Rotational2.world

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[CONSTANTS]


% minimum extension of the legs
rho1:= 2.5 

% maximum extension of the legs
rho2:=rho1+2.5

% length of the central leg
rho3:= 3.7

% beg leg
rho4:= 7
rbeg:=0.2 % nominal value 0.04 max 0.235
% rbeg:=0.23 % nominal value 0.04 max 0.235

% Now we define the base and the platforma as equilater triangles
% with the given parameters

% Base Points (wrt the base reference frame)
% (this must correspond with the points in bodies/triangleR1)
a1x := 1.5
a1y := 0
a1z := 0

a2x := -0.75
a2y :=  1.3
a2z := 0

a3x := -0.75
a3y := -1.3
a3z := 0

% Platform Points (wrt the platform reference frame)
% (this must correspond with the points in bodies/triangleR2)
b1x := 1.5
b1y := 0
b1z := 0

b2x := -0.75
b2y :=  1.3
b2z := 0

b3x := -0.75
b3y := -1.3
b3z := 0

[LINKS]

base    : body "bodies/triangleR1" color (0.25,0.25,0)
          cylinder 0.1 (0,0,0) (0,0,rho3) color (0.75,0.1,0.1)
          sphere 0.2 (0,0,rho3) color (0.9,0.9,0)

platform: body "bodies/triangleR2" color (0.25,0.25,0) decoration
          cylinder rbeg (0,0,0)  (0,0,rho4) color (0.1,0.9,0.1)

[JOINTS]

spherical:  base     (0,0,rho3)
            platform (0,0,0)
            range [pi/3] +(0,0,1) +(0,0,1)

sph_prs_sph leg1 : base     (a1x,a1y,a1z)
                   platform (b1x,b1y,b1z)
                   range    [rho1,rho2]
                   radius   0.15
                   color    (0.9,0.9,0.9)

sph_prs_sph leg2 : base     (a2x,a2y,a2z)
                   platform (b2x,b2y,b2z)
                   range    [rho1,rho2]
                   radius   0.15
                   color    (0.9,0.9,0.9)

sph_prs_sph leg3 : base     (a3x,a3y,a3z)
                   platform (b3x,b3y,b3z)
                   range    [rho1,rho2]
                   radius   0.15
                   color    (0.9,0.9,0.9)

[OBSTACLES]

 obs1: body "bodies/obstacleR1" color (0.1,0.1,0.9)
 obs2: body "bodies/obstacleR2" color (0.1,0.1,0.9)
 obs5: body "bodies/obstacleR5" color (0.1,0.1,0.9) hidden
 obs6: body "bodies/obstacleR6" color (0.1,0.1,0.9) hidden
 obs7: body "bodies/obstacleR7" color (0.1,0.1,0.9)
 obs10: body "bodies/obstacleR10" color (0.1,0.1,0.9)
 obs11: body "bodies/obstacleR11" color (0.1,0.1,0.9)
 obs12: body "bodies/obstacleR12" color (0.1,0.1,0.9)



[COLLISIONS]

  Do Not Check : all
  Check: platform,obs1
  Check: platform,obs2
  Check: platform,obs5
  Check: platform,obs6
  Check: platform,obs7
  Check: platform,obs10
  Check: platform,obs11
  Check: platform,obs12