example6b.world
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1 
3 % The same file as example6.world but here the two right triangles are replaced by a square.
4 
5 [CONSTANTS]
6 
7  % scale
8  l:=1
9 
10  % Relevant points for squared parts
11  p1_x:=0
12  p1_y:=0
13  p1_z:=0
14 
15  p2_x:=0
16  p2_y:=l
17  p2_z:=0
18 
19  p3_x:=l
20  p3_y:=l
21  p3_z:=0
22 
23  p4_x:=l
24  p4_y:=0
25  p4_z:=0
26 
27  % Relevant points for the equilateral triangles
28 
29  q1_x:=0
30  q1_y:=0
31  q1_z:=0
32 
33  q2_x:=l*0.5
34  q2_y:=l*sqrt(0.75)
35  q2_z:=0
36 
37  q3_x:=l
38  q3_y:=0
39  q3_z:=0
40 
41  % Size of the cylinders/balls used for the representaion
42 
43  r:=0.05
44 
45  % For reprentation purposes, the points are displaced according to r
46  rp1_x:=r
47  rp1_y:=r
48  rp1_z:=0
49 
50  rp2_x:=r
51  rp2_y:=l-r
52  rp2_z:=0
53 
54  rp3_x:=l-r
55  rp3_y:=l-r
56  rp3_z:=0
57 
58  rp4_x:=l-r
59  rp4_y:=r
60  rp4_z:=0
61 
62  %
63 
64  rq1_x:=2*r
65  rq1_y:=r
66  rq1_z:=0
67 
68  rq2_x:=l*0.5
69  rq2_y:=l*sqrt(0.75)-r*sqrt(5)
70  rq2_z:=0
71 
72  rq3_x:=l-2*r
73  rq3_y:=r
74  rq3_z:=0
75 
76 [LINKS]
77 
78  link1 : blue
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)
87 
88  link2 : green
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)
95 
96  link3 : green
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)
107 
108  link5 : green
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)
115 
116  link6 : yellow
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)
125 
126  link7 : red
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)
133 
134  link8 : red
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)
145 
146  link10 : red
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)
153 
154  link11 : yellow
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)
163 
164  link12 : yellow
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)
173 
174  link13 : blue
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)
183 
184  link14 : blue
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)
193 
194  link15 : green
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)
201 
202  link16 : blue
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)
211 
212  link17 : red
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)
219 
220  link18 : red
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)
231 
232  link20 : red
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)
239 
240  link21 : yellow
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)
249 
250  link22 : green
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)
257 
258  link23 : green
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)
269 
270 [JOINTS]
271 
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)
274 
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)
277 
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)
280 
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)
283 
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)
286 
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)
289 
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)
292 
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)
295 
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)
298 
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)
301 
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)
304 
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)
307 
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)
310 
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)
313 
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)
316 
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)
319 
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)
322 
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)
325 
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)
328 
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)
331 
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)
334 
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)
337 
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)
340 
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)
343