SmartBird.world
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1 
2 [CONSTANTS]
3 
4 % The dimensions of the links are approximated
5 
6 % Parameters for ground link:
7  x7p:= 24.00
8  z7p:= 40.00
9 
10 % Parameters for Link 1:
11  l1:= 14.25
12 
13 % Parameters for Link 2:
14  l2:= 22.50
15  x4:= 34.50
16  z4:= 4.00
17 
18 % Parameters for Link 3:
19  l3:= 155.25
20  x7:= 38.50
21  z7:= -6.50
22 
23 % Parameters for Link 4:
24  l4:= 155.00
25  x8:= 166.00
26  z8:= -0.25
27 
28 % Parameters for Link 5:
29  l5:= 13.25
30 
31 % Parameters for Link 6:
32  l6:= 11.50
33 
34 % Parameters for Link 7:
35  l7:= 9.50
36  x10:= 5.50
37  z10:=-19.50
38  x11:= 0.25
39  z11:=-43.75
40 
41 % Representation parameters
42  rs:= 1.0
43  rc:= 0.5
44 
45 [LINKS]
46 
47  ground
48 
49  link1: sphere rs (0,0,0) red
50  cylinder rc (0,0,0) (l1,0,0) black
51 
52  link2: sphere rs (0,0,0) red
53  cylinder rc (0,0,0) (l2,0,0) black
54  sphere rs (l2,0,0) red
55  cylinder rc (l2,0,0) (x4,0,z4) black
56  cylinder rc (0,0,0) (x4,0,z4) black
57 
58  link3: sphere rs (0,0,0) red
59  cylinder rc (0,0,0) (l3,0,0) black
60  cylinder rc (0,0,0) (x7,0,z7) black
61  sphere rs (x7,0,z7) red
62  cylinder rc (x7,0,z7) (l3,0,0) black
63 
64  link4: sphere rs (0,0,0) red
65  cylinder rc (0,0,0) (l4,0,0) black
66  cylinder rc (l4,0,0) (x8,0,z8) black
67 
68  link5: sphere rs (0,0,0) red
69  cylinder rc (0,0,0) (l5,0,0) black
70 
71  link6: sphere rs (0,0,0) red
72  cylinder rc (0,0,0) (l6,0,0) black
73 
74  link7: sphere rs (0,0,0) red
75  cylinder rc (0,0,0) (l7,0,0) black
76  sphere rs (l7,0,0) red
77  cylinder rc (0,0,0) (x10,0,z10) black
78  cylinder rc (l7,0,0) (x10,0,z10) black
79  sphere rc (x10,0,z10) black
80  cylinder rc (x10,0,z10) (x11,0,z11) black
81  sphere rc (x11,0,z11) black
82 
83 
84 [JOINTS]
85 
86  revolute: ground (0,0,0)+(0,1,0)
87  link1 (0,0,0)+(0,1,0)
88 
89  revolute: ground (x7p,0,z7p)+(0,1,0)
90  link3 (x7,0,z7)+(0,1,0)
91 
92  revolute: link1 (l1,0,0)+(0,1,0)
93  link2 (0,0,0)+(0,1,0)
94 
95  revolute: link2 (x4,0,z4)+(0,1,0)
96  link3 (0,0,0)+(0,1,0)
97 
98  revolute: link2 (l2,0,0)+(0,1,0)
99  link4 (0,0,0)+(0,1,0)
100 
101  revolute: link3 (l3,0,0)+(0,1,0)
102  link5 (0,0,0)+(0,1,0)
103 
104  revolute: link3 (l3,0,0)+(0,1,0)
105  link6 (l6,0,0)+(0,1,0)
106 
107  revolute: link4 (l4,0,0)+(0,1,0)
108  link6 (0,0,0)+(0,1,0)
109 
110  revolute: link4 (x8,0,z8)+(0,1,0)
111  link7 (0,0,0)+(0,1,0)
112 
113  revolute: link7 (l7,0,0)+(0,1,0)
114  link5 (l5,0,0)+(0,1,0)
115