Dietmeier.world
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1 
2 [CONSTANTS]
3 
4 
5 % Leg lenghts
6 rho1 := 1
7 rho2 := 0.645275
8 rho3 := 1.086284
9 rho4 := 1.503439
10 rho5 := 1.281933
11 rho6 := 0.771071
12 
13 % Base Points (wrt the base reference frame)
14 
15 a1x := 0
16 a1y := 0
17 a1z := 0
18 
19 a2x := 1.107915
20 a2y := 0
21 a2z := 0
22 
23 a3x := 0.549094
24 a3y := 0.756063
25 a3z := 0
26 
27 a4x := 0.735077
28 a4y := -0.223935
29 a4z := 0.525991
30 
31 a5x := 0.514188
32 a5y := -0.526063
33 a5z := -0.368418
34 
35 a6x := 0.590473
36 a6y := 0.094733
37 a6z := -0.205018
38 
39 
40 % Platform Points (wrt the platform reference frame)
41 
42 b1x := 0
43 b1y := 0
44 b1z := 0
45 
46 b2x := 0.542805
47 b2y := 0
48 b2z := 0
49 
50 b3x := 0.956919
51 b3y := -0.528915
52 b3z := 0
53 
54 b4x := 0.665885
55 b4y := -0.353482
56 b4z := 1.402538
57 
58 b5x := 0.478359
59 b5y := 1.158742
60 b5z := 0.107672
61 
62 b6x := -0.137087
63 b6y := -0.235121
64 b6z := 0.353913
65 
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
70 
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
74 
75 % Radius of bars
76 rb:=0.025
77 
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
81 rs:=0.05
82 
83 [LINKS]
84 
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)
99 
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)
113 
114 [JOINTS]
115 
116 SPH_SPH: base (a1x,a1y,a1z)
117  platform (b1x,b1y,b1z)
118  length rho1
119  radius rb
120  color (0.86,0.86,0.53)
121 
122 SPH_SPH: base (a2x,a2y,a2z)
123  platform (b2x,b2y,b2z)
124  length rho2
125  radius rb
126  color (0.86,0.86,0.53)
127 
128 SPH_SPH: base (a3x,a3y,a3z)
129  platform (b3x,b3y,b3z)
130  length rho3
131  radius rb
132  color (0.86,0.86,0.53)
133 
134 SPH_SPH: base (a4x,a4y,a4z)
135  platform (b4x,b4y,b4z)
136  length rho4
137  radius rb
138  color (0.86,0.86,0.53)
139 
140 SPH_SPH: base (a5x,a5y,a5z)
141  platform (b5x,b5y,b5z)
142  length rho5
143  radius rb
144  color (0.86,0.86,0.53)
145 
146 SPH_SPH: base (a6x,a6y,a6z)
147  platform (b6x,b6y,b6z)
148  length rho6
149  radius rb
150  color (0.86,0.86,0.53)
151