Star3.world

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[CONSTANTS]

% Length of links for leg 1
length_1_1:=2.5
length_1_2:=5.5
length_1_3:=9

% Length of links for leg 2
length_2_1:=6
length_2_2:=10
length_2_3:=5

% Length of links for leg 3
length_3_1:=5
length_3_2:=7.5
length_3_3:=10

% Anchor points for the 3 legs
% (in the x-z) plane
a1_x:= 0
a1_z:= 0

a2_x:= 2
a2_z:= 3.5

a3_x:=-4
a3_z:= 3.5


% Radii of cylinders and spheres used for representation
rc := 0.1
rs := 0.225

[LINKS]
  % A ground link without associated geometry
  ground_link

  % leg 1
  link_1_1: cylinder rc (0,0,0) (length_1_1,0,0) yellow decoration
            sphere   rs (0,0,0)                 black decoration
  link_1_2: cylinder rc (0,0,0) (length_1_2,0,0) green decoration
            sphere   rs (0,0,0)                  black decoration
  link_1_3: cylinder rc (0,0,0) (length_1_3,0,0) yellow decoration
            sphere   rs (0,0,0)                  black decoration

  % leg 1
  link_2_1: cylinder rc (0,0.5,0) (length_2_1,0.5,0) yellow decoration
            sphere   rs (0,0.5,0)                  black decoration
  link_2_2: cylinder rc (0,0.5,0) (length_2_2,0.5,0) green decoration
            sphere   rs (0,0.5,0)                  black decoration
  link_2_3: cylinder rc (0,0.5,0) (length_2_3,0.5,0) yellow decoration
            sphere   rs (0,0.5,0)                  black decoration

  % leg 1
  link_3_1: cylinder rc (0,1,0) (length_3_1,1,0) yellow decoration
            sphere   rs (0,1,0)                  black decoration
  link_3_2: cylinder rc (0,1,0) (length_3_2,1,0) green decoration
            sphere   rs (0,1,0)                  black decoration
  link_3_3: cylinder rc (0,1,0) (length_3_3,1,0) yellow decoration
            sphere   rs (0,1,0)                  black decoration
            sphere   rs (length_3_3,1,0)         black decoration
            sphere   rs (length_3_3,0.5,0)         black decoration
            sphere   rs (length_3_3,0,0)         black decoration
            cylinder rc (length_3_3,1,0) (length_3_3,-0.75,0) red
            sphere   rs (length_3_3,-0.75,0)        red

[JOINTS]

  REVOLUTE: ground_link (a1_x,0,a1_z)+(0,1,0)
            link_1_1    (   0,0,   0)+(0,1,0)
  REVOLUTE: link_1_1 (length_1_1,0,0)+(0,1,0)
            link_1_2 (         0,0,0)+(0,1,0)
  REVOLUTE: link_1_2 (length_1_2,0,0)+(0,1,0)
            link_1_3 (         0,0,0)+(0,1,0)

  REVOLUTE: ground_link (a2_x,0,a2_z)+(0,1,0)
            link_2_1    (   0,0,   0)+(0,1,0)
  REVOLUTE: link_2_1 (length_2_1,0,0)+(0,1,0)
            link_2_2 (         0,0,0)+(0,1,0)
  REVOLUTE: link_2_2 (length_2_2,0,0)+(0,1,0)
            link_2_3 (         0,0,0)+(0,1,0)

  REVOLUTE: ground_link (a3_x,0,a3_z)+(0,1,0)
            link_3_1    (   0,0,   0)+(0,1,0)
  REVOLUTE: link_3_1 (length_3_1,0,0)+(0,1,0)
            link_3_2 (         0,0,0)+(0,1,0)
  REVOLUTE: link_3_2 (length_3_2,0,0)+(0,1,0)
            link_3_3 (         0,0,0)+(0,1,0)

  REVOLUTE: link_1_3 (length_1_3,0,0)+(0,1,0)
            link_2_3 (length_2_3,0,0)+(0,1,0)

  REVOLUTE: link_2_3 (length_2_3,0,0)+(0,1,0)
            link_3_3 (length_3_3,0,0)+(0,1,0)

  REVOLUTE: link_1_3 (length_1_3,0,0)+(0,1,0)
            link_3_3 (length_3_3,0,0)+(0,1,0)


[OBSTACLES]
  % In the WAFR example no obstacles are considered

  % Obstacles shared in ISRR and IJRR
  box1 : body "bodies/obstacle1" color (0.1,0.1,0.9) 
  box2 : body "bodies/obstacle2" color (0.1,0.1,0.9) 
  box3 : body "bodies/obstacle3" color (0.1,0.1,0.9)
 
  % ISRR
  % box4 : body "bodies/obstacle4" color (0.1,0.1,0.9)
  % box5 : body "bodies/obstacle5" color (0.1,0.1,0.9)

  % IJRR (bug trap)
  box4 : body "bodies/obstacle6" color (0.1,0.1,0.9)
  box5 : body "bodies/obstacle7" color (0.1,0.1,0.9)
  
[COLLISIONS]

%  do not Check : all
  Check:  link_3_3, box1
  Check:  link_3_3, box2
  Check:  link_3_3, box3
  Check:  link_3_3, box4
  Check:  link_3_3, box5