package Savage.Robots.UnmannedUnderwaterVehicles;

import org.web3d.x3d.jsail.Core.*;
import org.web3d.x3d.jsail.EnvironmentalEffects.*;
import org.web3d.x3d.jsail.fields.*;
import org.web3d.x3d.jsail.Geometry3D.*;
import org.web3d.x3d.jsail.Grouping.*;
import org.web3d.x3d.jsail.Navigation.*;
import org.web3d.x3d.jsail.Shape.*;
import org.web3d.x3d.jsail.Texturing.*;

// Javadoc metadata annotations follow, see below for X3DJSAIL Java source code.
/**
 * <p> Small twin-tracked underwater bottom crawler, tested during AUV Fest 2001. </p>
 <p> Related links: Catalog page <a href="../../../../Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001Index.html" target="_blank">CrawlerPerry2001</a>,  source <a href="../../../../Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001.java">CrawlerPerry2001.java</a>, <a href="https://www.web3d.org/x3d/content/examples/X3dResources.html" target="_blank">X3D Resources</a>, <a href="https://www.web3d.org/x3d/content/examples/X3dSceneAuthoringHints.html" target="_blank">X3D Scene Authoring Hints</a>, and <a href="https://www.web3d.org/x3d/content/X3dTooltips.html" target="_blank">X3D Tooltips</a>. </p>
	<table style="color:black; border:0px solid; border-spacing:10px 0px;">
        <caption>Scene Meta Information</caption>
		<tr style="background-color:silver; border-color:silver;">
			<td style="text-align:center; padding:10px 0px;"><i>meta tags</i></td>
			<td style="text-align:left;   padding:10px 0px;">&nbsp; Document Metadata </td>
		</tr>

		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> title </i> </td>
			<td> <a href="../../../../Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001.x3d">CrawlerPerry2001.x3d</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> description </i> </td>
			<td> Small twin-tracked underwater bottom crawler, tested during AUV Fest 2001. </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> creator </i> </td>
			<td> Jeffrey D. Weekley </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> created </i> </td>
			<td> 22 October 2001 </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> created </i> </td>
			<td> 29 April 2021 </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> photo </i> </td>
			<td> CrawlerPerry2001.jpg </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> photo </i> </td>
			<td> CrawlerPerryElectronicsBox.jpg </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> Image </i> </td>
			<td> <a href="../../../../Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001Model.jpg">CrawlerPerry2001Model.jpg</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> subject </i> </td>
			<td> Autonomous Underwater Vehicle AUV Crawler </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> identifier </i> </td>
			<td> <a href="https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001.x3d" target="_blank">https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001.x3d</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> generator </i> </td>
			<td> X3D-Edit 3.2, <a href="https://www.web3d.org/x3d/tools/X3D-Edit" target="_blank">https://www.web3d.org/x3d/tools/X3D-Edit</a> </td>
		</tr>
		<tr>
			<td style="text-align:right; vertical-align: text-top;"> <i> license </i> </td>
			<td> <a href="../../../../Robots/UnmannedUnderwaterVehicles/../../license.html">../../license.html</a> </td>
		</tr>
		<tr style="background-color:silver; border-color:silver;">
			<td style="text-align:center;" colspan="2">  &nbsp; </td>
		</tr>
	</table>

	<p>
		This program uses the
		<a href="https://www.web3d.org/specifications/java/X3DJSAIL.html" target="_blank">X3D Java Scene Access Interface Library (X3DJSAIL)</a>.
		It has been produced using the 
		<a href="https://www.web3d.org/x3d/stylesheets/X3dToJava.xslt" target="_blank">X3dToJava.xslt</a>
		stylesheet
	       (<a href="https://sourceforge.net/p/x3d/code/HEAD/tree/www.web3d.org/x3d/stylesheets/X3dToJava.xslt" target="_blank">version control</a>)
                which is used to create Java source code from an original <code>.x3d</code> model.
	</p>

	* @author Jeffrey D. Weekley
 */

public class CrawlerPerry2001
{
	/** Default constructor to create this object. */
	public CrawlerPerry2001 ()
	{
	  initialize();
	}

	/** Create and initialize the X3D model for this object. */
	public final void initialize()
	{
            try { // catch-all
  x3dModel = new X3D().setProfile(X3D.PROFILE_IMMERSIVE).setVersion(X3D.VERSION_3_0)
  .setHead(new head()
    .addMeta(new meta().setName(meta.NAME_TITLE      ).setContent("CrawlerPerry2001.x3d"))
    .addMeta(new meta().setName(meta.NAME_DESCRIPTION).setContent("Small twin-tracked underwater bottom crawler, tested during AUV Fest 2001."))
    .addMeta(new meta().setName(meta.NAME_CREATOR    ).setContent("Jeffrey D. Weekley"))
    .addMeta(new meta().setName(meta.NAME_CREATED    ).setContent("22 October 2001"))
    .addMeta(new meta().setName(meta.NAME_CREATED    ).setContent("29 April 2021"))
    .addMeta(new meta().setName(meta.NAME_PHOTO      ).setContent("CrawlerPerry2001.jpg"))
    .addMeta(new meta().setName(meta.NAME_PHOTO      ).setContent("CrawlerPerryElectronicsBox.jpg"))
    .addMeta(new meta().setName(meta.NAME_IMAGE      ).setContent("CrawlerPerry2001Model.jpg"))
    .addMeta(new meta().setName(meta.NAME_SUBJECT    ).setContent("Autonomous Underwater Vehicle AUV Crawler"))
    .addMeta(new meta().setName(meta.NAME_IDENTIFIER ).setContent("https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001.x3d"))
    .addMeta(new meta().setName(meta.NAME_GENERATOR  ).setContent("X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit"))
    .addMeta(new meta().setName(meta.NAME_LICENSE    ).setContent("../../license.html")))
  .setScene(new Scene()
    .addChild(new Background().setSkyColor(new MFColor(new double[] {0.1,0.8,0.8})))
    .addChild(new Viewpoint().setDescription("Crawler Perry 2001 AUV").setPosition(0.0,0.0,1.0))
    .addChild(new LOD().setRange(new double[] {100.0,1000.0})
      .addChild(new Group("DetailedCrawler")
        .addChild(new Group("Chassis")
          .addChild(new Transform()
            .addChild(new Shape()
              .setGeometry(new Box().setSize(0.5,0.11,0.2))
              .setAppearance(new Appearance("Black")
                .setMaterial(new Material().setDiffuseColor(0.15,0.2,0.225))))
            .addChild(new Transform().setRotation(1.0,0.0,0.0,1.57).setTranslation(0.25,0.0,0.0)
              .addChild(new Shape()
                .setGeometry(new Cylinder().setHeight(0.2).setRadius(0.055))
                .setAppearance(new Appearance().setUSE("Black")))))
          .addChild(new Transform("ElectronicsBox").setTranslation(0.125,0.14,0.0)
            .addChild(new Shape()
              .setGeometry(new Box().setSize(0.175,0.166,0.125))
              .setAppearance(new Appearance()
                .setTexture(new ImageTexture().setUrl(new String[] {"CrawlerPerryElectronicsBox.jpg","https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/CrawlerPerryElectronicsBox.jpg"}))))
            .addChild(new Transform().setTranslation(0.04,0.1,0.0)
              .addChild(new Shape()
                .setGeometry(new Cylinder().setHeight(0.04).setRadius(0.033))
                .setAppearance(new Appearance().setUSE("Black"))))))
        .addChild(new Group("RightWheels")
          .addChild(new Transform("RightHub").setRotation(1.0,0.0,0.0,1.57).setTranslation(0.225,0.0,0.15)
            .addChild(new Shape()
              .setGeometry(new Cylinder("Wheel").setHeight(0.02).setRadius(0.125))
              .setAppearance(new Appearance()
                .setMaterial(new Material("Melamine").setDiffuseColor(0.68,0.375,0.18))))
            .addChild(new Transform().setTranslation(0.0,-0.11,0.0)
              .addChild(new Shape("Axle")
                .setGeometry(new Cylinder().setHeight(0.25).setRadius(0.0125))
                .setAppearance(new Appearance("StainlessSteel")
                  .setMaterial(new Material().setDiffuseColor(0.66,0.66,0.66).setShininess(0.4).setSpecularColor(0.78,0.78,0.88))))
              .addChild(new Transform().setTranslation(0.0,0.135,0.0)
                .addChild(new Shape()
                  .setGeometry(new Cone().setBottomRadius(0.0125).setHeight(0.02))
                  .setAppearance(new Appearance().setUSE("StainlessSteel")))
                .addChild(new Transform()
                  .addChild(new Shape()
                    .setGeometry(new Cylinder().setHeight(0.025).setRadius(0.0025))
                    .setAppearance(new Appearance().setUSE("StainlessSteel"))))
                .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                  .addChild(new Shape()
                    .setGeometry(new Cylinder().setHeight(0.0025).setRadius(0.005))
                    .setAppearance(new Appearance().setUSE("StainlessSteel"))))))
            .addChild(new Transform("RightWheelHoles")
              .addChild(new Transform("WheelHole").setTranslation(0.0,0.0,0.075)
                .addChild(new Shape()
                  .setGeometry(new Cylinder().setHeight(0.0212).setRadius(0.025).setSide(false))
                  .setAppearance(new Appearance().setUSE("Black"))))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,1.25)
                .addChild(new Transform().setUSE("WheelHole")))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,2.5)
                .addChild(new Transform().setUSE("WheelHole")))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,3.75)
                .addChild(new Transform().setUSE("WheelHole")))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,5.0)
                .addChild(new Transform().setUSE("WheelHole")))))
          .addChild(new Transform().setTranslation(-0.45,0.0,0.0)
            .addChild(new Transform().setUSE("RightHub"))))
        .addChild(new Group("LeftWheels")
          .addChild(new Transform("LeftHub").setRotation(1.0,0.0,0.0,1.57).setTranslation(0.225,0.0,-0.15)
            .addChild(new Shape()
              .setGeometry(new Cylinder().setUSE("Wheel"))
              .setAppearance(new Appearance()
                .setMaterial(new Material().setUSE("Melamine"))))
            .addChild(new Transform().setTranslation(0.0,0.11,0.0)
              .addChild(new Shape().setUSE("Axle"))
              .addChild(new Transform().setRotation(1.0,0.0,0.0,3.14).setTranslation(0.0,-0.135,0.0)
                .addChild(new Shape()
                  .setGeometry(new Cone().setBottomRadius(0.0125).setHeight(0.02))
                  .setAppearance(new Appearance().setUSE("StainlessSteel")))
                .addChild(new Transform()
                  .addChild(new Shape()
                    .setGeometry(new Cylinder().setHeight(0.025).setRadius(0.0025))
                    .setAppearance(new Appearance().setUSE("StainlessSteel"))))
                .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                  .addChild(new Shape()
                    .setGeometry(new Cylinder().setHeight(0.0025).setRadius(0.005))
                    .setAppearance(new Appearance().setUSE("StainlessSteel"))))))
            .addChild(new Transform("LeftWheelHoles")
              .addChild(new Transform("LeftWheelHole").setTranslation(0.0,0.0,0.075)
                .addChild(new Shape()
                  .setGeometry(new Cylinder().setHeight(0.0212).setRadius(0.025).setSide(false))
                  .setAppearance(new Appearance().setUSE("Black"))))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,1.25)
                .addChild(new Transform().setUSE("LeftWheelHole")))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,2.5)
                .addChild(new Transform().setUSE("LeftWheelHole")))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,3.75)
                .addChild(new Transform().setUSE("LeftWheelHole")))
              .addChild(new Transform().setRotation(0.0,1.0,0.0,5.0)
                .addChild(new Transform().setUSE("LeftWheelHole")))))
          .addChild(new Transform().setTranslation(-0.45,0.0,0.0)
            .addChild(new Transform().setUSE("LeftHub"))))
        .addChild(new Group("RightTrack")
          .addChild(new Group("UpperRightTrack")
            .addChild(new Transform().setTranslation(0.0,0.0,-0.05)
              .addChild(new Transform().setTranslation(0.025,0.125,0.19)
                .addChild(new Group("TrackSegment")
                  .addChild(new Transform().setTranslation(0.15,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.4,0.0,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.05,0.01,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))
                      .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                        .addChild(new Shape()
                          .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                          .setAppearance(new Appearance().setUSE("Black"))))
                      .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                        .addChild(new Shape()
                          .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                          .setAppearance(new Appearance().setUSE("Black"))))
                      .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                        .addChild(new Shape()
                          .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                          .setAppearance(new Appearance().setUSE("Black"))))))
                  .addChild(new Transform().setTranslation(-0.05,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))))
                  .addChild(new Transform().setTranslation(-0.1,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))))
                  .addChild(new Transform().setTranslation(0.05,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))))
                  .addChild(new Transform().setTranslation(0.1,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))))
                  .addChild(new Transform().setTranslation(-0.15,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))))
                  .addChild(new Transform().setTranslation(0.2,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))))
                  .addChild(new Transform().setTranslation(-0.2,0.0,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.05,0.01,0.125))
                      .setAppearance(new Appearance().setUSE("Black")))
                    .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black"))))
                    .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                      .addChild(new Shape()
                        .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                        .setAppearance(new Appearance().setUSE("Black")))))))
              .addChild(new Transform().setTranslation(0.025,0.125,0.19)
                .addChild(new Transform("SingleTrack")
                  .addChild(new Shape()
                    .setGeometry(new Box().setSize(0.05,0.01,0.125))
                    .setAppearance(new Appearance().setUSE("Black")))
                  .addChild(new Transform().setTranslation(0.01875,0.00325,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                      .setAppearance(new Appearance().setUSE("Black"))))
                  .addChild(new Transform().setTranslation(-0.01875,0.00325,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                      .setAppearance(new Appearance().setUSE("Black"))))
                  .addChild(new Transform().setTranslation(0.0,0.00625,0.0)
                    .addChild(new Shape()
                      .setGeometry(new Box().setSize(0.0025,0.0125,0.125))
                      .setAppearance(new Appearance().setUSE("Black"))))))
              .addChild(new Group("AroundTheWheel")
                .addChild(new Transform().setCenter(0.0,-0.125,0.0).setRotation(0.0,0.0,1.0,-0.4).setTranslation(0.225,0.125,0.19)
                  .addChild(new Transform()
                    .addChild(new Transform().setUSE("SingleTrack"))))
                .addChild(new Transform().setCenter(0.0,-0.125,0.0).setRotation(0.0,0.0,1.0,-0.8).setTranslation(0.225,0.125,0.19)
                  .addChild(new Transform()
                    .addChild(new Transform().setUSE("SingleTrack"))))
                .addChild(new Transform().setCenter(0.0,-0.125,0.0).setRotation(0.0,0.0,1.0,-1.2).setTranslation(0.225,0.125,0.19)
                  .addChild(new Transform()
                    .addChild(new Transform().setUSE("SingleTrack"))))
                .addChild(new Transform().setCenter(0.0,-0.125,0.0).setRotation(0.0,0.0,1.0,-1.6).setTranslation(0.225,0.125,0.19)
                  .addChild(new Transform()
                    .addChild(new Transform().setUSE("SingleTrack"))))
                .addChild(new Transform().setCenter(0.0,-0.125,0.0).setRotation(0.0,0.0,1.0,-2.0).setTranslation(0.225,0.125,0.19)
                  .addChild(new Transform()
                    .addChild(new Transform().setUSE("SingleTrack"))))
                .addChild(new Transform().setCenter(0.0,-0.125,0.0).setRotation(0.0,0.0,1.0,-2.4).setTranslation(0.225,0.125,0.19)
                  .addChild(new Transform()
                    .addChild(new Transform().setUSE("SingleTrack"))))
                .addChild(new Transform().setCenter(0.0,-0.125,0.0).setRotation(0.0,0.0,1.0,-2.8).setTranslation(0.225,0.125,0.19)
                  .addChild(new Transform()
                    .addChild(new Transform().setUSE("SingleTrack")))))))
          .addChild(new Group("BottomRightTrack")
            .addChild(new Transform().setRotation(0.0,0.0,1.0,3.14)
              .addChild(new Group().setUSE("UpperRightTrack")))))
        .addChild(new Group("LeftTrack")
          .addChild(new Transform().setTranslation(0.0,0.0,-0.2875)
            .addChild(new Group().setUSE("RightTrack")))))
      .addChild(new Group("BoxCrawler")
        .addChild(new Transform().setScale(0.95,0.8,0.95)
          .addChild(new Shape()
            .setGeometry(new Box().setSize(0.8,0.45,0.5))
            .setAppearance(new Appearance()
              .setMaterial(new Material().setDiffuseColor(0.45,0.45,0.55))))))
      .addChild(new WorldInfo().setInfo(new String[] {"null node for LOD"}))));
            }
            catch (Exception ex)
            {       
                System.err.println ("*** Further hints on X3DJSAIL errors and exceptions at");
                System.err.println ("*** https://www.web3d.org/specifications/java/X3DJSAIL.html");
                throw (ex);
            }
	}
	// end of initialize() method

	/** The initialized model object, created within initialize() method. */
	private X3D x3dModel;

	/** 
	 * Provide a 
	 * <a href="https://dzone.com/articles/java-copy-shallow-vs-deep-in-which-you-will-swim" target="_blank">shallow copy</a>
	 * of the X3D model.
	 * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/Core/X3D.html">X3D</a>
	 * @return CrawlerPerry2001 model
	 */
	public X3D getX3dModel()
	{	  
		return x3dModel;
	}
	   
    /** 
     * Default main() method provided for test purposes, uses CommandLine to set global ConfigurationProperties for this object.
     * @param args array of input parameters, provided as arguments
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/Core/X3D.html#handleArguments-java.lang.String:A-">X3D.handleArguments(args)</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/Core/X3D.html#validationReport--">X3D.validationReport()</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/CommandLine.html">CommandLine</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/CommandLine.html#USAGE">CommandLine.USAGE</a>
     * @see <a href="https://www.web3d.org/specifications/java/javadoc/org/web3d/x3d/jsail/ConfigurationProperties.html">ConfigurationProperties</a>
     */
    public static void main(String args[])
    {
        System.out.println("Build this X3D model, showing validation diagnostics...");
        X3D thisExampleX3dModel = new CrawlerPerry2001().getX3dModel();
//      System.out.println("X3D model construction complete.");
	
        // next handle command line arguments
        boolean hasArguments = (args != null) && (args.length > 0);
        boolean validate = true; // default
        boolean argumentsLoadNewModel = false;
        String  fileName = new String();

        if (args != null)
        {
                for (String arg : args)
                {
                        if (arg.toLowerCase().startsWith("-v") || arg.toLowerCase().contains("validate"))
                        {
                                validate = true; // making sure
                        }
                        if (arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3D) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_CLASSICVRML) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_X3DB) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_VRML97) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_EXI) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_GZIP) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_ZIP) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_HTML) ||
                                arg.toLowerCase().endsWith(X3D.FILE_EXTENSION_XHTML))
                        {
                                argumentsLoadNewModel = true;
                                fileName = arg;
                        }
                }
        }
        if      (argumentsLoadNewModel)
                System.out.println("WARNING: \"Savage.Robots.UnmannedUnderwaterVehicles.CrawlerPerry2001\" model invocation is attempting to load file \"" + fileName + "\" instead of simply validating itself... file loading ignored.");
        else if (hasArguments) // if no arguments provided, this method produces usage warning
                thisExampleX3dModel.handleArguments(args);
	
        if (validate)
        {
            //  System.out.println("--- TODO fix duplicated outputs ---"); // omit when duplicated outputs problem is solved/refactored
		String validationResults = thisExampleX3dModel.validationReport();
            //  System.out.println("-----------------------------------"); // omit when duplicated outputs problem is solved/refactored
                System.out.print("Savage.Robots.UnmannedUnderwaterVehicles.CrawlerPerry2001 self-validation test confirmation: ");
                if (!validationResults.equals("success"))
                    System.out.println();
                System.out.println(validationResults.trim());

                // experimental: test X3DJSAIL output files
                // Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001_JavaExport.* file validation is checked when building X3D Example Archives
                String filenameX3D  = "Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001_JavaExport.x3d"; 
                String filenameX3DV = "Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001_JavaExport.x3dv"; 
                String filenameJSON = "Robots/UnmannedUnderwaterVehicles/CrawlerPerry2001_JavaExport.json";
                thisExampleX3dModel.toFileX3D        (filenameX3D);
                thisExampleX3dModel.toFileClassicVRML(filenameX3DV);
// TODO         thisExampleX3dModel.toFileJSON       (filenameJSON);
        }
    }
}