(DEF='SidePropeller',rotation=(1,0,0,1.57059),
          children=[
          Transform(DEF='Propeller',translation=(0,0,0.01),
            children=[
            Transform(rotation=(1,0,0,1.57059),scale=(0.007,0.007,0.007),
              children=[
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              Comment(' PropellerTurn ROUTEs: [from Clock.fraction_changed to set_fraction ] [from value_changed to Propeller.set_rotation ] '),
              OrientationInterpolator(DEF='PropellerTurn',key=[0,0.5,1],keyValue=[(0,0,1,0),(0,0,1,3.14),(0,0,1,6.28)]),
              ROUTE(fromField='fraction_changed',fromNode='Clock',toField='set_fraction',toNode='PropellerTurn'),
              ROUTE(fromField='value_changed',fromNode='PropellerTurn',toField='rotation',toNode='Propeller')])])])])]),
    Comment(' End of ShaftAndPropeller '),
    Comment(' /Switch> <Group DEF=\'AnimationGroup\'> <Total cycleInterval="8" gives 2 seconds to each of the 4 colors > <TimeSensor DEF=\'Timer\' cycleInterval=\'8\' enabled=\'true\' loop=\'true\'/> <IntegerSequencer DEF=\'Counter\' key=\'0 .5 \' keyValue=\'0 .5\'/> <ROUTE fromField=\'fraction_changed\' fromNode=\'Timer\' toField=\'set_fraction\' toNode=\'Counter\'/> <ROUTE fromField=\'value_changed\' fromNode=\'Counter\' toField=\'whichChoice\' toNode=\'Switcher\'/> </Group '),])
)

### X3D model conversion complete ###

####################################################################################################
# Self-test diagnostics
####################################################################################################

print('Self-test diagnostics for ROVParts.py:')
if        metaDiagnostics(newModel): # built-in utility method in X3D class
    print(metaDiagnostics(newModel)) # display meta info, hint, warning, error, TODO values in this model
# print('check newModel.XML() serialization...')
newModelXML= newModel.XML() # test export method XML() for exceptions during export
newModel.XMLvalidate()
# print(newModelXML) # diagnostic

try:
#   print('check newModel.VRML() serialization...')
    newModelVRML=newModel.VRML() # test export method VRML() for exceptions during export
    # print(prependLineNumbers(newModelVRML)) # debug
    print("Python-to-VRML export of VRML output successful", flush=True)
except Exception as err: # usually BaseException
    # https://stackoverflow.com/questions/18176602/how-to-get-the-name-of-an-exception-that-was-caught-in-python
    print("*** Python-to-VRML export of VRML output failed:", type(err).__name__, err)
    if newModelVRML: # may have failed to generate
        print(prependLineNumbers(newModelVRML, err.lineno))

try:
#   print('check newModel.JSON() serialization...')
    newModelJSON=newModel.JSON() # test export method JSON() for exceptions during export
#   print(prependLineNumbers(newModelJSON)) # debug
    print("Python-to-JSON export of JSON output successful (under development)")
except Exception as err: # usually SyntaxError
    print("*** Python-to-JSON export of JSON output failed:", type(err).__name__, err)
    if newModelJSON: # may have failed to generate
        print(prependLineNumbers(newModelJSON,err.lineno))

print("python ROVParts.py load and self-test diagnostics complete.")