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6 %--------------------------------------------------------------------
8 %--------------------------------------------------------------------
41 % Pre-compute sin/cos of alpha_i
63 % radius of revolute joints
66 % length of revolute joints
73 cylinder rr (-2*lr,0,0) (-lr,0,0)
74 cylinder rr (lr,0,0) (2*lr,0,0)
76 cylinder rb (-1.5*lr,0,0) (-1.5*lr,0,2*lr)
77 sphere rb (-1.5*lr,0,2*lr)
78 cylinder rb (1.5*lr,0,0) (1.5*lr,0,2*lr)
79 sphere rb (1.5*lr,0,2*lr)
80 cylinder rb (-1.5*lr,0,2*lr) (1.5*lr,0,2*lr)
81 cylinder rb (0,0,2*lr) (0,0,a1)
82 cylinder rr (-lr*c1,-lr*s1,a1) (lr*c1,lr*s1,a1)
87 cylinder rr (-2*lr,0,0) (-lr,0,0)
88 cylinder rr (lr,0,0) (2*lr,0,0)
90 cylinder rb (-1.5*lr,0,0) (-1.5*lr,0,2*lr)
91 sphere rb (-1.5*lr,0,2*lr)
92 cylinder rb (1.5*lr,0,0) (1.5*lr,0,2*lr)
93 sphere rb (1.5*lr,0,2*lr)
94 cylinder rb (-1.5*lr,0,2*lr) (1.5*lr,0,2*lr)
95 cylinder rb (0,0,2*lr) (0,0,a2)
96 cylinder rr (-lr*c2,-lr*s2,a2) (lr*c2,lr*s2,a2)
100 cylinder rr (-2*lr,0,0) (-lr,0,0)
101 cylinder rr (lr,0,0) (2*lr,0,0)
103 cylinder rb (-1.5*lr,0,0) (-1.5*lr,0,2*lr)
104 sphere rb (-1.5*lr,0,2*lr)
105 cylinder rb (1.5*lr,0,0) (1.5*lr,0,2*lr)
106 sphere rb (1.5*lr,0,2*lr)
107 cylinder rb (-1.5*lr,0,2*lr) (1.5*lr,0,2*lr)
108 cylinder rb (0,0,2*lr) (0,0,a3)
109 cylinder rr (-lr*c3,-lr*s3,a3) (lr*c3,lr*s3,a3)
112 sphere rr (-2*lr,0,0)
113 cylinder rr (-2*lr,0,0) (-lr,0,0)
114 cylinder rr (lr,0,0) (2*lr,0,0)
116 cylinder rb (-1.5*lr,0,0) (-1.5*lr,0,2*lr)
117 sphere rb (-1.5*lr,0,2*lr)
118 cylinder rb (1.5*lr,0,0) (1.5*lr,0,2*lr)
119 sphere rb (1.5*lr,0,2*lr)
120 cylinder rb (-1.5*lr,0,2*lr) (1.5*lr,0,2*lr)
121 cylinder rb (0,0,2*lr) (0,0,a4)
122 cylinder rr (-lr*c4,-lr*s4,a4) (lr*c4,lr*s4,a4)
125 sphere rr (-2*lr,0,0)
126 cylinder rr (-2*lr,0,0) (-lr,0,0)
127 cylinder rr (lr,0,0) (2*lr,0,0)
129 cylinder rb (-1.5*lr,0,0) (-1.5*lr,0,2*lr)
130 sphere rb (-1.5*lr,0,2*lr)
131 cylinder rb (1.5*lr,0,0) (1.5*lr,0,2*lr)
132 sphere rb (1.5*lr,0,2*lr)
133 cylinder rb (-1.5*lr,0,2*lr) (1.5*lr,0,2*lr)
134 cylinder rb (0,0,2*lr) (0,0,a5)
135 cylinder rr (-lr*c5,-lr*s5,a5) (lr*c5,lr*s5,a5)
138 sphere rr (-2*lr,0,0)
139 cylinder rr (-2*lr,0,0) (-lr,0,0)
140 cylinder rr (lr,0,0) (2*lr,0,0)
142 cylinder rb (-1.5*lr,0,0) (-1.5*lr,0,2*lr)
143 sphere rb (-1.5*lr,0,2*lr)
144 cylinder rb (1.5*lr,0,0) (1.5*lr,0,2*lr)
145 sphere rb (1.5*lr,0,2*lr)
146 cylinder rb (-1.5*lr,0,2*lr) (1.5*lr,0,2*lr)
147 cylinder rb (0,0,2*lr) (0,0,a6)
148 cylinder rr (-lr*c6,-lr*s6,a6) (lr*c6,lr*s6,a6)
152 revolute: link1 (-c1,-s1,a1) (d1*c1,d1*s1,a1)
153 link2 (-d1-1,0,0)(0,0,0)
155 revolute: link2 (-c2,-s2,a2) (d2*c2,d2*s2,a2)
156 link3 (-d2-1,0,0)(0,0,0)
158 revolute: link3 (-c3,-s3,a3) (d3*c3,d3*s3,a3)
159 link4 (-d3-1,0,0)(0,0,0)
161 revolute: link4 (-c4,-s4,a4) (d4*c4,d4*s4,a4)
162 link5 (-d4-1,0,0)(0,0,0)
164 revolute: link5 (-c5,-s5,a5) (d5*c5,d5*s5,a5)
165 link6 (-d5-1,0,0)(0,0,0)
167 revolute: link6 (-c6,-s6,a6) (d6*c6,d6*s6,a6)
168 link1 (-d6-1,0,0)(0,0,0)
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