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4 % The dimensions of the links are approximated
6 % Parameters for ground link:
10 % Parameters for Link 1:
13 % Parameters for Link 2:
18 % Parameters for Link 3:
23 % Parameters for Link 4:
28 % Parameters for Link 5:
31 % Parameters for Link 6:
34 % Parameters for Link 7:
41 % Representation parameters
49 link1: sphere rs (0,0,0) red
50 cylinder rc (0,0,0) (l1,0,0) black
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
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
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
68 link5: sphere rs (0,0,0) red
69 cylinder rc (0,0,0) (l5,0,0) black
71 link6: sphere rs (0,0,0) red
72 cylinder rc (0,0,0) (l6,0,0) black
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
86 revolute: ground (0,0,0)+(0,1,0)
89 revolute: ground (x7p,0,z7p)+(0,1,0)
90 link3 (x7,0,z7)+(0,1,0)
92 revolute: link1 (l1,0,0)+(0,1,0)
95 revolute: link2 (x4,0,z4)+(0,1,0)
98 revolute: link2 (l2,0,0)+(0,1,0)
101 revolute: link3 (l3,0,0)+(0,1,0)
102 link5 (0,0,0)+(0,1,0)
104 revolute: link3 (l3,0,0)+(0,1,0)
105 link6 (l6,0,0)+(0,1,0)
107 revolute: link4 (l4,0,0)+(0,1,0)
108 link6 (0,0,0)+(0,1,0)
110 revolute: link4 (x8,0,z8)+(0,1,0)
111 link7 (0,0,0)+(0,1,0)
113 revolute: link7 (l7,0,0)+(0,1,0)
114 link5 (l5,0,0)+(0,1,0)
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