00001
00002 [CONSTANTS]
00003
00004
00005 % Leg lenghts
00006 rho1 := 1
00007 rho2 := 0.645275
00008 rho3 := 1.086284
00009 rho4 := 1.503439
00010 rho5 := 1.281933
00011 rho6 := 0.771071
00012
00013 % Base Points (wrt the base reference frame)
00014
00015 a1x := 0
00016 a1y := 0
00017 a1z := 0
00018
00019 a2x := 1.107915
00020 a2y := 0
00021 a2z := 0
00022
00023 a3x := 0.549094
00024 a3y := 0.756063
00025 a3z := 0
00026
00027 a4x := 0.735077
00028 a4y := -0.223935
00029 a4z := 0.525991
00030
00031 a5x := 0.514188
00032 a5y := -0.526063
00033 a5z := -0.368418
00034
00035 a6x := 0.590473
00036 a6y := 0.094733
00037 a6z := -0.205018
00038
00039
00040 % Platform Points (wrt the platform reference frame)
00041
00042 b1x := 0
00043 b1y := 0
00044 b1z := 0
00045
00046 b2x := 0.542805
00047 b2y := 0
00048 b2z := 0
00049
00050 b3x := 0.956919
00051 b3y := -0.528915
00052 b3z := 0
00053
00054 b4x := 0.665885
00055 b4y := -0.353482
00056 b4z := 1.402538
00057
00058 b5x := 0.478359
00059 b5y := 1.158742
00060 b5z := 0.107672
00061
00062 b6x := -0.137087
00063 b6y := -0.235121
00064 b6z := 0.353913
00065
00066 % Center of the base and platform used to display
00067 cbx:=(a1x+a2x+a3x+a4x+a5x+a6x)/6
00068 cby:=(a1y+a2y+a3y+a4y+a5y+a6y)/6
00069 cbz:=(a1z+a2z+a3z+a4z+a5z+a6z)/6
00070
00071 cpx:=(b1x+b2x+b3x+b4x+b5x+b6x)/6
00072 cpy:=(b1y+b2y+b3y+b4y+b5y+b6y)/6
00073 cpz:=(b1z+b2z+b3z+b4z+b5z+b6z)/6
00074
00075 % Radius of bars
00076 rb:=0.025
00077
00078 % Radius of spheres. Sph-Sph joints already plot
00079 % an sphere at the extremes of the cylinder but
00080 % we draw a larger sphere with another color
00081 rs:=0.05
00082
00083 [LINKS]
00084
00085 base : color (0.73,0.54,0.58)
00086 sphere rs (a1x,a1y,a1z)
00087 sphere rs (a2x,a2y,a2z)
00088 sphere rs (a3x,a3y,a3z)
00089 sphere rs (a4x,a4y,a4z)
00090 sphere rs (a5x,a5y,a5z)
00091 sphere rs (a6x,a6y,a6z)
00092 % optionally draw the base
00093 % cylinder rb (a1x,a1y,a1z) (cbx,cby,cbz)
00094 % cylinder rb (a2x,a2y,a2z) (cbx,cby,cbz)
00095 % cylinder rb (a3x,a3y,a3z) (cbx,cby,cbz)
00096 % cylinder rb (a4x,a4y,a4z) (cbx,cby,cbz)
00097 % cylinder rb (a5x,a5y,a5z) (cbx,cby,cbz)
00098 % cylinder rb (a6x,a6y,a6z) (cbx,cby,cbz)
00099
00100 platform: color (0.33,0.66,0.8)
00101 sphere rs (b1x,b1y,b1z)
00102 sphere rs (b2x,b2y,b2z)
00103 sphere rs (b3x,b3y,b3z)
00104 sphere rs (b4x,b4y,b4z)
00105 sphere rs (b5x,b5y,b5z)
00106 sphere rs (b6x,b6y,b6z)
00107 cylinder rb (b1x,b1y,b1z) (cpx,cpy,cpz)
00108 cylinder rb (b2x,b2y,b2z) (cpx,cpy,cpz)
00109 cylinder rb (b3x,b3y,b3z) (cpx,cpy,cpz)
00110 cylinder rb (b4x,b4y,b4z) (cpx,cpy,cpz)
00111 cylinder rb (b5x,b5y,b5z) (cpx,cpy,cpz)
00112 cylinder rb (b6x,b6y,b6z) (cpx,cpy,cpz)
00113
00114 [JOINTS]
00115
00116 SPH_SPH: base (a1x,a1y,a1z)
00117 platform (b1x,b1y,b1z)
00118 length rho1
00119 radius rb
00120 color (0.86,0.86,0.53)
00121
00122 SPH_SPH: base (a2x,a2y,a2z)
00123 platform (b2x,b2y,b2z)
00124 length rho2
00125 radius rb
00126 color (0.86,0.86,0.53)
00127
00128 SPH_SPH: base (a3x,a3y,a3z)
00129 platform (b3x,b3y,b3z)
00130 length rho3
00131 radius rb
00132 color (0.86,0.86,0.53)
00133
00134 SPH_SPH: base (a4x,a4y,a4z)
00135 platform (b4x,b4y,b4z)
00136 length rho4
00137 radius rb
00138 color (0.86,0.86,0.53)
00139
00140 SPH_SPH: base (a5x,a5y,a5z)
00141 platform (b5x,b5y,b5z)
00142 length rho5
00143 radius rb
00144 color (0.86,0.86,0.53)
00145
00146 SPH_SPH: base (a6x,a6y,a6z)
00147 platform (b6x,b6y,b6z)
00148 length rho6
00149 radius rb
00150 color (0.86,0.86,0.53)
00151
