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3 % The same file as example6.world but here the two right triangles are replaced by a square.
10 % Relevant points for squared parts
27 % Relevant points for the equilateral triangles
41 % Size of the cylinders/balls used for the representaion
45 % For reprentation purposes, the points are displaced according to r
69 rq2_y:=l*sqrt(0.75)-r*sqrt(5)
79 sphere r (rp1_x,rp1_y,rp1_z)
80 sphere r (rp2_x,rp2_y,rp2_z)
81 sphere r (rp3_x,rp3_y,rp3_z)
82 sphere r (rp4_x,rp4_y,rp4_z)
83 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
84 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
85 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
86 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
89 sphere r (rq1_x,rq1_y,rq1_z)
90 sphere r (rq2_x,rq2_y,rq2_z)
91 sphere r (rq3_x,rq3_y,rq3_z)
92 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
93 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
94 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
97 sphere r (rp1_x,rp1_y,rp1_z)
98 sphere r (rp2_x,rp2_y,rp2_z)
99 sphere r (rp3_x,rp3_y,rp3_z)
100 sphere r (rp4_x,rp4_y,rp4_z)
101 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
102 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
103 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
104 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
105 % extra cylinder to represent the 2-triangles
106 cylinder r (rp2_x,rp2_y,rp2_z) (rp4_x,rp4_y,rp4_z)
109 sphere r (rq1_x,rq1_y,rq1_z)
110 sphere r (rq2_x,rq2_y,rq2_z)
111 sphere r (rq3_x,rq3_y,rq3_z)
112 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
113 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
114 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
117 sphere r (rp1_x,rp1_y,rp1_z)
118 sphere r (rp2_x,rp2_y,rp2_z)
119 sphere r (rp3_x,rp3_y,rp3_z)
120 sphere r (rp4_x,rp4_y,rp4_z)
121 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
122 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
123 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
124 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
127 sphere r (rq1_x,rq1_y,rq1_z)
128 sphere r (rq2_x,rq2_y,rq2_z)
129 sphere r (rq3_x,rq3_y,rq3_z)
130 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
131 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
132 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
135 sphere r (rp1_x,rp1_y,rp1_z)
136 sphere r (rp2_x,rp2_y,rp2_z)
137 sphere r (rp3_x,rp3_y,rp3_z)
138 sphere r (rp4_x,rp4_y,rp4_z)
139 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
140 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
141 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
142 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
143 % extra cylinder to represent the 2-triangles
144 cylinder r (rp2_x,rp2_y,rp2_z) (rp4_x,rp4_y,rp4_z)
147 sphere r (rq1_x,rq1_y,rq1_z)
148 sphere r (rq2_x,rq2_y,rq2_z)
149 sphere r (rq3_x,rq3_y,rq3_z)
150 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
151 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
152 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
155 sphere r (rp1_x,rp1_y,rp1_z)
156 sphere r (rp2_x,rp2_y,rp2_z)
157 sphere r (rp3_x,rp3_y,rp3_z)
158 sphere r (rp4_x,rp4_y,rp4_z)
159 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
160 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
161 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
162 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
165 sphere r (rp1_x,rp1_y,rp1_z)
166 sphere r (rp2_x,rp2_y,rp2_z)
167 sphere r (rp3_x,rp3_y,rp3_z)
168 sphere r (rp4_x,rp4_y,rp4_z)
169 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
170 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
171 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
172 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
175 sphere r (rp1_x,rp1_y,rp1_z)
176 sphere r (rp2_x,rp2_y,rp2_z)
177 sphere r (rp3_x,rp3_y,rp3_z)
178 sphere r (rp4_x,rp4_y,rp4_z)
179 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
180 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
181 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
182 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
185 sphere r (rp1_x,rp1_y,rp1_z)
186 sphere r (rp2_x,rp2_y,rp2_z)
187 sphere r (rp3_x,rp3_y,rp3_z)
188 sphere r (rp4_x,rp4_y,rp4_z)
189 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
190 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
191 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
192 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
195 sphere r (rq1_x,rq1_y,rq1_z)
196 sphere r (rq2_x,rq2_y,rq2_z)
197 sphere r (rq3_x,rq3_y,rq3_z)
198 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
199 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
200 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
203 sphere r (rp1_x,rp1_y,rp1_z)
204 sphere r (rp2_x,rp2_y,rp2_z)
205 sphere r (rp3_x,rp3_y,rp3_z)
206 sphere r (rp4_x,rp4_y,rp4_z)
207 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
208 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
209 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
210 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
213 sphere r (rq1_x,rq1_y,rq1_z)
214 sphere r (rq2_x,rq2_y,rq2_z)
215 sphere r (rq3_x,rq3_y,rq3_z)
216 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
217 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
218 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
221 sphere r (rp1_x,rp1_y,rp1_z)
222 sphere r (rp2_x,rp2_y,rp2_z)
223 sphere r (rp3_x,rp3_y,rp3_z)
224 sphere r (rp4_x,rp4_y,rp4_z)
225 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
226 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
227 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
228 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
229 % extra cylinder to represent the 2-triangles
230 cylinder r (rp1_x,rp1_y,rp1_z) (rp3_x,rp3_y,rp3_z)
233 sphere r (rq1_x,rq1_y,rq1_z)
234 sphere r (rq2_x,rq2_y,rq2_z)
235 sphere r (rq3_x,rq3_y,rq3_z)
236 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
237 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
238 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
241 sphere r (rp1_x,rp1_y,rp1_z)
242 sphere r (rp2_x,rp2_y,rp2_z)
243 sphere r (rp3_x,rp3_y,rp3_z)
244 sphere r (rp4_x,rp4_y,rp4_z)
245 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
246 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
247 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
248 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
251 sphere r (rq1_x,rq1_y,rq1_z)
252 sphere r (rq2_x,rq2_y,rq2_z)
253 sphere r (rq3_x,rq3_y,rq3_z)
254 cylinder r (rq1_x,rq1_y,rq1_z) (rq2_x,rq2_y,rq2_z)
255 cylinder r (rq2_x,rq2_y,rq2_z) (rq3_x,rq3_y,rq3_z)
256 cylinder r (rq3_x,rq3_y,rq3_z) (rq1_x,rq1_y,rq1_z)
259 sphere r (rp1_x,rp1_y,rp1_z)
260 sphere r (rp2_x,rp2_y,rp2_z)
261 sphere r (rp3_x,rp3_y,rp3_z)
262 sphere r (rp4_x,rp4_y,rp4_z)
263 cylinder r (rp1_x,rp1_y,rp1_z) (rp2_x,rp2_y,rp2_z)
264 cylinder r (rp2_x,rp2_y,rp2_z) (rp3_x,rp3_y,rp3_z)
265 cylinder r (rp3_x,rp3_y,rp3_z) (rp4_x,rp4_y,rp4_z)
266 cylinder r (rp4_x,rp4_y,rp4_z) (rp1_x,rp1_y,rp1_z)
267 % extra cylinder to represent the 2-triangles
268 cylinder r (rp2_x,rp2_y,rp2_z) (rp4_x,rp4_y,rp4_z)
272 revolute: link1 (p2_x,p2_y,p2_z) (p3_x,p3_y,p3_z)
273 link2 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
275 revolute: link2 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
276 link3 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
278 revolute: link3 (p2_x,p2_y,p2_z) (p3_x,p3_y,p3_z)
279 link5 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
281 revolute: link5 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
282 link6 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
284 revolute: link6 (p2_x,p2_y,p2_z) (p3_x,p3_y,p3_z)
285 link7 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
287 revolute: link7 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
288 link8 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
290 revolute: link8 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
291 link10 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
293 revolute: link10 (q2_x,q2_y,q2_z) (q3_x,q3_y,q3_z)
294 link1 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
296 revolute: link10 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
297 link11 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
299 revolute: link2 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
300 link12 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
302 revolute: link5 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
303 link13 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
305 revolute: link7 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
306 link14 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
308 revolute: link11 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
309 link15 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
311 revolute: link12 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
312 link17 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
314 revolute: link13 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
315 link20 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
317 revolute: link14 (p1_x,p1_y,p1_z) (p4_x,p4_y,p4_z)
318 link22 (q1_x,q1_y,q1_z) (q2_x,q2_y,q2_z)
320 revolute: link15 (q1_x,q1_y,q1_z) (q3_x,q3_y,q3_z)
321 link16 (p3_x,p3_y,p3_z) (p4_x,p4_y,p4_z)
323 revolute: link16 (p1_x,p1_y,p1_z) (p2_x,p2_y,p2_z)
324 link17 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
326 revolute: link17 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
327 link18 (p2_x,p2_y,p2_z) (p1_x,p1_y,p1_z)
329 revolute: link18 (p3_x,p3_y,p3_z) (p4_x,p4_y,p4_z)
330 link20 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
332 revolute: link20 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
333 link21 (p4_x,p4_y,p4_z) (p3_x,p3_y,p3_z)
335 revolute: link21 (p1_x,p1_y,p1_z) (p2_x,p2_y,p2_z)
336 link22 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
338 revolute: link22 (q3_x,q3_y,q3_z) (q1_x,q1_y,q1_z)
339 link23 (p3_x,p3_y,p3_z) (p2_x,p2_y,p2_z)
341 revolute: link23 (p4_x,p4_y,p4_z) (p1_x,p1_y,p1_z)
342 link15 (q3_x,q3_y,q3_z) (q2_x,q2_y,q2_z)
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