<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.3//EN" "https://www.web3d.org/specifications/x3d-3.3.dtd">
<X3D profile='Immersive'
version='3.3'
xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance'
xsd:noNamespaceSchemaLocation
='
https://www.web3d.org/specifications/x3d-3.3.xsd
'
>
<head>
</head>
<!--
<!--
Index for DEF nodes:
finger_base,
finger_middle,
finger_tip,
finger1,
finger2,
finger3,
finger4,
hand,
HandColor,
palm,
thumb,
vein
Index for Viewpoint node:
Viewpoint_1
-->
<Scene>
<!-- Each of the finger joints are controlled by a separate rotation. Changing the rotation angles (by editing this file) will open and close the hand. -->
<!-- For convenience, each of the hand's parts are spearately authored within a Switch node whose 'whichChoice' field is set to -1 which forces the parts to be skipped during drawing. The parts in the Switch, however, are assembled later in a 'hand' shape at the end of the Switch, and that shape is then instanced outside of the Switch. The effect is to create a file structure that enables you to build things piece by piece, then use Transform's later on to assemble those pieces into a drawn shape. -->
<WorldInfo info='"copyright (c) 1997, David R. Nadeau"' title='Robotic hand juggling primitives'/>
<Viewpoint description='Entry view'/>
<NavigationInfo/>
<Switch whichChoice='-1'>
<Shape>
<Appearance DEF='HandColor'>
<Material ambientIntensity='0.3' diffuseColor='0.3 0.3 0.5' shininess='0.1' specularColor='0.7 0.7 0.8'/>
</Appearance>
</Shape>
<Group DEF='finger_base'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.41'/>
</Shape>
<Transform translation='0.0 0.875 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='1.75' radius='0.35'/>
</Shape>
<Transform translation='0.0 0.835 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.35'/>
</Shape>
</Transform>
</Transform>
</Group>
<Transform DEF='finger_middle' translation='0.0 0.5 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='1.0' radius='0.315'/>
</Shape>
<Transform translation='0.0 0.5 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.32'/>
</Shape>
</Transform>
</Transform>
<Transform DEF='finger_tip' rotation='1.0 0.0 0.0 -0.1'>
<Transform translation='0.0 0.4 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='0.75' radius='0.27'/>
</Shape>
<Transform scale='1.0 0.7 1.0' translation='0.0 0.35 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.235'/>
</Shape>
</Transform>
</Transform>
</Transform>
<Transform DEF='finger1' rotation='0.0 0.0 1.0 0.035'>
<Transform rotation='0.0 1.0 0.0 -0.03'>
<Transform rotation='1.0 0.0 0.0 -0.2'>
<Group USE='
finger_base'/>
<Transform rotation='1.0 0.0 0.0 -0.2' translation='0.0 1.71 0.0'>
<Transform USE='
finger_middle'/>
<Transform rotation='1.0 0.0 0.0 -0.2' translation='0.0 1.0 0.0'>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
<Transform DEF='finger2' scale='1.01 1.15 1.01'>
<Transform>
<Transform rotation='1.0 0.0 0.0 -0.4' translation='0.0 0.2 0.0'>
<Group USE='
finger_base'/>
<Transform rotation='1.0 0.0 0.0 -0.4' translation='0.0 1.71 0.0'>
<Transform USE='
finger_middle'/>
<Transform rotation='1.0 0.0 0.0 -0.4' translation='0.0 1.0 0.0'>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
<Transform DEF='finger3' rotation='0.0 0.0 1.0 -0.0175' scale='1.0 1.05 1.0'>
<Transform rotation='0.0 1.0 0.0 0.065'>
<Transform rotation='1.0 0.0 0.0 -0.6' translation='0.0 0.1 0.0'>
<Group USE='
finger_base'/>
<Transform rotation='1.0 0.0 0.0 -0.4' translation='0.0 1.71 0.0'>
<Transform USE='
finger_middle'/>
<Transform rotation='1.0 0.0 0.0 -0.4' translation='0.0 1.0 0.0'>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
<Transform DEF='finger4' rotation='0.0 0.0 1.0 -0.0698' scale='0.9 0.9 0.9'>
<Transform rotation='0.0 1.0 0.0 0.1'>
<Transform rotation='1.0 0.0 0.0 -0.7' translation='0.0 -0.2 0.0'>
<Group USE='
finger_base'/>
<Transform rotation='1.0 0.0 0.0 -0.4' translation='0.0 1.71 0.0'>
<Transform USE='
finger_middle'/>
<Transform rotation='1.0 0.0 0.0 -0.4' translation='0.0 1.0 0.0'>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
<Transform DEF='thumb' rotation='0.0 0.0 1.0 0.7'>
<Transform rotation='0.0 0.0 1.0 0.1'>
<Transform rotation='0.0 1.0 0.0 -0.9' scale='0.7 0.7 0.8'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.9'/>
</Shape>
<Transform translation='0.0 1.1 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder radius='0.55'/>
</Shape>
<Transform translation='0.0 0.85 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.58'/>
</Shape>
<Transform rotation='1.0 0.0 0.0 0.08'>
<Transform translation='0.0 0.6 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='1.2' radius='0.41'/>
</Shape>
<Transform translation='0.0 0.6 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.45'/>
</Shape>
<Transform rotation='1.0 0.0 0.0 0.13'>
<Transform rotation='1.0 0.0 0.0 -0.1'>
<Transform translation='0.0 0.5 0.05'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='1.0' radius='0.325'/>
</Shape>
<Transform scale='1.0 0.7 1.0' translation='0.0 0.5 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.29'/>
</Shape>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
</Transform>
<Group DEF='palm'>
<Transform translation='-0.05 0.875 -0.03'>
<Shape>
<Appearance USE='
HandColor'/>
<Box size='2.85 2.45 0.6'/>
</Shape>
</Transform>
<Transform scale='1.1 0.7 0.3' translation='-0.9 0.2 -0.2'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='1.1'/>
</Shape>
</Transform>
<Transform scale='0.9 0.8 0.3' translation='0.5 0.0 -0.2'>
</Transform>
<Transform scale='1.5 1.0 1.0' translation='0.0 -0.6 0.0'>
<Transform rotation='1.0 0.0 0.0 -0.4'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='0.1' radius='1.1'/>
</Shape>
<Transform translation='0.0 -0.3 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Sphere radius='0.8'/>
</Shape>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='0.1' radius='1.1'/>
</Shape>
<Transform translation='0.0 -1.3 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder radius='0.6'/>
</Shape>
</Transform>
</Transform>
</Transform>
</Transform>
<Transform translation='0.0 -0.475 0.345'>
<Transform rotation='0.0 0.0 1.0 0.15'>
<Transform DEF='vein' translation='0.0 1.375 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='2.85' radius='0.15'/>
</Shape>
</Transform>
</Transform>
<Transform rotation='0.0 0.0 1.0 0.45'>
</Transform>
<Transform rotation='0.0 0.0 1.0 -0.15'>
</Transform>
<Transform rotation='0.0 0.0 1.0 -0.45'>
</Transform>
<Transform rotation='0.0 0.0 1.0 1.15'>
<Transform translation='0.0 0.875 0.0'>
<Shape>
<Appearance USE='
HandColor'/>
<Cylinder height='1.75' radius='0.15'/>
</Shape>
</Transform>
</Transform>
</Transform>
</Group>
<Group DEF='hand'>
<Transform USE='
finger1'/>
<Transform translation='0.8 0.0 0.0'>
<Transform USE='
finger2'/>
<Transform translation='0.8 0.0 0.0'>
<Transform USE='
finger3'/>
<Transform translation='0.8 0.0 0.0'>
</Transform>
</Transform>
</Transform>
<Transform translation='-0.4 -2.0 0.0'>
<Transform USE='
thumb'/>
</Transform>
<Transform translation='1.2 -2.2 0.0'>
</Transform>
</Group>
</Switch>
<Transform rotation='0.0 1.0 0.0 1.0' translation='0.0 -2.0 0.0'>
<Transform rotation='1.0 0.0 0.0 1.9'>
</Transform>
</Transform>
<Transform rotation='1.0 0.0 1.0 0.3' translation='1.5 1.0 0.0'>
<Shape>
<Appearance>
<Material diffuseColor='1.0 0.0 0.0'/>
</Appearance>
<Cone/>
</Shape>
</Transform>
<Transform translation='2.0 3.0 -0.5'>
<Shape>
<Appearance>
<Material diffuseColor='1.0 1.0 0.0'/>
</Appearance>
<Sphere/>
</Shape>
</Transform>
<Transform rotation='1.0 0.0 0.2 0.82' translation='-0.6 0.8 0.5'>
<Shape>
<Appearance>
<Material diffuseColor='0.0 0.7 1.0'/>
</Appearance>
<Cylinder height='1.5' radius='0.75'/>
</Shape>
</Transform>
<Transform rotation='1.0 0.0 0.7 1.3' translation='0.0 2.6 -1.1'>
<Shape>
<Appearance>
<Material diffuseColor='0.0 1.0 0.0'/>
</Appearance>
<Box size='1.25 1.25 1.25'/>
</Shape>
</Transform>
</Scene>
</X3D>
<!--
<!--
Index for DEF nodes:
finger_base,
finger_middle,
finger_tip,
finger1,
finger2,
finger3,
finger4,
hand,
HandColor,
palm,
thumb,
vein
Index for Viewpoint node:
Viewpoint_1
-->
-->
<!--
Online at
https://www.web3d.org/x3d/content/examples/Vrml2Sourcebook/Siggraph98Course/HandIndex.html
-->
<!--
Version control at
https://sourceforge.net/p/x3d/code/HEAD/tree/www.web3d.org/x3d/content/examples/Vrml2Sourcebook/Siggraph98Course/Hand.x3d
-->
<!--
Color legend: X3D terminology
<X3dNode
DEF='idName' field='value'/>
matches XML terminology
<XmlElement
DEF='idName' attribute='value'/>
(Light-blue background: event-based behavior node or statement)
(Grey background inside box: inserted documentation)
(Magenta background: X3D Extensibility)
-->
<!--
For additional help information about X3D scenes, please see X3D Tooltips, X3D Resources, and X3D Scene Authoring Hints.
-->