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        "meta": [
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            "@name":"title",
            "@content":"Cetus.x3d"
          },
          {
            "@name":"creator",
            "@content":"Don Brutzman NPS and Gary Trimble Lockheed-Martin-Perry"
          },
          {
            "@name":"created",
            "@content":"6 September 2000"
          },
          {
            "@name":"modified",
            "@content":"20 October 2019"
          },
          {
            "@name":"description",
            "@content":"CETUS II autonomous underwater vehicle (AUV)."
          },
          {
            "@name":"Image",
            "@content":"CetusBow.png"
          },
          {
            "@name":"Image",
            "@content":"CetusStarboardSide.png"
          },
          {
            "@name":"Image",
            "@content":"CetusStern.png"
          },
          {
            "@name":"reference",
            "@content":"CetusFlyerMarch2001.pdf"
          },
          {
            "@name":"reference",
            "@content":"http://perrymare.com"
          },
          {
            "@name":"identifier",
            "@content":"https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/Cetus.x3d"
          },
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            "@name":"generator",
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          },
          {
            "@name":"license",
            "@content":"../../license.html"
          },
          {
            "@name":"translated",
            "@content":"26 March 2026"
          },
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          { "WorldInfo":
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              "@title":"Cetus.x3d"
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          },
          { "Viewpoint":
            {
              "@description":"Cetus II starboard side",
              "@orientation":[1,0,0,-0.2],
              "@position":[0,0.5,2]
            }
          },
          { "Viewpoint":
            {
              "@description":"Cetus II from behind",
              "@orientation":[0,1,0,-1.57],
              "@position":[-2.5,0.5,0]
            }
          },
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            {
              "@rotation":[1,0,0,0.2],
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                    "@description":"Cetus II port side",
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          },
          { "Viewpoint":
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              "@description":"Cetus II from ahead",
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              "@position":[2.5,0.5,0]
            }
          },
          {
            "#comment":"Convert inches to meters (39.3\" :: 1m)"
          },
          { "Transform":
            {
              "@scale":[0.025445,0.025445,0.025445],
              "-children":[
                {
                  "#comment":"Hull body. Gary says to streamline stern a bit more."
                },
                { "Switch":
                  {
                    "@whichChoice":0,
                    "-children":[
                      {
                        "#comment":"Hollow body"
                      },
                      { "Group":
                        {
                          "-children":[
                            {
                              "#comment":"stern section"
                            },
                            { "Shape":
                              {
                                "-geometry":
                                  { "Extrusion":
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                                      "@creaseAngle":3.14,
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                                        }
                                    }
                                  }
                              }
                            },
                            {
                              "#comment":"center section"
                            },
                            { "Shape":
                              {
                                "-geometry":
                                  { "Extrusion":
                                    {
                                      "@creaseAngle":1.5,
                                      "@crossSection":[-3,0,-3,-11,5,-11,4,-13,0,-14,-4,-13,-6,-10,-6,0,-6,10,-4,13,0,14,4,13,5,11,-3,11,-3,0],
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                                  },
                                "-appearance":
                                  { "Appearance":
                                    {
                                      "@USE":"InternationalOrange"
                                    }
                                  }
                              }
                            },
                            {
                              "#comment":"nose section"
                            },
                            { "Shape":
                              {
                                "-geometry":
                                  { "Extrusion":
                                    {
                                      "@creaseAngle":3.14,
                                      "@crossSection":[6,0,6,-10,4,-13,0,-14,-4,-13,-6,-10,-6,0,-6,10,-4,13,0,14,4,13,6,10,6,0],
                                      "@scale":[0.4,0.4,0.8,0.8,0.95,0.95],
                                      "@spine":[27,0,0,21,0,0,16,0,0]
                                    }
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                                "-appearance":
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                                    {
                                      "@USE":"InternationalOrange"
                                    }
                                  }
                              }
                            }
                          ]
                        }
                      },
                      {
                        "#comment":"Solid body"
                      },
                      { "Shape":
                        {
                          "-geometry":
                            { "Extrusion":
                              {
                                "@creaseAngle":3.14,
                                "@crossSection":[6,0,6,-10,4,-13,0,-14,-4,-13,-6,-10,-6,0,-6,10,-4,13,0,14,4,13,6,10,6,0],
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                                "@spine":[27,0,0,21,0,0,16,0,0,0,0,0,-10,0,0,-18,0,0,-24,0,0,-27,0,0]
                              }
                            },
                          "-appearance":
                            { "Appearance":
                              {
                                "@USE":"InternationalOrange"
                              }
                            }
                        }
                      }
                    ]
                  }
                },
                {
                  "#comment":"Stern planes"
                },
                { "Transform":
                  {
                    "@DEF":"SternPlanes",
                    "@translation":[-22,0,0],
                    "-children":[
                      { "Shape":
                        {
                          "-geometry":
                            { "Box":
                              {
                                "@size":[6,1.5,22]
                              }
                            },
                          "-appearance":
                            { "Appearance":
                              {
                                "@USE":"InternationalOrange"
                              }
                            }
                        }
                      },
                      { "Transform":
                        {
                          "@translation":[0,0,11],
                          "-children":[
                            { "Shape":
                              {
                                "@DEF":"Stabilizer",
                                "-geometry":
                                  { "Box":
                                    {
                                      "@size":[6,3,1]
                                    }
                                  },
                                "-appearance":
                                  { "Appearance":
                                    {
                                      "@USE":"InternationalOrange"
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                      },
                      { "Transform":
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                          "@translation":[0,0,-11],
                          "-children":[
                            { "Shape":
                              {
                                "@USE":"Stabilizer"
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                            }
                          ]
                        }
                      }
                    ]
                  }
                },
                {
                  "#comment":"Forward vertical thrusters"
                },
                { "Transform":
                  {
                    "@translation":[19,0,0],
                    "-children":[
                      { "Transform":
                        {
                          "@translation":[0,0,8],
                          "-children":[
                            { "Shape":
                              {
                                "@DEF":"ForwardThrusterCylinder",
                                "-geometry":
                                  { "Cylinder":
                                    {
                                      "@height":11,
                                      "@radius":2
                                    }
                                  },
                                "-appearance":
                                  { "Appearance":
                                    {
                                      "@DEF":"BlackAppearance",
                                      "-material":
                                        { "Material":
                                          {
                                            "@diffuseColor":[0.2,0.2,0.2]
                                          }
                                        }
                                    }
                                  }
                              }
                            }
                          ]
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                      },
                      { "Transform":
                        {
                          "@translation":[0,0,-8],
                          "-children":[
                            { "Shape":
                              {
                                "@USE":"ForwardThrusterCylinder"
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                            }
                          ]
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                      }
                    ]
                  }
                },
                {
                  "#comment":"Aft vertical thruster"
                },
                { "Transform":
                  {
                    "@translation":[-24,0,0],
                    "-children":[
                      { "Shape":
                        {
                          "@DEF":"AftThrusterCylinder",
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                            { "Cylinder":
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                                "@height":7,
                                "@radius":2
                              }
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                          "-appearance":
                            { "Appearance":
                              {
                                "@USE":"BlackAppearance"
                              }
                            }
                        }
                      }
                    ]
                  }
                },
                {
                  "#comment":"Long-baseline sonar transponder"
                },
                { "Transform":
                  {
                    "@translation":[-20,3.5,0],
                    "-children":[
                      { "Shape":
                        {
                          "@DEF":"LongBaselineSonarTransponder",
                          "-geometry":
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                                "@USE":"BlackAppearance"
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                            }
                        }
                      }
                    ]
                  }
                },
                {
                  "#comment":"Propellers"
                },
                { "Transform":
                  {
                    "@translation":[-27,0,0],
                    "-children":[
                      { "Transform":
                        {
                          "@scale":[20,26,26],
                          "@translation":[0,0,7],
                          "-children":[
                            { "Inline":
                              {
                                "@DEF":"PropulsionThruster",
                                "@url":["ThrusterTechnadyne.x3d","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/ThrusterTechnadyne.x3d","ThrusterTechnadyne.wrl","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/ThrusterTechnadyne.wrl"]
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                            }
                          ]
                        }
                      },
                      { "Transform":
                        {
                          "@scale":[20,26,26],
                          "@translation":[0,0,-7],
                          "-children":[
                            { "Inline":
                              {
                                "@USE":"PropulsionThruster"
                              }
                            }
                          ]
                        }
                      }
                    ]
                  }
                },
                {
                  "#comment":"Payload section"
                },
                { "Transform":
                  {
                    "@center":[0,1,0],
                    "@rotation":[0,0,1,-1.57],
                    "@translation":[0,1,0],
                    "-children":[
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                          "-geometry":
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                                "@height":32,
                                "@radius":3.5
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                          "-appearance":
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                                "@USE":"BlackAppearance"
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                      { "Transform":
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                                "@DEF":"Electronics1",
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}