FourBars.world
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1 
2 [CONSTANTS]
3 
4 % Parameters for the sticky bot
5 % l1:=6.3
6 % l2:=4.3
7 % l3:=10
8 % l4:=10.6
9 
10 % Default parameters
11 
12 l1:=1.25
13 l2:=1.25
14 l3:=1.25
15 l4:=1.25
16 
17 [LINKS]
18 
19  link1: color (0.9,0.9,0.9)
20  cylinder 0.05 (0,0,0) (1,0,0)
21  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
22  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
23  cylinder 0.05 (1,-0.1,0) (l1,-0.1,0) decoration
24  cylinder 0.05 (1,0.1,0) (l1,0.1,0) decoration
25  cylinder 0.05 (l1,-0.15,0) (l1,-0.05,0) decoration
26  cylinder 0.05 (l1,0.15,0) (l1,0.05,0) decoration
27 
28  sphere 0.05 (1,-0.1,0) decoration
29  sphere 0.05 (1,0.1,0) decoration
30  sphere 0.05 (l1,-0.15,0) decoration
31  sphere 0.05 (l1,0.15,0) decoration
32 
33  link2: color (0.1,0.1,0.1)
34  cylinder 0.05 (0,0,0) (1,0,0)
35  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
36  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
37  cylinder 0.05 (1,-0.1,0) (l2,-0.1,0) decoration
38  cylinder 0.05 (1,0.1,0) (l2,0.1,0) decoration
39  cylinder 0.05 (l2,-0.15,0) (l2,-0.05,0) decoration
40  cylinder 0.05 (l2,0.15,0) (l2,0.05,0) decoration
41 
42  sphere 0.05 (1,-0.1,0) decoration
43  sphere 0.05 (1,0.1,0) decoration
44  sphere 0.05 (l2,-0.15,0) decoration
45  sphere 0.05 (l2,0.15,0) decoration
46 
47 
48  link3: color (0.9,0.9,0.9)
49  cylinder 0.05 (0,0,0) (1,0,0)
50  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
51  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
52  cylinder 0.05 (1,-0.1,0) (l3,-0.1,0) decoration
53  cylinder 0.05 (1,0.1,0) (l3,0.1,0) decoration
54  cylinder 0.05 (l3,-0.15,0) (l3,-0.05,0) decoration
55  cylinder 0.05 (l3,0.15,0) (l3,0.05,0) decoration
56 
57  sphere 0.05 (1,-0.1,0) decoration
58  sphere 0.05 (1,0.1,0) decoration
59  sphere 0.05 (l3,-0.15,0) decoration
60  sphere 0.05 (l3,0.15,0) decoration
61 
62  link4: color (0.1,0.1,0.1)
63  cylinder 0.05 (0,0,0) (1,0,0)
64  cylinder 0.05 (0,-0.05,0) (0,0.05,0) decoration
65  cylinder 0.05 (1,-0.1,0) (1,0.1,0) decoration
66  cylinder 0.05 (1,-0.1,0) (l4,-0.1,0) decoration
67  cylinder 0.05 (1,0.1,0) (l4,0.1,0) decoration
68  cylinder 0.05 (l4,-0.15,0) (l4,-0.05,0) decoration
69  cylinder 0.05 (l4,0.15,0) (l4,0.05,0) decoration
70 
71  sphere 0.05 (1,-0.1,0) decoration
72  sphere 0.05 (1,0.1,0) decoration
73  sphere 0.05 (l4,-0.15,0) decoration
74  sphere 0.05 (l4,0.15,0) decoration
75 
76 [JOINTS]
77 
78  REVOLUTE: link1 (l1,1,0) (l1,-1,0)
79  link2 (0 ,1,0) (0 ,-1,0)
80 
81  REVOLUTE: link2 (l2,1,0) (l2,-1,0)
82  link3 (0 ,1,0) (0 ,-1,0)
83 
84  REVOLUTE: link3 (l3,1,0) (l3,-1,0)
85  link4 (0 ,1,0) (0 ,-1,0)
86 
87  REVOLUTE: link4 (l4,1,0) (l4,-1,0)
88  link1 (0 ,1,0) (0 ,-1,0)
89