00001
00002
00004 [CONSTANTS]
00005
00006 % lengths of the bars connecting the triangles
00007 lb1:=11
00008 lb2:= 9
00009 lb3:= 7
00010 lb4:=12
00011
00012 % radius of the cylinders defining the bars
00013 rb:=0.1
00014
00015 % radius of the spheres at the joints
00016 rs:=0.2
00017
00018 % length of the revolute axes
00019 lr:=1
00020
00021 [LINKS]
00022
00023 t1: body "bodies/triangle1.off" 0.5*yellow
00024
00025 t2: body "bodies/triangle2.off" 0.7*yellow
00026 sphere rs (0,0,0) red
00027
00028 t3: body "bodies/triangle3.off" 0.9*yellow
00029
00030 t4: body "bodies/triangle4.off" 1.0*yellow
00031 sphere rs (0,0,0) red
00032
00033 b1: cylinder rb ( 0,0,0) (lb1,0,0) black
00034 sphere rs ( 0,0,0) red
00035 sphere rs (lb1,0,0) red
00036
00037 b2: cylinder rb ( 0,0,0) (lb2,0,0) black
00038 sphere rs ( 0,0,0) red
00039 sphere rs (lb2,0,0) red
00040
00041 b3: cylinder rb ( 0,0,0) (lb3,0,0) black
00042 sphere rs ( 0,0,0) red
00043 sphere rs (lb3,0,0) red
00044
00045 b4: cylinder rb ( 0,0,0) (lb4,0,0) black
00046 sphere rs ( 0,0,0) red
00047 sphere rs (lb4,0,0) red
00048
00049 [JOINTS]
00050
00051 % In the notation below, we define a rotation axes by selecting
00052 % a point on the link and adding a vector to it.
00053 % For OFFs, the point are indexed as they appear in the file
00054 % (starting at 0!)
00055 revolute: t1 2+(0,lr,0)
00056 t2 0+(0,lr,0)
00057
00058 revolute: t3 2+(0,lr,0)
00059 t4 0+(0,lr,0)
00060
00061 % For cylinders, two points are defined at the extremes of the cylinder
00062 % indexes as point 0 and point 1.
00063 revolute: t1 0+(0,lr,0)
00064 b1 0+(0,lr,0)
00065
00066 revolute: b1 1+(0,lr,0)
00067 t3 0+(0,lr,0)
00068
00069 revolute: t2 2+(0,lr,0)
00070 b2 0+(0,lr,0)
00071
00072 revolute: b2 1+(0,lr,0)
00073 t3 1+(0,lr,0)
00074
00075 revolute: t2 1+(0,lr,0)
00076 b3 0+(0,lr,0)
00077
00078 revolute: b3 1+(0,lr,0)
00079 t4 1+(0,lr,0)
00080
00081 revolute: t1 1+(0,lr,0)
00082 b4 0+(0,lr,0)
00083
00084 revolute: b4 1+(0,lr,0)
00085 t4 2+(0,lr,0)
00086
