• Scène (1)

#VRML V1.0 ascii
Separator {
  Translation {
    translation 2 0 2 }
  Cube {
    width 1
    height 1
    depth 1 }
  Translation {
    translation 0 0 -4 }
  Cube {
    width 1
    height 1
    depth 1 }
  Translation {
    translation -4 0 0 }
  Cube {
    width 1
    height 1
    depth 1 }
  Translation {
    translation 0 0 4 }
  Cube {
    width 1
    height 1
    depth 1 } }

• Scène (2)

#VRML V1.0 ascii
Separator {
  Separator {
    Translation {
      translation 2 0 2 }
    Cube {
      width 1
      height 1
      depth 1 } }
  Separator {
    Translation {
      translation -2 0 2 }
    Cube {
      width 1
      height 1
      depth 1 } }
  Separator {
    Translation {
      translation 2 0 -2 }
    Cube {
      width 1
      height 1
      depth 1 } }
  Separator {
    Translation {
      translation -2 0 -2 }
    Cube {
      width 1
      height 1
      depth 1 } } }

• Scène (3)

#VRML V1.0 ascii
Separator {
  Separator {
    Translation {
      translation 2 0 2 }
    Rotation {
      rotation 0 1 0 0.7854 }
    Cube {
      width 1
      height 1
      depth 1 } }
  Separator {
    Translation {
      translation -2 0 2 }
    Cube {
      width 1
      height 1
      depth 1 } }
  Separator {
    Translation {
      translation -2 0 -2 }
    Rotation {
      rotation 0 1 0 0.5236 }
    Translation {
      translation 0 0 -1 }
    Cube {
      width 1
      height 1 } }
  Separator {
    Translation {
      translation 2 0 -2 }
    Scale {
      scaleFactor 1 1 2 ^}
    Cube {
      width 1
      height 1
      depth 1 } } }

• Test des objets VRML

#VRML V1.0 ascii
Separator {
  Separator {
    Translation {
      translation 2 2 0 }
    Cube {
      width 3
      height 0.05
      depth 0.05 }
    Cube {
      width 0.05
      height 3
      depth 0.05 }
    Cube {
      width 0.05
      height 0.05
      depth 3 }
    Cube { } }
  Separator {
    Translation {
      translation -2 2 0 }
    Cube {
      width 3
      height 0.05
      depth 0.05 }
    Cube {
      width 0.05
      height 3
      depth 0.05 }
    Cube {
      width 0.05
      height 0.05
      depth 3 }
    Sphere { } }
  Separator {
    Translation {
      translation 2 -2 0 }
    Cube {
      width 3
      height 0.05
      depth 0.05 }
    Cube {
      width 0.05
      height 3
      depth 0.05 }
    Cube {
      width 0.05
      height 0.05
      depth 3 }
    Cylinder { } }
  Separator {
    Translation {
      translation -2 -2 0 }
    Cube {
      width 3
      height 0.05
      depth 0.05 }
    Cube {
      width 0.05
      height 3
      depth 0.05 }
    Cube {
      width 0.05
      height 0.05
      depth 3 }
    Cone { } } }

• Robot: r1 = p/4, r2 = p/6, r3 = p/3, d = 0.2

#VRML V1.0 ascii
Separator {
  Rotation {
    rotation 0 1 0 0.7854 }
  Translation {
    translation 1.5 0 0 }
  Cube {
    width 3
    height 1
    depth 1 }
  Translation {
    translation 1.5 0 0 }
  Rotation {
    rotation 0 1 0 0.5236 }
  Translation {
    translation 1.5 0 0 }
  Cube {
    width 3
    height 0.8
    depth 0.8 }
  Translation {
    translation 1.8 0 0 }
  Rotation {
    rotation 1 0 0 1.0472 }
  Cube {
    width 0.6
    height 1.2
    depth 1.8 }
  Separator {
    Translation {
      translation 0.8 0 0.4 }
    Cube {
      width 1.0
      height 1.2
      depth 0.4 } }
  Rotation {
    rotation 1 0 0 3.1416 }
  Separator {
    Translation {
      translation 0.8 0 0.4 }
    Cube {
      width 1.0
      height 1.2
      depth 0.4 } } }

• Robot avec cylindres: r1 = p/4, r2 = p/6, r3 = p/3, d = 0.2

#VRML V1.0 ascii
Separator {
  Rotation {
    rotation 0 1 0 0.7854 }
  Translation {
    translation 1.5 0 0 }
  Separator {
    Rotation {
      rotation 0 0 1 1.5708 }
    Cylinder {
      height 3
      radius 0.5 } }
  Translation {
    translation 1.5 0 0 }
  Sphere {
    radius 0.6 }
  Rotation {
    rotation 0 1 0 0.5236 }
  Translation {
    translation 1.5 0 0 }
  Separator {
    Rotation {
      rotation 0 0 1 1.5708 }
    Cylinder {
      height 3
      radius 0.4 } }
  Translation {
    translation 1.8 0 0 }
  Rotation {
    rotation 1 0 0 1.0472 }
  Cube {
    width 0.6
    height 1.2
    depth 1.8 }
  Translation {
    translation 0.8 0 0 }
  Separator {
    Translation {
      translation 0.8 0 0.4 }
    Cube {
      width 1.0
      height 1.2
      depth 0.4 } }
  Rotation {
    rotation 1 0 0 3.1416 }
  Separator {
    Translation {
      translation 0.8 0 0.4 }
    Cube {
      width 1.0
      height 1.2
      depth 0.4 } } }

• Robot avec cylindres et cones: r1 = p/4, r2 = p/6, r3 = p/3, r4 = p/9, d = 0.5

#VRML V1.0 ascii
Separator {
  Rotation {
    rotation 0 1 0 0.7854 }
  Translation {
    translation 1.5 0 0 }
  Separator {
    Rotation {
      rotation 0 0 1 1.5708 }
    Cylinder {
      height 3
      radius 0.5 } }
  Translation {
    translation 1.5 0 0 }
  Sphere {
    radius 0.6 }
  Rotation {
    rotation 0 1 0 0.5236 }
  Translation {
    translation 1.5 0 0 }
  Separator {
    Rotation {
      rotation 0 0 1 1.5708 }
    Cylinder {
      height 3
      radius 0.4 } }
  Translation {
    translation 1.8 0 0 }
  Rotation {
    rotation 1 0 0 1.0472 }
  Cube {
    width 0.6
    height 1.2
    depth 1.8 }
  Separator {
    Translation {
      translation 0.3 0 0.7 }
    Rotation {
      rotation 0 1 0 0.349 }
    Translation {
      translation 1.0 0 0.0 }
    Rotation {
      rotation 0 0 1 -1.5708 }
    Cone {
      bottomRadius 0.2
      height 2.0 } }
  Rotation {
    rotation 1 0 0 3.1416 }
  Separator {
    Translation {
      translation 0.3 0 0.7 }
    Rotation {
      rotation 0 1 0 0.349 }
    Translation {
      translation 1.0 0 0.0 }
    Rotation {
      rotation 0 0 1 -1.5708 }
    Cone {
      bottomRadius 0.2
      height 2.0 } } }