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13 % Base Points (wrt the base reference frame)
40 % Platform Points (wrt the platform reference frame)
66 % Center of the base and platform used to display
67 cbx:=(a1x+a2x+a3x+a4x+a5x+a6x)/6
68 cby:=(a1y+a2y+a3y+a4y+a5y+a6y)/6
69 cbz:=(a1z+a2z+a3z+a4z+a5z+a6z)/6
71 cpx:=(b1x+b2x+b3x+b4x+b5x+b6x)/6
72 cpy:=(b1y+b2y+b3y+b4y+b5y+b6y)/6
73 cpz:=(b1z+b2z+b3z+b4z+b5z+b6z)/6
78 % Radius of spheres. Sph-Sph joints already plot
79 % an sphere at the extremes of the cylinder but
80 % we draw a larger sphere with another color
85 base : color (0.73,0.54,0.58)
86 sphere rs (a1x,a1y,a1z)
87 sphere rs (a2x,a2y,a2z)
88 sphere rs (a3x,a3y,a3z)
89 sphere rs (a4x,a4y,a4z)
90 sphere rs (a5x,a5y,a5z)
91 sphere rs (a6x,a6y,a6z)
92 % optionally draw the base
93 % cylinder rb (a1x,a1y,a1z) (cbx,cby,cbz)
94 % cylinder rb (a2x,a2y,a2z) (cbx,cby,cbz)
95 % cylinder rb (a3x,a3y,a3z) (cbx,cby,cbz)
96 % cylinder rb (a4x,a4y,a4z) (cbx,cby,cbz)
97 % cylinder rb (a5x,a5y,a5z) (cbx,cby,cbz)
98 % cylinder rb (a6x,a6y,a6z) (cbx,cby,cbz)
100 platform: color (0.33,0.66,0.8)
101 sphere rs (b1x,b1y,b1z)
102 sphere rs (b2x,b2y,b2z)
103 sphere rs (b3x,b3y,b3z)
104 sphere rs (b4x,b4y,b4z)
105 sphere rs (b5x,b5y,b5z)
106 sphere rs (b6x,b6y,b6z)
107 cylinder rb (b1x,b1y,b1z) (cpx,cpy,cpz)
108 cylinder rb (b2x,b2y,b2z) (cpx,cpy,cpz)
109 cylinder rb (b3x,b3y,b3z) (cpx,cpy,cpz)
110 cylinder rb (b4x,b4y,b4z) (cpx,cpy,cpz)
111 cylinder rb (b5x,b5y,b5z) (cpx,cpy,cpz)
112 cylinder rb (b6x,b6y,b6z) (cpx,cpy,cpz)
116 SPH_SPH: base (a1x,a1y,a1z)
117 platform (b1x,b1y,b1z)
120 color (0.86,0.86,0.53)
122 SPH_SPH: base (a2x,a2y,a2z)
123 platform (b2x,b2y,b2z)
126 color (0.86,0.86,0.53)
128 SPH_SPH: base (a3x,a3y,a3z)
129 platform (b3x,b3y,b3z)
132 color (0.86,0.86,0.53)
134 SPH_SPH: base (a4x,a4y,a4z)
135 platform (b4x,b4y,b4z)
138 color (0.86,0.86,0.53)
140 SPH_SPH: base (a5x,a5y,a5z)
141 platform (b5x,b5y,b5z)
144 color (0.86,0.86,0.53)
146 SPH_SPH: base (a6x,a6y,a6z)
147 platform (b6x,b6y,b6z)
150 color (0.86,0.86,0.53)
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