Wheelie8.world

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[CONSTANTS]

% length of the bar connecting two consecutive triangles
l_in:=6.122935
l_out:=3.370553

% length of the bar connecting  odd triangles spared by one triangle
l_nc:=9.724551

% length of the bar added to make the linkage rigic
l_f:=11.313708

% radius of the cylinders representing the bars
rc:=0.05
% radius of the spheres used to decor the extremes of the bars
rs:=0.1

[LINKS]

% Eight triangles
t1: body "bodies/triangle.off" yellow

t2: body "bodies/triangle.off" yellow

t3: body "bodies/triangle.off" yellow

t4: body "bodies/triangle.off" yellow

t5: body "bodies/triangle.off" yellow

t6: body "bodies/triangle.off" yellow

t7: body "bodies/triangle.off" yellow

t8: body "bodies/triangle.off" yellow

% Two bars between adjacent triangles
b_1_2_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_1_2_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

b_2_3_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_2_3_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

b_3_4_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_3_4_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

b_4_5_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_4_5_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

b_5_6_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_5_6_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

b_6_7_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_6_7_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

b_7_8_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_7_8_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

b_8_1_out: cylinder rc (0,0,0) (l_out,0,0) black 
           sphere rs (0,    0,0) red
           sphere rs (l_out,0,0) red

b_8_1_in: cylinder rc (0,0,0) (l_in,0,0) black 
          sphere rs (0,   0,0) red
          sphere rs (l_in,0,0) red

% Bars connecting non-adjacent triangles.
% These bars do not include spheres since they would overlap with
% the spheres of other bars.
b_1_3: cylinder rc (0,0,0) (l_nc,0,0) black 
b_3_5: cylinder rc (0,0,0) (l_nc,0,0) black
b_5_7: cylinder rc (0,0,0) (l_nc,0,0) black 
b_7_1: cylinder rc (0,0,0) (l_nc,0,0) black  

% One additional bar to make the think rigid.
b_8_2: cylinder rc (0,0,0) (l_f,0,0) black 

[JOINTS]

% Two bars between adjacent triangles
revolute: t1 1+(0,1,0)
          b_1_2_out 0+(0,1,0)
revolute: b_1_2_out 1+(0,1,0)
          t2 0+(0,1,0)

revolute: t1 2+(0,1,0)
          b_1_2_in 0+(0,1,0)
revolute: b_1_2_in 1+(0,1,0)
          t2 2+(0,1,0)

revolute: t2 1+(0,1,0)
          b_2_3_out 0+(0,1,0)
revolute: b_2_3_out 1+(0,1,0)
          t3 0+(0,1,0)

revolute: t2 2+(0,1,0)
          b_2_3_in 0+(0,1,0)
revolute: b_2_3_in 1+(0,1,0)
          t3 2+(0,1,0)

revolute: t3 1+(0,1,0)
          b_3_4_out 0+(0,1,0)
revolute: b_3_4_out 1+(0,1,0)
          t4 0+(0,1,0)

revolute: t3 2+(0,1,0)
          b_3_4_in 0+(0,1,0)
revolute: b_3_4_in 1+(0,1,0)
          t4 2+(0,1,0)

revolute: t4 1+(0,1,0)
          b_4_5_out 0+(0,1,0)
revolute: b_4_5_out 1+(0,1,0)
          t5 0+(0,1,0)

revolute: t4 2+(0,1,0)
          b_4_5_in 0+(0,1,0)
revolute: b_4_5_in 1+(0,1,0)
          t5 2+(0,1,0)

revolute: t5 1+(0,1,0)
          b_5_6_out 0+(0,1,0)
revolute: b_5_6_out 1+(0,1,0)
          t6 0+(0,1,0)

revolute: t5 2+(0,1,0)
          b_5_6_in 0+(0,1,0)
revolute: b_5_6_in 1+(0,1,0)
          t6 2+(0,1,0)

revolute: t6 1+(0,1,0)
          b_6_7_out 0+(0,1,0)
revolute: b_6_7_out 1+(0,1,0)
          t7 0+(0,1,0)

revolute: t6 2+(0,1,0)
          b_6_7_in 0+(0,1,0)
revolute: b_6_7_in 1+(0,1,0)
          t7 2+(0,1,0)

revolute: t7 1+(0,1,0)
          b_7_8_out 0+(0,1,0)
revolute: b_7_8_out 1+(0,1,0)
          t8 0+(0,1,0)

revolute: t7 2+(0,1,0)
          b_7_8_in 0+(0,1,0)
revolute: b_7_8_in 1+(0,1,0)
          t8 2+(0,1,0)

revolute: t8 1+(0,1,0)
          b_8_1_out 0+(0,1,0)
revolute: b_8_1_out 1+(0,1,0)
          t1 0+(0,1,0)

revolute: t8 2+(0,1,0)
          b_8_1_in 0+(0,1,0)
revolute: b_8_1_in 1+(0,1,0)
          t1 2+(0,1,0)

% The bars between non-adjacent triangles
revolute: t1 1+(0,1,0)
          b_1_3 0+(0,1,0)
revolute: b_1_3 1+(0,1,0)
          t3 0+(0,1,0)

revolute: t3 1+(0,1,0)
          b_3_5 0+(0,1,0)
revolute: b_3_5 1+(0,1,0)
          t5 0+(0,1,0)

revolute: t5 1+(0,1,0)
          b_5_7 0+(0,1,0)
revolute: b_5_7 1+(0,1,0)
          t7 0+(0,1,0)

revolute: t7 1+(0,1,0)
          b_7_1 0+(0,1,0)
revolute: b_7_1 1+(0,1,0)
          t1 0+(0,1,0)

% A bar fixing the mobility
revolute: t8 2+(0,1,0)
          b_8_2 0+(0,1,0)
revolute: b_8_2 1+(0,1,0)
          t2 2+(0,1,0)