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6 %--------------------------------------------------------------------
8 %--------------------------------------------------------------------
31 % Pre-compute sin/cos of alpha_i
53 sphere 0.05 (-0.075,0,0)
54 cylinder 0.05 (-0.075,0,0) (-0.025,0,0)
55 cylinder 0.05 (-0.025,0,0) ( 0.025,0,0) 0.1*white
56 cylinder 0.05 ( 0.025,0,0) ( 0.075,0,0)
57 sphere 0.05 ( 0.075,0,0)
58 cylinder 0.025 (-0.05 ,0,0) (-0.05 ,-0.1,0)
59 sphere 0.025 (-0.05 ,-0.1,0)
60 cylinder 0.025 ( 0.05 ,0,0) ( 0.05 ,-0.1,0)
61 sphere 0.025 ( 0.05 ,-0.1,0)
62 cylinder 0.025 (-0.05 ,-0.1,0) ( 0.05 ,-0.1,0)
63 cylinder 0.025 (0,-0.1,0) (0,-0.2,0)
64 sphere 0.025 (0,-0.2,0)
66 cylinder 0.025 (0,-0.2,0) (-0.2*c1,-0.2*s1,a1)
67 sphere 0.025 (-0.2*c1,-0.2*s1,a1)
68 cylinder 0.025 (-0.2*c1,-0.2*s1,a1)((d1+0.2)*c1,(d1+0.2)*s1,a1)
71 sphere 0.05 (-0.075+0.2,0,0)
72 cylinder 0.05 (-0.075+0.2,0,0) (-0.025+0.2,0,0)
73 cylinder 0.05 (-0.025+0.2,0,0) ( 0.025+0.2,0,0) 0.9*white
74 cylinder 0.05 ( 0.025+0.2,0,0) ( 0.075+0.2,0,0)
75 sphere 0.05 ( 0.075+0.2,0,0)
76 cylinder 0.025 (-0.05+0.2 ,0,0) (-0.05+0.2 ,0,0.1)
77 sphere 0.025 (-0.05+0.2 ,0,0.1)
78 cylinder 0.025 ( 0.05+0.2 ,0,0) ( 0.05+0.2 ,0,0.1)
79 sphere 0.025 ( 0.05+0.2 ,0,0.1)
80 cylinder 0.025 (-0.05+0.2 ,0,0.1) ( 0.05+0.2 ,0,0.1)
81 cylinder 0.025 (0+0.2,0,0.1) (0+0.2,0,0.2)
82 sphere 0.025 (0+0.2,0,0.2)
84 cylinder 0.025 (0+0.2,0,0.2) (0.2*c2,0.2*s2,0.2)
85 sphere 0.025 (0.2*c2,0.2*s2,0.2)
86 cylinder 0.025 (0.2*c2,0.2*s2,0.2) (0.2*c2,0.2*s2,a2)
87 sphere 0.025 (0.2*c2,0.2*s2,a2)
88 cylinder 0.025 (0.2*c2,0.2*s2,a2)(d2*c2-0.2,d2*s2,a2)
91 sphere 0.05 (-0.075-0.2,0,0)
92 cylinder 0.05 (-0.075-0.2,0,0) (-0.025-0.2,0,0)
93 cylinder 0.05 (-0.025-0.2,0,0) ( 0.025-0.2,0,0) 0.1*white
94 cylinder 0.05 ( 0.025-0.2,0,0) ( 0.075-0.2,0,0)
95 sphere 0.05 ( 0.075-0.2,0,0)
96 cylinder 0.025 (-0.05-0.2 ,0,0) (-0.05-0.2 ,0,-0.1)
97 sphere 0.025 (-0.05-0.2 ,0,-0.1)
98 cylinder 0.025 ( 0.05-0.2 ,0,0) ( 0.05-0.2 ,0,-0.1)
99 sphere 0.025 ( 0.05-0.2 ,0,-0.1)
100 cylinder 0.025 (-0.05-0.2 ,0,-0.1) ( 0.05-0.2 ,0,-0.1)
101 cylinder 0.025 (0-0.2,0,-0.1) (0-0.2,0,-0.15)
102 sphere 0.025 (0-0.2,0,-0.15)
104 cylinder 0.025 (0-0.2,0,-0.15) (d3*c3,d3*s3,-0.15)
105 sphere 0.025 (d3*c3,d3*s3,-0.15)
106 cylinder 0.025 (d3*c3,d3*s3,-0.15) (d3*c3,d3*s3,a3)
109 sphere 0.05 (-0.075,0,0)
110 cylinder 0.05 (-0.075,0,0) (-0.025,0,0)
111 cylinder 0.05 (-0.025,0,0) ( 0.025,0,0) 0.9*white
112 cylinder 0.05 ( 0.025,0,0) ( 0.075,0,0)
113 sphere 0.05 ( 0.075,0,0)
114 cylinder 0.025 (-0.05 ,0,0) (-0.05 ,0,0.1)
115 sphere 0.025 (-0.05 ,0,0.1)
116 cylinder 0.025 ( 0.05 ,0,0) ( 0.05 ,0,0.1)
117 sphere 0.025 ( 0.05 ,0,0.1)
118 cylinder 0.025 (-0.05 ,0,0.1) ( 0.05 ,0,0.1)
119 cylinder 0.025 (0,0,0.1) (0,0,0.3)
120 sphere 0.025 (0,0,0.3)
122 cylinder 0.025 (0,0,0.3) (-0.5*c4,-0.5*s4,a4)
123 sphere 0.025 (-0.5*c4,-0.5*s4,a4)
124 cylinder 0.025 (-0.5*c4,-0.5*s4,a4)(-0.25*c4,-0.25*s4,a4)
127 sphere 0.05 (-0.075-0.25,0,0)
128 cylinder 0.05 (-0.075-0.25,0,0) (-0.025-0.25,0,0)
129 cylinder 0.05 (-0.025-0.25,0,0) ( 0.025-0.25,0,0) 0.1*white
130 cylinder 0.05 ( 0.025-0.25,0,0) ( 0.075-0.25,0,0)
131 sphere 0.05 ( 0.075-0.25,0,0)
133 cylinder 0.025 (-0.05-0.25 ,0,0) (-0.05-0.25 ,-0.1,0)
134 sphere 0.025 (-0.05-0.25 ,-0.1,0)
135 cylinder 0.025 ( 0.05-0.25 ,0,0) ( 0.05-0.25 ,-0.1,0)
136 sphere 0.025 ( 0.05-0.25 ,-0.1,0)
137 cylinder 0.025 (-0.05-0.25 ,-0.1,0) ( 0.05-0.25 ,-0.1,0)
138 cylinder 0.025 (0-0.25,-0.1,0) (0-0.25,-0.2,0)
139 sphere 0.025 (0-0.25,-0.2,0)
141 sphere 0.025 (0-0.25,-0.2,0)
142 cylinder 0.025 (0-0.25,-0.2,0) (0,-0.2,0)
145 sphere 0.05 (-0.075-0.2,0,0)
146 cylinder 0.05 (-0.075-0.2,0,0) (-0.025-0.2,0,0)
147 cylinder 0.05 (-0.025-0.2,0,0) ( 0.025-0.2,0,0) 0.9*white
148 cylinder 0.05 ( 0.025-0.2,0,0) ( 0.075-0.2,0,0)
149 sphere 0.05 ( 0.075-0.2,0,0)
150 cylinder 0.025 (-0.05-0.2 ,0,0) (-0.05-0.2 ,0,0.1)
151 sphere 0.025 (-0.05-0.2 ,0,0.1)
152 cylinder 0.025 ( 0.05-0.2 ,0,0) ( 0.05-0.2 ,0,0.1)
153 sphere 0.025 ( 0.05-0.2 ,0,0.1)
154 cylinder 0.025 (-0.05-0.2 ,0,0.1) ( 0.05-0.2 ,0,0.1)
155 cylinder 0.025 (0-0.2,0,0.1) (0-0.2,0,0.25)
156 sphere 0.025 (0-0.2,0,0.25)
158 cylinder 0.025 (0-0.2,0,0.25) (-0.1*c6,-0.1*s6,a6)
159 sphere 0.025 (-0.1*c6,-0.1*s6,a6)
160 cylinder 0.025 (-0.1*c6,-0.1*s6,a6)(d6*c6,d6*s6,a6)
164 revolute: link1 (-c1,-s1,a1) (d1*c1,d1*s1,a1)
165 link2 (-d1-1,0,0)(0,0,0)
167 revolute: link2 (-c2,-s2,a2) (d2*c2,d2*s2,a2)
168 link3 (-d2-1,0,0)(0,0,0)
170 revolute: link3 (-c3,-s3,a3) (d3*c3,d3*s3,a3)
171 link4 (-d3-1,0,0)(0,0,0)
173 revolute: link4 (-c4,-s4,a4) (d4*c4,d4*s4,a4)
174 link5 (-d4-1,0,0)(0,0,0)
176 revolute: link5 (-c5,-s5,a5) (d5*c5,d5*s5,a5)
177 link6 (-d5-1,0,0)(0,0,0)
179 revolute: link6 (-c6,-s6,a6) (d6*c6,d6*s6,a6)
180 link1 (-d6-1,0,0)(0,0,0)
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