PlanarParallel.world
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1 
3 [CONSTANTS]
4 
5 l1:=sqrt(2)
6 l2:=sqrt(2)
7 l3:=1
8 
9 u1:=2
10 u2:=2
11 u3:=3
12 
13 d1:=u1-l1
14 d2:=u2-l2
15 d3:=u3-l3
16 
17 [LINKS]
18 
19  base: cylinder 0.05 (-1,0,0) (2,0,0) blue
20 
21  lower1: sphere 0.1 (0,0,0) red
22  cylinder 0.075 (0,0,0) (l1,0,0) blue
23 
24  lower2: sphere 0.1 (0,0,0) red
25  cylinder 0.075 (0,0,0) (l1,0,0) blue
26 
27  lower3: sphere 0.1 (0,0,0) red
28  cylinder 0.075 (0,0,0) (l1,0,0) blue
29 
30  upper1: cylinder 0.05 (0,0,0) (d1,0,0) yellow
31  sphere 0.1 (d1,0,0) red
32 
33  upper2: cylinder 0.05 (0,0,0) (d2,0,0) yellow
34  sphere 0.1 (d2,0,0) red
35 
36  upper3: cylinder 0.05 (0,0,0) (d3,0,0) yellow
37  sphere 0.1 (d3,0,0) red
38 
39  platform: cylinder 0.05 (0,0,0) (2,0,0) blue
40 
41  end_effector: sphere 0.1 (0,0,0) green
42 
43 [JOINTS]
44  revolute: base (-1,1,0) (-1,-1,0)
45  lower1 ( 0,1,0) ( 0,-1,0)
46 
47  revolute: base (1,1,0) (1,-1,0)
48  lower2 (0,1,0) (0,-1,0)
49 
50  revolute: base (2,1,0) (2,-1,0)
51  lower3 (0,1,0) (0,-1,0)
52 
53  prismatic: lower1 (0,0,0)(1,0,0)
54  upper1 (0,0,0)(1,0,0)
55  range [l1-d1,l1]
56 
57  prismatic: lower2 (0,0,0)(1,0,0)
58  upper2 (0,0,0)(1,0,0)
59  range [l2-d2,l2]
60 
61  prismatic: lower3 (0,0,0)(1,0,0)
62  upper3 (0,0,0)(1,0,0)
63  range [l3-d3,l3]
64 
65  revolute: upper1 (d1,1,0) (d1,-1,0)
66  platform ( 0,1,0) ( 0,-1,0)
67 
68  revolute: upper2 (d2,1,0) (d2,-1,0)
69  platform ( 0,1,0) ( 0,-1,0)
70 
71  revolute: upper3 (d3,1,0) (d3,-1,0)
72  platform ( 2,1,0) ( 2,-1,0)
73 
74  fix: platform end_effector
75  Tx(1)
76 
77