example6.world
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1 
3 [CONSTANTS]
4 
5  % scale
6  l:=1
7 
8  % Relevant points for squared parts
9  p1_x:=0
10  p1_y:=0
11  p1_z:=0
12 
13  p2_x:=0
14  p2_y:=l
15  p2_z:=0
16 
17  p3_x:=l
18  p3_y:=l
19  p3_z:=0
20 
21  p4_x:=l
22  p4_y:=0
23  p4_z:=0
24 
25  % Relevant points for the equilateral triangles
26 
27  q1_x:=0
28  q1_y:=0
29  q1_z:=0
30 
31  q2_x:=l*0.5
32  q2_y:=l*sqrt(0.75)
33  q2_z:=0
34 
35  q3_x:=l
36  q3_y:=0
37  q3_z:=0
38 
39  % Relevant points for the right triangles
40 
41  r1_x:=0
42  r1_y:=0
43  r1_z:=0
44 
45  r2_x:=0
46  r2_y:=l
47  r2_z:=0
48 
49  r3_x:=l
50  r3_y:=0
51  r3_z:=0
52 
53  % Size of the cylinders/balls used for the representaion
54 
55  r:=0.05
56 
57  % For reprentation purposes, the points are displaced according to r
58  rp1_x:=r
59  rp1_y:=r
60  rp1_z:=0
61 
62  rp2_x:=r
63  rp2_y:=l-r
64  rp2_z:=0
65 
66  rp3_x:=l-r
67  rp3_y:=l-r
68  rp3_z:=0
69 
70  rp4_x:=l-r
71  rp4_y:=r
72  rp4_z:=0
73 
74  %
75 
76  rq1_x:=2*r
77  rq1_y:=r
78  rq1_z:=0
79 
80  rq2_x:=l*0.5
81  rq2_y:=l*sqrt(0.75)-r*sqrt(5)
82  rq2_z:=0
83 
84  rq3_x:=l-2*r
85  rq3_y:=r
86  rq3_z:=0
87 
88  %
89 
90  rr1_x:=r
91  rr1_y:=r
92  rr1_z:=0
93 
94  rr2_x:=r
95  rr2_y:=l-r-sqrt(2)*r
96  rr2_z:=0
97 
98  rr3_x:=l-r-sqrt(2)*r
99  rr3_y:=r
100  rr3_z:=0
101 
102 [LINKS]
103 
104  link1 : blue
105  sphere r (rp1_x,rp1_y,rp1_z)
106  sphere r (rp2_x,rp2_y,rp2_z)
107  sphere r (rp3_x,rp3_y,rp3_z)
108  sphere r (rp4_x,rp4_y,rp4_z)
109  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
110  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
111  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
112  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
113 
114  link2 : green
115  sphere r (rq1_x,rq1_y,rq1_z)
116  sphere r (rq2_x,rq2_y,rq2_z)
117  sphere r (rq3_x,rq3_y,rq3_z)
118  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
119  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
120  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
121 
122  link3 : green
123  sphere r (rr1_x,rr1_y,rr1_z)
124  sphere r (rr2_x,rr2_y,rr2_z)
125  sphere r (rr3_x,rr3_y,rr3_z)
126  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
127  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
128  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
129 
130  link4 : green
131  sphere r (rr1_x,rr1_y,rr1_z)
132  sphere r (rr2_x,rr2_y,rr2_z)
133  sphere r (rr3_x,rr3_y,rr3_z)
134  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
135  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
136  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
137 
138  link5 : green
139  sphere r (rq1_x,rq1_y,rq1_z)
140  sphere r (rq2_x,rq2_y,rq2_z)
141  sphere r (rq3_x,rq3_y,rq3_z)
142  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
143  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
144  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
145 
146  link6 : yellow
147  sphere r (rp1_x,rp1_y,rp1_z)
148  sphere r (rp2_x,rp2_y,rp2_z)
149  sphere r (rp3_x,rp3_y,rp3_z)
150  sphere r (rp4_x,rp4_y,rp4_z)
151  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
152  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
153  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
154  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
155 
156  link7 : red
157  sphere r (rq1_x,rq1_y,rq1_z)
158  sphere r (rq2_x,rq2_y,rq2_z)
159  sphere r (rq3_x,rq3_y,rq3_z)
160  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
161  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
162  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
163 
164  link8 : red
165  sphere r (rr1_x,rr1_y,rr1_z)
166  sphere r (rr2_x,rr2_y,rr2_z)
167  sphere r (rr3_x,rr3_y,rr3_z)
168  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
169  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
170  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
171 
172  link9 : red
173  sphere r (rr1_x,rr1_y,rr1_z)
174  sphere r (rr2_x,rr2_y,rr2_z)
175  sphere r (rr3_x,rr3_y,rr3_z)
176  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
177  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
178  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
179 
180  link10 : red
181  sphere r (rq1_x,rq1_y,rq1_z)
182  sphere r (rq2_x,rq2_y,rq2_z)
183  sphere r (rq3_x,rq3_y,rq3_z)
184  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
185  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
186  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
187 
188  link11 : yellow
189  sphere r (rp1_x,rp1_y,rp1_z)
190  sphere r (rp2_x,rp2_y,rp2_z)
191  sphere r (rp3_x,rp3_y,rp3_z)
192  sphere r (rp4_x,rp4_y,rp4_z)
193  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
194  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
195  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
196  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
197 
198  link12 : yellow
199  sphere r (rp1_x,rp1_y,rp1_z)
200  sphere r (rp2_x,rp2_y,rp2_z)
201  sphere r (rp3_x,rp3_y,rp3_z)
202  sphere r (rp4_x,rp4_y,rp4_z)
203  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
204  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
205  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
206  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
207 
208  link13 : blue
209  sphere r (rp1_x,rp1_y,rp1_z)
210  sphere r (rp2_x,rp2_y,rp2_z)
211  sphere r (rp3_x,rp3_y,rp3_z)
212  sphere r (rp4_x,rp4_y,rp4_z)
213  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
214  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
215  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
216  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
217 
218  link14 : blue
219  sphere r (rp1_x,rp1_y,rp1_z)
220  sphere r (rp2_x,rp2_y,rp2_z)
221  sphere r (rp3_x,rp3_y,rp3_z)
222  sphere r (rp4_x,rp4_y,rp4_z)
223  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
224  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
225  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
226  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
227 
228  link15 : green
229  sphere r (rq1_x,rq1_y,rq1_z)
230  sphere r (rq2_x,rq2_y,rq2_z)
231  sphere r (rq3_x,rq3_y,rq3_z)
232  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
233  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
234  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
235 
236  link16 : blue
237  sphere r (rp1_x,rp1_y,rp1_z)
238  sphere r (rp2_x,rp2_y,rp2_z)
239  sphere r (rp3_x,rp3_y,rp3_z)
240  sphere r (rp4_x,rp4_y,rp4_z)
241  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
242  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
243  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
244  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
245 
246  link17 : red
247  sphere r (rq1_x,rq1_y,rq1_z)
248  sphere r (rq2_x,rq2_y,rq2_z)
249  sphere r (rq3_x,rq3_y,rq3_z)
250  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
251  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
252  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
253 
254  link18 : red
255  sphere r (rr1_x,rr1_y,rr1_z)
256  sphere r (rr2_x,rr2_y,rr2_z)
257  sphere r (rr3_x,rr3_y,rr3_z)
258  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
259  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
260  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
261 
262  link19 : red
263  sphere r (rr1_x,rr1_y,rr1_z)
264  sphere r (rr2_x,rr2_y,rr2_z)
265  sphere r (rr3_x,rr3_y,rr3_z)
266  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
267  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
268  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
269 
270  link20 : red
271  sphere r (rq1_x,rq1_y,rq1_z)
272  sphere r (rq2_x,rq2_y,rq2_z)
273  sphere r (rq3_x,rq3_y,rq3_z)
274  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
275  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
276  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
277 
278  link21 : yellow
279  sphere r (rp1_x,rp1_y,rp1_z)
280  sphere r (rp2_x,rp2_y,rp2_z)
281  sphere r (rp3_x,rp3_y,rp3_z)
282  sphere r (rp4_x,rp4_y,rp4_z)
283  cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
284  cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
285  cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
286  cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
287 
288  link22 : green
289  sphere r (rq1_x,rq1_y,rq1_z)
290  sphere r (rq2_x,rq2_y,rq2_z)
291  sphere r (rq3_x,rq3_y,rq3_z)
292  cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
293  cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
294  cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
295 
296  link23 : green
297  sphere r (rr1_x,rr1_y,rr1_z)
298  sphere r (rr2_x,rr2_y,rr2_z)
299  sphere r (rr3_x,rr3_y,rr3_z)
300  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
301  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
302  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
303 
304  link24 : green
305  sphere r (rr1_x,rr1_y,rr1_z)
306  sphere r (rr2_x,rr2_y,rr2_z)
307  sphere r (rr3_x,rr3_y,rr3_z)
308  cylinder r (rr1_x,rr1_y,rr1_z) (rr2_x,rr2_y,rr2_z)
309  cylinder r (rr2_x,rr2_y,rr2_z) (rr3_x,rr3_y,rr3_z)
310  cylinder r (rr3_x,rr3_y,rr3_z) (rr1_x,rr1_y,rr1_z)
311 
312 [JOINTS]
313 
314  revolute: link1 (p2_x,p2_y,p2_z) (p3_x,p3_y,p3_z)
315  link2 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
316 
317  revolute: link2 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
318  link3 (r1_x,r1_y,r1_z) (r3_x,r3_y,r3_z)
319 
320  revolute: link3 (r2_x,r2_y,r2_z) (r3_x,r3_y,r3_z)
321  link4 (r3_x,r3_y,r3_z) (r2_x,r2_y,r2_z)
322 
323  revolute: link4 (r3_x,r3_y,r3_z) (r1_x,r1_y,r1_z)
324  link5 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
325 
326  revolute: link5 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
327  link6 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
328 
329  revolute: link6 (p2_x,p2_y,p2_z) (p3_x,p3_y,p3_z)
330  link7 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
331 
332  revolute: link7 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
333  link8 (r1_x,r1_y,r1_z) (r3_x,r3_y,r3_z)
334 
335  revolute: link8 (r2_x,r2_y,r2_z) (r3_x,r3_y,r3_z)
336  link9 (r3_x,r3_y,r3_z) (r2_x,r2_y,r2_z)
337 
338  revolute: link9 (r1_x,r1_y,r1_z) (r3_x,r3_y,r3_z)
339  link10 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
340 
341  revolute: link10 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
342  link1 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
343 
344  revolute: link10 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
345  link11 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
346 
347  revolute: link2 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
348  link12 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
349 
350  revolute: link5 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
351  link13 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
352 
353  revolute: link7 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
354  link14 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
355 
356  revolute: link11 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
357  link15 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
358 
359  revolute: link12 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
360  link17 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
361 
362  revolute: link13 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
363  link20 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
364 
365  revolute: link14 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
366  link22 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
367 
368  revolute: link15 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
369  link16 (p3_x,p3_y,p3_z) (p4_x,p4_y,p4_z)
370 
371  revolute: link16 (p1_x,p1_y,p1_z) (p2_x,p2_y,p2_z)
372  link17 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
373 
374  revolute: link17 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
375  link18 (r2_x,r2_y,r2_z) (r1_x,r1_y,r1_z)
376 
377  revolute: link18 (r2_x,r2_y,r2_z) (r3_x,r3_y,r3_z)
378  link19 (r3_x,r3_y,r3_z) (r2_x,r2_y,r2_z)
379 
380  revolute: link19 (r1_x,r1_y,r1_z) (r2_x,r2_y,r2_z)
381  link20 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
382 
383  revolute: link20 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
384  link21 (p4_x,p4_y,p4_z) (p3_x,p3_y,p3_z)
385 
386  revolute: link21 (p1_x,p1_y,p1_z) (p2_x,p2_y,p2_z)
387  link22 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
388 
389  revolute: link22 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
390  link23 (r1_x,r1_y,r1_z) (r3_x,r3_y,r3_z)
391 
392  revolute: link23 (r2_x,r2_y,r2_z) (r3_x,r3_y,r3_z)
393  link24 (r3_x,r3_y,r3_z) (r2_x,r2_y,r2_z)
394 
395  revolute: link24 (r3_x,r3_y,r3_z) (r1_x,r1_y,r1_z)
396  link15 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
397