dataR/m454_project.mbs

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          <angle>0.0</angle>
        </x2D>
        <x3D>
          <x3D_shapes>
            <inline>
              <name>Robot_frame_visu</name>
              <position>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.01</z>
              </position>
              <scale>
                <x>1.0</x>
                <y>1.0</y>
                <z>1.0</z>
              </scale>
              <rotation>
                <x>1.5707963267948966</x>
                <y>3.141592653589793</y>
                <z>0.0</z>
              </rotation>
              <color R="0" G="0" B="0" />
              <transparency>0.0</transparency>
              <url>PRJPATH/animationR/vrml/minibot_frame.wrl</url>
            </inline>
            <box>
              <name>Robot_color_visu</name>
              <position>
                <x>0.083</x>
                <y>0.0</y>
                <z>0.1565</z>
              </position>
              <scale>
                <x>1.0</x>
                <y>1.0</y>
                <z>1.0</z>
              </scale>
              <rotation>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.0</z>
              </rotation>
              <color R="255" G="255" B="255" />
              <transparency>0.0</transparency>
              <size>
                <x>0.083</x>
                <y>0.083</y>
                <z>0.009</z>
              </size>
            </box>
          </x3D_shapes>
        </x3D>
      </graphics>
    </body>
    <body>
      <bodyname>Right_wheel_W</bodyname>
      <parent>
        <bodyname>Main_frame_W</bodyname>
        <pointname>Right_wheel_anchor_W</pointname>
      </parent>
      <joint>
        <jointname>Right_wheel_joint_W</jointname>
        <type>R2</type>
        <nature>independent</nature>
        <graphics>
          <x2D>
            <position>
              <x>596.0</x>
              <y>741.0</y>
            </position>
          </x2D>
          <x3D />
        </graphics>
      </joint>
      <mass>0.1</mass>
      <inertia>
        <Ixx>1.0E-4</Ixx>
        <Iyy>5.0E-4</Iyy>
        <Izz>1.0E-4</Izz>
      </inertia>
      <graphics>
        <x2D>
          <position>
            <x>-32.0</x>
            <y>-8.0</y>
          </position>
          <name_pos>
            <x>0.0</x>
            <y>0.0</y>
          </name_pos>
          <shape>circle</shape>
          <size>
            <x>53.0</x>
            <y>53.0</y>
          </size>
          <control_points>
            <control_point>
              <x>21.0</x>
              <y>-8.0</y>
            </control_point>
          </control_points>
          <angle>0.0</angle>
        </x2D>
        <x3D>
          <x3D_shapes>
            <inline>
              <name>Right_wheel_visu</name>
              <position>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.0</z>
              </position>
              <scale>
                <x>1.0</x>
                <y>1.0</y>
                <z>1.0</z>
              </scale>
              <rotation>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.0</z>
              </rotation>
              <color R="0" G="0" B="0" />
              <transparency>0.0</transparency>
              <url>PRJPATH/animationR/vrml/wheel.wrl</url>
            </inline>
          </x3D_shapes>
        </x3D>
      </graphics>
    </body>
    <body>
      <bodyname>Left_wheel_W</bodyname>
      <parent>
        <bodyname>Main_frame_W</bodyname>
        <pointname>Left_wheel_anchor_W</pointname>
      </parent>
      <joint>
        <jointname>Left_wheel_joint_W</jointname>
        <type>R2</type>
        <nature>independent</nature>
        <graphics>
          <x2D>
            <position>
              <x>835.0</x>
              <y>737.0</y>
            </position>
          </x2D>
          <x3D />
        </graphics>
      </joint>
      <mass>0.1</mass>
      <inertia>
        <Ixx>1.0E-4</Ixx>
        <Iyy>5.0E-4</Iyy>
        <Izz>1.0E-4</Izz>
      </inertia>
      <graphics>
        <x2D>
          <position>
            <x>22.0</x>
            <y>-5.0</y>
          </position>
          <name_pos>
            <x>0.0</x>
            <y>0.0</y>
          </name_pos>
          <shape>circle</shape>
          <size>
            <x>53.0</x>
            <y>53.0</y>
          </size>
          <control_points>
            <control_point>
              <x>75.0</x>
              <y>-5.0</y>
            </control_point>
          </control_points>
          <angle>0.0</angle>
        </x2D>
        <x3D>
          <x3D_shapes>
            <inline>
              <name>Left_wheel_visu</name>
              <position>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.0</z>
              </position>
              <scale>
                <x>1.0</x>
                <y>1.0</y>
                <z>1.0</z>
              </scale>
              <rotation>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.0</z>
              </rotation>
              <color R="0" G="0" B="0" />
              <transparency>0.0</transparency>
              <url>PRJPATH/animationR/vrml/wheel.wrl</url>
            </inline>
          </x3D_shapes>
        </x3D>
      </graphics>
    </body>
    <body>
      <bodyname>Tower_W</bodyname>
      <parent>
        <bodyname>Main_frame_W</bodyname>
        <pointname>Tower_anchor_W</pointname>
      </parent>
      <joint>
        <jointname>Tower_joint_W</jointname>
        <type>R3</type>
        <nature>independent</nature>
        <graphics>
          <x2D>
            <position>
              <x>710.0</x>
              <y>820.0</y>
            </position>
          </x2D>
          <x3D />
        </graphics>
      </joint>
      <mass>0.5</mass>
      <inertia>
        <Ixx>1.0E-4</Ixx>
        <Iyy>1.0E-4</Iyy>
        <Izz>1.0E-4</Izz>
      </inertia>
      <graphics>
        <x2D>
          <position>
            <x>-33.0</x>
            <y>-57.0</y>
          </position>
          <name_pos>
            <x>0.0</x>
            <y>0.0</y>
          </name_pos>
          <shape>rectangle</shape>
          <size>
            <x>66.0</x>
            <y>75.0</y>
          </size>
          <control_points>
            <control_point>
              <x>33.0</x>
              <y>-57.0</y>
            </control_point>
            <control_point>
              <x>33.0</x>
              <y>18.0</y>
            </control_point>
            <control_point>
              <x>-33.0</x>
              <y>18.0</y>
            </control_point>
            <control_point>
              <x>-33.0</x>
              <y>-57.0</y>
            </control_point>
          </control_points>
          <angle>0.0</angle>
        </x2D>
        <x3D>
          <x3D_shapes>
            <inline>
              <name>Tower_visu</name>
              <position>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.01</z>
              </position>
              <scale>
                <x>1.0</x>
                <y>1.0</y>
                <z>1.0</z>
              </scale>
              <rotation>
                <x>1.5707963267948966</x>
                <y>-1.5707963267948966</y>
                <z>0.0</z>
              </rotation>
              <color R="153" G="0" B="0" />
              <transparency>0.0</transparency>
              <url>PRJPATH/animationR/vrml/tower.wrl</url>
            </inline>
          </x3D_shapes>
        </x3D>
      </graphics>
    </body>
  </bodytree>
  <user_models>
    <!--this is the userModel list-->
    <user_model>
      <name>Rolling</name>
      <parameter>
        <name>State_var</name>
        <type>state</type>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
        <value>0.0</value>
      </parameter>
    </user_model>
    <user_model>
      <name>user</name>
      <parameter>
        <name>cpp_interface</name>
        <type>structure</type>
        <structure>void</structure>
        <header />
      </parameter>
    </user_model>
  </user_models>
  <x3D>
    <background>
      <!--This is the background properties-->
      <color R="204" G="204" B="204" />
    </background>
    <shapeScaleFactors>
      <!--This is the scale factors-->
      <frame>0.2</frame>
      <joint>0.3</joint>
      <com>0.3</com>
      <point>0.3</point>
    </shapeScaleFactors>
    <viewpoints>
      <!--This is the viewpoint list-->
      <viewpoint>
        <name>Base</name>
        <joint>base</joint>
        <position>
          <x>2.5</x>
          <y>2.0</y>
          <z>2.0</z>
        </position>
        <target>
          <x>0.0</x>
          <y>0.0</y>
          <z>0.0</z>
        </target>
        <up>
          <x>0.0</x>
          <y>0.0</y>
          <z>1.0</z>
        </up>
        <projection>perspective</projection>
        <scale>1.0</scale>
        <fieldOfView>1.0</fieldOfView>
        <frontClipDst>0.01</frontClipDst>
        <backClipDst>50.0</backClipDst>
      </viewpoint>
      <viewpoint>
        <name>Aerial</name>
        <joint>base</joint>
        <position>
          <x>0.0</x>
          <y>0.0</y>
          <z>4.0</z>
        </position>
        <target>
          <x>0.0</x>
          <y>0.0</y>
          <z>0.0</z>
        </target>
        <up>
          <x>0.0</x>
          <y>0.0</y>
          <z>1.0</z>
        </up>
        <projection>parallel</projection>
        <scale>0.14</scale>
        <fieldOfView>0.785</fieldOfView>
        <frontClipDst>0.01</frontClipDst>
        <backClipDst>50.0</backClipDst>
      </viewpoint>
    </viewpoints>
    <lights>
      <!--This is the light list-->
      <directionalLight>
        <name>DefaultLight01</name>
        <joint>base</joint>
        <active />
        <direction>
          <x>2.0</x>
          <y>1.0</y>
          <z>1.0</z>
        </direction>
      </directionalLight>
      <directionalLight>
        <name>DefaultLight02</name>
        <joint>base</joint>
        <active />
        <direction>
          <x>-1.0</x>
          <y>-2.0</y>
          <z>-1.0</z>
        </direction>
      </directionalLight>
      <directionalLight>
        <name>DefaultLight03</name>
        <joint>base</joint>
        <active />
        <direction>
          <x>1.0</x>
          <y>-1.0</y>
          <z>-2.0</z>
        </direction>
      </directionalLight>
      <directionalLight>
        <name>DefaultLight04</name>
        <joint>base</joint>
        <active />
        <direction>
          <x>-1.0</x>
          <y>2.0</y>
          <z>1.0</z>
        </direction>
      </directionalLight>
    </lights>
  </x3D>
</mbsDescR7>
