DoubleButterfly.world

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/* Double Butterfy linkage */

[CONSTANTS]

% lengths of the bars connecting the triangles
lb1:=11
lb2:= 9
lb3:= 7
lb4:=12

% radius of the cylinders defining the bars
rb:=0.1

% radius of the spheres at the joints
rs:=0.2

% length of the revolute axes
lr:=1

[LINKS]

t1: body "bodies/triangle1.off" color (0.5,0.5,0)

t2: body "bodies/triangle2.off" color (0.7,0.7,0)
    sphere rs (0,0,0) red

t3: body "bodies/triangle3.off" color (0.9,0.9,0)

t4: body "bodies/triangle4.off" color (1,1,0)
    sphere rs (0,0,0) red

b1: cylinder rb (  0,0,0) (lb1,0,0) black
    sphere   rs (  0,0,0)           red  
    sphere   rs (lb1,0,0)           red 

b2: cylinder rb (  0,0,0) (lb2,0,0) black
    sphere   rs (  0,0,0)           red 
    sphere   rs (lb2,0,0)           red 

b3: cylinder rb (  0,0,0) (lb3,0,0) black
    sphere   rs (  0,0,0)            red 
    sphere   rs (lb3,0,0)           red 

b4: cylinder rb (  0,0,0) (lb4,0,0) black
    sphere   rs (  0,0,0)           red 
    sphere   rs (lb4,0,0)           red 

[JOINTS]

revolute: t1 (-5.6,0,4.2) (-5.6,lr,4.2)
          t2 ( 0,  0,  0) ( 0,  lr,  0)

revolute: t3 (-3,0,4) (-3,lr,4)
          t4 ( 0,0,0) ( 0,lr,0)

revolute: t1 (0,0,0) (0,lr,0) 
          b1 (0,0,0) (0,lr,0)

revolute: b1 (lb1,0,0) (lb1,lr,0)
          t3 (  0,0,0) (  0,lr,0)

revolute: t2 (-2.4,0,1.8) (-2.4,lr,1.8)
          b2 ( 0,  0,  0) ( 0,  lr,  0)

revolute: b2 (lb2,0,0) (lb2,lr,0)
          t3 ( -3,0,0) ( -3,lr,0)

revolute: t2 (-2,0,0) (-2,lr,0)
          b3 ( 0,0,0) ( 0,lr,0)

revolute: b3 (lb3,0,0) (lb3,lr,0)
          t4 ( -6,0,0) ( -6,lr,0)

revolute: t1 (-13,0,0) (-13,lr,0)
          b4 (  0,0,0) (  0,lr,0)

revolute: b4 (lb4,0,0) (lb4,lr,0)
          t4 ( -6.46,0,2.69) (-6.46,lr,2.69)