Wheelie10.world
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1 
2 [CONSTANTS]
3 
4 % length of the bar connecting two consecutive triangles
5 l_in:=4.944272
6 l_out:=2.004842
7 
8 % length of the bar connecting odd triangles spared by one triangle
9 l_nc:=7.310016
10 
11 % length of the bar added to make the linkage rigic
12 l_f:=9.404564
13 
14 % radius of the cylinders representing the bars
15 rc:=0.05
16 % radius of the spheres used to decor the extremes of the bars
17 rs:=0.1
18 
19 [LINKS]
20 
21 % Eight triangles
22 t1: body "bodies/triangle.off" yellow
23 
24 t2: body "bodies/triangle.off" yellow
25 
26 t3: body "bodies/triangle.off" yellow
27 
28 t4: body "bodies/triangle.off" yellow
29 
30 t5: body "bodies/triangle.off" yellow
31 
32 t6: body "bodies/triangle.off" yellow
33 
34 t7: body "bodies/triangle.off" yellow
35 
36 t8: body "bodies/triangle.off" yellow
37 
38 t9: body "bodies/triangle.off" yellow
39 
40 t10: body "bodies/triangle.off" yellow
41 
42 % Two bars between adjacent triangles
43 b_1_2_out: cylinder rc (0,0,0) (l_out,0,0) black
44  sphere rs (0, 0,0) red
45  sphere rs (l_out,0,0) red
46 
47 b_1_2_in: cylinder rc (0,0,0) (l_in,0,0) black
48  sphere rs (0, 0,0) red
49  sphere rs (l_in,0,0) red
50 
51 b_2_3_out: cylinder rc (0,0,0) (l_out,0,0) black
52  sphere rs (0, 0,0) red
53  sphere rs (l_out,0,0) red
54 
55 b_2_3_in: cylinder rc (0,0,0) (l_in,0,0) black
56  sphere rs (0, 0,0) red
57  sphere rs (l_in,0,0) red
58 
59 b_3_4_out: cylinder rc (0,0,0) (l_out,0,0) black
60  sphere rs (0, 0,0) red
61  sphere rs (l_out,0,0) red
62 
63 b_3_4_in: cylinder rc (0,0,0) (l_in,0,0) black
64  sphere rs (0, 0,0) red
65  sphere rs (l_in,0,0) red
66 
67 b_4_5_out: cylinder rc (0,0,0) (l_out,0,0) black
68  sphere rs (0, 0,0) red
69  sphere rs (l_out,0,0) red
70 
71 b_4_5_in: cylinder rc (0,0,0) (l_in,0,0) black
72  sphere rs (0, 0,0) red
73  sphere rs (l_in,0,0) red
74 
75 b_5_6_out: cylinder rc (0,0,0) (l_out,0,0) black
76  sphere rs (0, 0,0) red
77  sphere rs (l_out,0,0) red
78 
79 b_5_6_in: cylinder rc (0,0,0) (l_in,0,0) black
80  sphere rs (0, 0,0) red
81  sphere rs (l_in,0,0) red
82 
83 b_6_7_out: cylinder rc (0,0,0) (l_out,0,0) black
84  sphere rs (0, 0,0) red
85  sphere rs (l_out,0,0) red
86 
87 b_6_7_in: cylinder rc (0,0,0) (l_in,0,0) black
88  sphere rs (0, 0,0) red
89  sphere rs (l_in,0,0) red
90 
91 b_7_8_out: cylinder rc (0,0,0) (l_out,0,0) black
92  sphere rs (0, 0,0) red
93  sphere rs (l_out,0,0) red
94 
95 b_7_8_in: cylinder rc (0,0,0) (l_in,0,0) black
96  sphere rs (0, 0,0) red
97  sphere rs (l_in,0,0) red
98 
99 b_8_9_out: cylinder rc (0,0,0) (l_out,0,0) black
100  sphere rs (0, 0,0) red
101  sphere rs (l_out,0,0) red
102 
103 b_8_9_in: cylinder rc (0,0,0) (l_in,0,0) black
104  sphere rs (0, 0,0) red
105  sphere rs (l_in,0,0) red
106 
107 b_9_10_out: cylinder rc (0,0,0) (l_out,0,0) black
108  sphere rs (0, 0,0) red
109  sphere rs (l_out,0,0) red
110 
111 b_9_10_in: cylinder rc (0,0,0) (l_in,0,0) black
112  sphere rs (0, 0,0) red
113  sphere rs (l_in,0,0) red
114 
115 b_10_1_out: cylinder rc (0,0,0) (l_out,0,0) black
116  sphere rs (0, 0,0) red
117  sphere rs (l_out,0,0) red
118 
119 b_10_1_in: cylinder rc (0,0,0) (l_in,0,0) black
120  sphere rs (0, 0,0) red
121  sphere rs (l_in,0,0) red
122 
123 % Bars connecting non-adjacent triangles.
124 % These bars do not include spheres since they would overlap with
125 % the spheres of other bars.
126 b_1_3: cylinder rc (0,0,0) (l_nc,0,0) black
127 b_3_5: cylinder rc (0,0,0) (l_nc,0,0) black
128 b_5_7: cylinder rc (0,0,0) (l_nc,0,0) black
129 b_7_9: cylinder rc (0,0,0) (l_nc,0,0) black
130 b_9_1: cylinder rc (0,0,0) (l_nc,0,0) black
131 
132 % One additional bar to make the think rigid.
133 b_10_2: cylinder rc (0,0,0) (l_f,0,0) black
134 b_2_4: cylinder rc (0,0,0) (l_f,0,0) black
135 
136 [JOINTS]
137 
138 % Two bars between adjacent triangles
139 revolute: t1 1+(0,1,0)
140  b_1_2_out 0+(0,1,0)
141 revolute: b_1_2_out 1+(0,1,0)
142  t2 0+(0,1,0)
143 
144 revolute: t1 2+(0,1,0)
145  b_1_2_in 0+(0,1,0)
146 revolute: b_1_2_in 1+(0,1,0)
147  t2 2+(0,1,0)
148 
149 revolute: t2 1+(0,1,0)
150  b_2_3_out 0+(0,1,0)
151 revolute: b_2_3_out 1+(0,1,0)
152  t3 0+(0,1,0)
153 
154 revolute: t2 2+(0,1,0)
155  b_2_3_in 0+(0,1,0)
156 revolute: b_2_3_in 1+(0,1,0)
157  t3 2+(0,1,0)
158 
159 revolute: t3 1+(0,1,0)
160  b_3_4_out 0+(0,1,0)
161 revolute: b_3_4_out 1+(0,1,0)
162  t4 0+(0,1,0)
163 
164 revolute: t3 2+(0,1,0)
165  b_3_4_in 0+(0,1,0)
166 revolute: b_3_4_in 1+(0,1,0)
167  t4 2+(0,1,0)
168 
169 revolute: t4 1+(0,1,0)
170  b_4_5_out 0+(0,1,0)
171 revolute: b_4_5_out 1+(0,1,0)
172  t5 0+(0,1,0)
173 
174 revolute: t4 2+(0,1,0)
175  b_4_5_in 0+(0,1,0)
176 revolute: b_4_5_in 1+(0,1,0)
177  t5 2+(0,1,0)
178 
179 revolute: t5 1+(0,1,0)
180  b_5_6_out 0+(0,1,0)
181 revolute: b_5_6_out 1+(0,1,0)
182  t6 0+(0,1,0)
183 
184 revolute: t5 2+(0,1,0)
185  b_5_6_in 0+(0,1,0)
186 revolute: b_5_6_in 1+(0,1,0)
187  t6 2+(0,1,0)
188 
189 revolute: t6 1+(0,1,0)
190  b_6_7_out 0+(0,1,0)
191 revolute: b_6_7_out 1+(0,1,0)
192  t7 0+(0,1,0)
193 
194 revolute: t6 2+(0,1,0)
195  b_6_7_in 0+(0,1,0)
196 revolute: b_6_7_in 1+(0,1,0)
197  t7 2+(0,1,0)
198 
199 revolute: t7 1+(0,1,0)
200  b_7_8_out 0+(0,1,0)
201 revolute: b_7_8_out 1+(0,1,0)
202  t8 0+(0,1,0)
203 
204 revolute: t7 2+(0,1,0)
205  b_7_8_in 0+(0,1,0)
206 revolute: b_7_8_in 1+(0,1,0)
207  t8 2+(0,1,0)
208 
209 revolute: t8 1+(0,1,0)
210  b_8_9_out 0+(0,1,0)
211 revolute: b_8_9_out 1+(0,1,0)
212  t9 0+(0,1,0)
213 
214 revolute: t8 2+(0,1,0)
215  b_8_9_in 0+(0,1,0)
216 revolute: b_8_9_in 1+(0,1,0)
217  t9 2+(0,1,0)
218 
219 revolute: t9 1+(0,1,0)
220  b_9_10_out 0+(0,1,0)
221 revolute: b_9_10_out 1+(0,1,0)
222  t10 0+(0,1,0)
223 
224 revolute: t9 2+(0,1,0)
225  b_9_10_in 0+(0,1,0)
226 revolute: b_9_10_in 1+(0,1,0)
227  t10 2+(0,1,0)
228 
229 revolute: t10 1+(0,1,0)
230  b_10_1_out 0+(0,1,0)
231 revolute: b_10_1_out 1+(0,1,0)
232  t1 0+(0,1,0)
233 
234 revolute: t10 2+(0,1,0)
235  b_10_1_in 0+(0,1,0)
236 revolute: b_10_1_in 1+(0,1,0)
237  t1 2+(0,1,0)
238 
239 
240 % The bars between non-adjacent triangles
241 revolute: t1 1+(0,1,0)
242  b_1_3 0+(0,1,0)
243 revolute: b_1_3 1+(0,1,0)
244  t3 0+(0,1,0)
245 
246 revolute: t3 1+(0,1,0)
247  b_3_5 0+(0,1,0)
248 revolute: b_3_5 1+(0,1,0)
249  t5 0+(0,1,0)
250 
251 revolute: t5 1+(0,1,0)
252  b_5_7 0+(0,1,0)
253 revolute: b_5_7 1+(0,1,0)
254  t7 0+(0,1,0)
255 
256 revolute: t7 1+(0,1,0)
257  b_7_9 0+(0,1,0)
258 revolute: b_7_9 1+(0,1,0)
259  t9 0+(0,1,0)
260 
261 revolute: t9 1+(0,1,0)
262  b_9_1 0+(0,1,0)
263 revolute: b_9_1 1+(0,1,0)
264  t1 0+(0,1,0)
265 
266 % A couple of bars fixing the mobility
267 revolute: t10 2+(0,1,0)
268  b_10_2 0+(0,1,0)
269 revolute: b_10_2 1+(0,1,0)
270  t2 2+(0,1,0)
271 
272 revolute: t2 2+(0,1,0)
273  b_2_4 0+(0,1,0)
274 revolute: b_2_4 1+(0,1,0)
275  t4 2+(0,1,0)
276 
277