#################################################################################################### # # Invoking X3D model self-test: # # $ python CrawlerPerry2001.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='3.0', head=head( children=[ meta(content='CrawlerPerry2001.x3d',name='title'), meta(content='Small twin-tracked underwater bottom crawler, tested during AUV Fest 2001.',name='description'), meta(content='Jeffrey D. Weekley',name='creator'), meta(content='22 October 2001',name='created'), meta(content='29 April 2021',name='created'), meta(content='CrawlerPerry2001.jpg',name='photo'), meta(content='CrawlerPerryElectronicsBox.jpg',name='photo'), meta(content='CrawlerPerry2001Model.jpg',name='Image'), meta(content='Autonomous Underwater Vehicle AUV Crawler',name='subject'), meta(content='https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001.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')]), Scene=Scene( children=[ Background(skyColor=[(0.1,0.8,0.8)]), Viewpoint(description='Crawler Perry 2001 AUV',position=(0,0,1)), LOD(range=[100,1000], children=[ Group(DEF='DetailedCrawler', children=[ Group(DEF='Chassis', children=[ Transform( children=[ Shape( geometry=Box(size=(0.5,0.11,0.2)), appearance=Appearance(DEF='Black', material=Material(diffuseColor=(0.15,0.2,0.225)))), Transform(rotation=(1,0,0,1.57),translation=(0.25,0,0), children=[ Shape( geometry=Cylinder(height=0.2,radius=0.055), appearance=Appearance(USE='Black'))])]), Transform(DEF='ElectronicsBox',translation=(0.125,0.14,0), children=[ Shape( geometry=Box(size=(0.175,0.166,0.125)), appearance=Appearance( texture=ImageTexture(url=["CrawlerPerryElectronicsBox.jpg","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/CrawlerPerryElectronicsBox.jpg"]))), Transform(translation=(0.04,0.1,0), children=[ Shape( geometry=Cylinder(height=0.04,radius=0.033), appearance=Appearance(USE='Black'))])])]), Group(DEF='RightWheels', children=[ Transform(DEF='RightHub',rotation=(1,0,0,1.57),translation=(0.225,0,0.15), children=[ Shape( geometry=Cylinder(DEF='Wheel',height=0.02,radius=0.125), appearance=Appearance( material=Material(DEF='Melamine',diffuseColor=(0.68,0.375,0.18)))), Transform(translation=(0,-0.11,0), children=[ Shape(DEF='Axle', geometry=Cylinder(height=0.25,radius=0.0125), appearance=Appearance(DEF='StainlessSteel', material=Material(diffuseColor=(0.66,0.66,0.66),shininess=0.4,specularColor=(0.78,0.78,0.88)))), Transform(translation=(0,0.135,0), children=[ Shape( geometry=Cone(bottomRadius=0.0125,height=0.02), appearance=Appearance(USE='StainlessSteel')), Transform( children=[ Shape( geometry=Cylinder(height=0.025,radius=0.0025), appearance=Appearance(USE='StainlessSteel'))]), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Cylinder(height=0.0025,radius=0.005), appearance=Appearance(USE='StainlessSteel'))])])]), Transform(DEF='RightWheelHoles', children=[ Transform(DEF='WheelHole',translation=(0,0,0.075), children=[ Shape( geometry=Cylinder(height=0.0212,radius=0.025,side=False), appearance=Appearance(USE='Black'))]), Transform(rotation=(0,1,0,1.25), children=[ Transform(USE='WheelHole')]), Transform(rotation=(0,1,0,2.5), children=[ Transform(USE='WheelHole')]), Transform(rotation=(0,1,0,3.75), children=[ Transform(USE='WheelHole')]), Transform(rotation=(0,1,0,5), children=[ Transform(USE='WheelHole')])])]), Transform(translation=(-0.45,0,0), children=[ Transform(USE='RightHub')])]), Group(DEF='LeftWheels', children=[ Transform(DEF='LeftHub',rotation=(1,0,0,1.57),translation=(0.225,0,-0.15), children=[ Shape( geometry=Cylinder(USE='Wheel'), appearance=Appearance( material=Material(USE='Melamine'))), Transform(translation=(0,0.11,0), children=[ Shape(USE='Axle'), Transform(rotation=(1,0,0,3.14),translation=(0,-0.135,0), children=[ Shape( geometry=Cone(bottomRadius=0.0125,height=0.02), appearance=Appearance(USE='StainlessSteel')), Transform( children=[ Shape( geometry=Cylinder(height=0.025,radius=0.0025), appearance=Appearance(USE='StainlessSteel'))]), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Cylinder(height=0.0025,radius=0.005), appearance=Appearance(USE='StainlessSteel'))])])]), Transform(DEF='LeftWheelHoles', children=[ Transform(DEF='LeftWheelHole',translation=(0,0,0.075), children=[ Shape( geometry=Cylinder(height=0.0212,radius=0.025,side=False), appearance=Appearance(USE='Black'))]), Transform(rotation=(0,1,0,1.25), children=[ Transform(USE='LeftWheelHole')]), Transform(rotation=(0,1,0,2.5), children=[ Transform(USE='LeftWheelHole')]), Transform(rotation=(0,1,0,3.75), children=[ Transform(USE='LeftWheelHole')]), Transform(rotation=(0,1,0,5), children=[ Transform(USE='LeftWheelHole')])])]), Transform(translation=(-0.45,0,0), children=[ Transform(USE='LeftHub')])]), Group(DEF='RightTrack', children=[ Group(DEF='UpperRightTrack', children=[ Transform(translation=(0,0,-0.05), children=[ Transform(translation=(0.025,0.125,0.19), children=[ Group(DEF='TrackSegment', children=[ Transform(translation=(0.15,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.4,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])])]), Transform(translation=(-0.05,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])]), Transform(translation=(-0.1,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])]), Transform(translation=(0.05,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])]), Transform(translation=(0.1,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])]), Transform(translation=(-0.15,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])]), Transform(translation=(0.2,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])]), Transform(translation=(-0.2,0,0), children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])])])]), Transform(translation=(0.025,0.125,0.19), children=[ Transform(DEF='SingleTrack', children=[ Shape( geometry=Box(size=(0.05,0.01,0.125)), appearance=Appearance(USE='Black')), Transform(translation=(0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(-0.01875,0.00325,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))]), Transform(translation=(0,0.00625,0), children=[ Shape( geometry=Box(size=(0.0025,0.0125,0.125)), appearance=Appearance(USE='Black'))])])]), Group(DEF='AroundTheWheel', children=[ Transform(center=(0,-0.125,0),rotation=(0,0,1,-0.4),translation=(0.225,0.125,0.19), children=[ Transform( children=[ Transform(USE='SingleTrack')])]), Transform(center=(0,-0.125,0),rotation=(0,0,1,-0.8),translation=(0.225,0.125,0.19), children=[ Transform( children=[ Transform(USE='SingleTrack')])]), Transform(center=(0,-0.125,0),rotation=(0,0,1,-1.2),translation=(0.225,0.125,0.19), children=[ Transform( children=[ Transform(USE='SingleTrack')])]), Transform(center=(0,-0.125,0),rotation=(0,0,1,-1.6),translation=(0.225,0.125,0.19), children=[ Transform( children=[ Transform(USE='SingleTrack')])]), Transform(center=(0,-0.125,0),rotation=(0,0,1,-2),translation=(0.225,0.125,0.19), children=[ Transform( children=[ Transform(USE='SingleTrack')])]), Transform(center=(0,-0.125,0),rotation=(0,0,1,-2.4),translation=(0.225,0.125,0.19), children=[ Transform( children=[ Transform(USE='SingleTrack')])]), Transform(center=(0,-0.125,0),rotation=(0,0,1,-2.8),translation=(0.225,0.125,0.19), children=[ Transform( children=[ Transform(USE='SingleTrack')])])])])]), Group(DEF='BottomRightTrack', children=[ Transform(rotation=(0,0,1,3.14), children=[ Group(USE='UpperRightTrack')])])]), Group(DEF='LeftTrack', children=[ Transform(translation=(0,0,-0.2875), children=[ Group(USE='RightTrack')])])]), Group(DEF='BoxCrawler', children=[ Transform(scale=(0.95,0.8,0.95), children=[ Shape( geometry=Box(size=(0.8,0.45,0.5)), appearance=Appearance( material=Material(diffuseColor=(0.45,0.45,0.55))))])]), WorldInfo(info=["null node for LOD"])])]) ) ### X3D model conversion complete ### #################################################################################################### # Self-test diagnostics #################################################################################################### print('Self-test diagnostics for CrawlerPerry2001.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 CrawlerPerry2001.py load and self-test diagnostics complete.")