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7 % Rotation in Y between the global reference frame (i.e., the frame of reference of 't1') and
11 % lengths of the bars connecting the triangles
17 % radius of the cylinders defining the bars
20 % radius of the spheres at the joints
23 % length of the revolute axes
28 t1: body "bodies/triangle1.off" 0.5*yellow
30 t2: body "bodies/triangle2.off" 0.7*yellow
33 t3: body "bodies/triangle3.off" 0.9*yellow
35 t4: body "bodies/triangle4.off" 1.0*yellow
38 b1: cylinder rb ( 0,0,0) (lb1,0,0) black
39 sphere rs ( 0,0,0) red
40 sphere rs (lb1,0,0) red
42 b2: cylinder rb ( 0,0,0) (lb2,0,0) black
43 sphere rs ( 0,0,0) red
44 sphere rs (lb2,0,0) red
46 b3: cylinder rb ( 0,0,0) (lb3,0,0) black
47 sphere rs ( 0,0,0) red
48 sphere rs (lb3,0,0) red
50 b4: cylinder rb ( 0,0,0) (lb4,0,0) black
51 sphere rs ( 0,0,0) red
52 sphere rs (lb4,0,0) red
56 % In ne notation below, we define a rotation axes by selecting
57 % a point on the link and adding a vector to it.
58 % For OFFs, the point are indexed as they appear in the file
61 fix : t1 t2 Txyz(-5.6,0,4.2)*Ry(angle)
63 revolute: t3 (-3,0,4) (-3,lr,4)
66 revolute: t1 (0,0,0) (0,lr,0)
69 revolute: b1 (lb1,0,0) (lb1,lr,0)
72 revolute: t2 (-2.4,0,1.8) (-2.4,lr,1.8)
73 b2 ( 0, 0, 0) ( 0, lr, 0)
75 revolute: b2 (lb2,0,0) (lb2,lr,0)
76 t3 ( -3,0,0) ( -3,lr,0)
78 revolute: t2 (-2,0,0) (-2,lr,0)
81 revolute: b3 (lb3,0,0) (lb3,lr,0)
82 t4 ( -6,0,0) ( -6,lr,0)
84 revolute: t1 (-13,0,0) (-13,lr,0)
87 revolute: b4 (lb4,0,0) (lb4,lr,0)
88 t4 ( -6.46,0,2.69) (-6.46,lr,2.69)
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