FiveBars.world
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1 
2 [CONSTANTS]
3 
4 % Parameters for the sticky bot
5 % l1:=6.3
6 % l2:=4.3
7 % l3:=10
8 % l4:=10.6
9 % l5:=10
10 
11 % Default parameters
12 
13 l1:=1.25
14 l2:=1.25
15 l3:=1.25
16 l4:=1.25
17 l5:=1.25
18 
19 [LINKS]
20 
21  link1: color (0.9,0.9,0.9)
22  cylinder 0.05 (0,0,0) (1,0,0)
23  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
24  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
25  cylinder 0.05 (1,-0.1,0) (l1,-0.1,0) decoration
26  cylinder 0.05 (1,0.1,0) (l1,0.1,0) decoration
27  cylinder 0.05 (l1,-0.15,0) (l1,-0.05,0) decoration
28  cylinder 0.05 (l1,0.15,0) (l1,0.05,0) decoration
29 
30  sphere 0.05 (1,-0.1,0) decoration
31  sphere 0.05 (1,0.1,0) decoration
32  sphere 0.05 (l1,-0.15,0) decoration
33  sphere 0.05 (l1,0.15,0) decoration
34 
35  link2: color (0.1,0.1,0.1)
36  cylinder 0.05 (0,0,0) (1,0,0)
37  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
38  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
39  cylinder 0.05 (1,-0.1,0) (l2,-0.1,0) decoration
40  cylinder 0.05 (1,0.1,0) (l2,0.1,0) decoration
41  cylinder 0.05 (l2,-0.15,0) (l2,-0.05,0) decoration
42  cylinder 0.05 (l2,0.15,0) (l2,0.05,0) decoration
43 
44  sphere 0.05 (1,-0.1,0) decoration
45  sphere 0.05 (1,0.1,0) decoration
46  sphere 0.05 (l2,-0.15,0) decoration
47  sphere 0.05 (l2,0.15,0) decoration
48 
49  link3: color (0.9,0.9,0.9)
50  cylinder 0.05 (0,0,0) (1,0,0)
51  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
52  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
53  cylinder 0.05 (1,-0.1,0) (l3,-0.1,0) decoration
54  cylinder 0.05 (1,0.1,0) (l3,0.1,0) decoration
55  cylinder 0.05 (l3,-0.15,0) (l3,-0.05,0) decoration
56  cylinder 0.05 (l3,0.15,0) (l3,0.05,0) decoration
57 
58  sphere 0.05 (1,-0.1,0) decoration
59  sphere 0.05 (1,0.1,0) decoration
60  sphere 0.05 (l3,-0.15,0) decoration
61  sphere 0.05 (l3,0.15,0) decoration
62 
63  link4: color (0.1,0.1,0.1)
64  cylinder 0.05 (0,0,0) (1,0,0)
65  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
66  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
67  cylinder 0.05 (1,-0.1,0) (l4,-0.1,0) decoration
68  cylinder 0.05 (1,0.1,0) (l4,0.1,0) decoration
69  cylinder 0.05 (l4,-0.15,0) (l4,-0.05,0) decoration
70  cylinder 0.05 (l4,0.15,0) (l4,0.05,0) decoration
71 
72  sphere 0.05 (1,-0.1,0) decoration
73  sphere 0.05 (1,0.1,0) decoration
74  sphere 0.05 (l4,-0.15,0) decoration
75  sphere 0.05 (l4,0.15,0) decoration
76 
77  link5: color (0.6,0.6,0.6)
78  cylinder 0.05 (0,0,0) (1,0,0)
79  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
80  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
81  cylinder 0.05 (1,-0.1,0) (l5,-0.1,0) decoration
82  cylinder 0.05 (1,0.1,0) (l5,0.1,0) decoration
83  cylinder 0.05 (l5,-0.15,0) (l5,-0.05,0) decoration
84  cylinder 0.05 (l5,0.15,0) (l5,0.05,0) decoration
85 
86  sphere 0.05 (1,-0.1,0) decoration
87  sphere 0.05 (1,0.1,0) decoration
88  sphere 0.05 (l5,-0.15,0) decoration
89  sphere 0.05 (l5,0.15,0) decoration
90 
91 [JOINTS]
92 
93  REVOLUTE: link1 (l1,1,0) (l1,-1,0)
94  link2 (0 ,1,0) (0 ,-1,0)
95 
96  REVOLUTE: link2 (l2,1,0) (l2,-1,0)
97  link3 (0 ,1,0) (0 ,-1,0)
98 
99  REVOLUTE: link3 (l3,1,0) (l3,-1,0)
100  link4 (0 ,1,0) (0 ,-1,0)
101 
102  REVOLUTE: link4 (l4,1,0) (l4,-1,0)
103  link5 (0 ,1,0) (0 ,-1,0)
104 
105  REVOLUTE: link5 (l5,1,0) (l5,-1,0)
106  link1 (0 ,1,0) (0 ,-1,0)
107 
108