Watt-Baranov.world
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1 
2 [CONSTANTS]
3 
4 p1_x:=12
5 p1_z:=8
6 
7 p4_x:=9
8 p4_z:=11
9 
10 p7_x:=10
11 p7_z:=14
12 
13 p10_x:=14
14 p10_z:=15
15 
16 p13_x:=17
17 p13_z:=13
18 
19 p16_x:=16
20 p16_z:=10
21 
22 d_1_2:=sqrt(58)
23 d_1_18:=sqrt(41)
24 d_2_18:=sqrt(13)
25 
26 d_4_5:=sqrt(34)
27 d_4_3:=sqrt(64)
28 d_5_3:=sqrt(18)
29 
30 d_7_8:=sqrt(68)
31 d_7_6:=sqrt(74)
32 d_8_6:=sqrt(10)
33 
34 d_10_11:=sqrt(89)
35 d_10_9:=sqrt(68)
36 d_11_9:=sqrt(9)
37 
38 d_13_14:=sqrt(65)
39 d_13_12:=sqrt(65)
40 d_14_12:=sqrt(26)
41 
42 d_16_17:=sqrt(81)
43 d_16_15:=sqrt(40)
44 d_17_15:=sqrt(13)
45 
46 d_2_3:=sqrt(52)
47 d_5_6:=sqrt(50)
48 d_8_9:=sqrt(65)
49 d_11_12:=sqrt(61)
50 d_14_15:=sqrt(113)
51 d_17_18:=sqrt(68)
52 
53 p1x:=(d_1_2^2+d_1_18^2-d_2_18^2)/(2*d_1_2)
54 p1z:=sqrt(d_1_18^2-p1x^2)
55 
56 p2x:=(d_4_5^2+d_4_3^2-d_5_3^2)/(2*d_4_5)
57 p2z:=sqrt(d_4_3^2-p2x^2)
58 
59 p3x:=(d_7_8^2+d_7_6^2-d_8_6^2)/(2*d_7_8)
60 p3z:=sqrt(d_7_6^2-p3x^2)
61 
62 p4x:=(d_10_11^2+d_10_9^2-d_11_9^2)/(2*d_10_11)
63 p4z:=sqrt(d_10_9^2-p4x^2)
64 
65 p5x:=(d_13_14^2+d_13_12^2-d_14_12^2)/(2*d_13_14)
66 p5z:=sqrt(d_13_12^2-p5x^2)
67 
68 p6x:=(d_16_17^2+d_16_15^2-d_17_15^2)/(2*d_16_17)
69 p6z:=sqrt(d_16_15^2-p6x^2)
70 
71 r1:=0.2
72 r2:=0.1
73 r3:=0.5
74 
75 [LINKS]
76 
77 ground: white
78  cylinder r1 (p1_x,0,p1_z) (p4_x,0,p4_z)
79  cylinder r1 (p4_x,0,p4_z) (p7_x,0,p7_z)
80  cylinder r1 (p7_x,0,p7_z) (p10_x,0,p10_z)
81  cylinder r1 (p10_x,0,p10_z) (p13_x,0,p13_z)
82  cylinder r1 (p13_x,0,p13_z) (p16_x,0,p16_z)
83  cylinder r1 (p16_x,0,p16_z) (p1_x,0,p1_z)
84  sphere r3 (p1_x,0,p1_z) black
85  sphere r3 (p4_x,0,p4_z) black
86  sphere r3 (p7_x,0,p7_z) black
87  sphere r3 (p10_x,0,p10_z) black
88  sphere r3 (p13_x,0,p13_z) black
89  sphere r3 (p16_x,0,p16_z) black
90 
91 link1: red
92  cylinder r1 (0,0,0) (d_1_2,0,0)
93  cylinder r1 (0,0,0) (p1x,0,p1z)
94  cylinder r1 (p1x,0,p1z) (d_1_2,0,0)
95 
96 link2: blue
97  cylinder r1 (0,0,0) (d_4_5,0,0)
98  cylinder r1 (0,0,0) (p2x,0,p2z)
99  cylinder r1 (p2x,0,p2z) (d_4_5,0,0)
100 
101 link3: green
102  cylinder r1 (0,0,0) (d_7_8,0,0)
103  cylinder r1 (0,0,0) (p3x,0,p3z)
104  cylinder r1 (p3x,0,p3z) (d_7_8,0,0)
105 
106 link4: red
107  cylinder r1 (0,0,0) (d_10_11,0,0)
108  cylinder r1 (0,0,0) (p4x,0,p4z)
109  cylinder r1 (p4x,0,p4z) (d_10_11,0,0)
110 
111 link5: blue
112  cylinder r1 (0,0,0) (d_13_14,0,0)
113  cylinder r1 (0,0,0) (p5x,0,p5z)
114  cylinder r1 (p5x,0,p5z) (d_13_14,0,0)
115 
116 link6: green
117  cylinder r1 (0,0,0) (d_16_17,0,0)
118  cylinder r1 (0,0,0) (p6x,0,p6z)
119  cylinder r1 (p6x,0,p6z) (d_16_17,0,0)
120 
121 link7: black
122  cylinder r2 (0,0,0) (d_2_3,0,0)
123  sphere r3 (0,0,0)
124  sphere r3 (d_2_3,0,0)
125 
126 link8: black
127  cylinder r2 (0,0,0) (d_5_6,0,0)
128  sphere r3 (0,0,0)
129  sphere r3 (d_5_6,0,0)
130 
131 link9: black
132  cylinder r2 (0,0,0) (d_8_9,0,0)
133  sphere r3 (0,0,0)
134  sphere r3 (d_8_9,0,0)
135 
136 link10: black
137  cylinder r2 (0,0,0) (d_11_12,0,0)
138  sphere r3 (0,0,0)
139  sphere r3 (d_11_12,0,0)
140 
141 link11: black
142  cylinder r2 (0,0,0) (d_14_15,0,0)
143  sphere r3 (0,0,0)
144  sphere r3 (d_14_15,0,0)
145 
146 link12: black
147  cylinder r2 (0,0,0) (d_17_18,0,0)
148  sphere r3 (0,0,0)
149  sphere r3 (d_17_18,0,0)
150 
151 [JOINTS]
152 
153 revolute: ground (p1_x,0,p1_z)+(0,1,0)
154  link1 (0,0,0)+(0,1,0)
155 
156 revolute: ground (p4_x,0,p4_z)+(0,1,0)
157  link2 (0,0,0)+(0,1,0)
158 
159 revolute: ground (p7_x,0,p7_z)+(0,1,0)
160  link3 (0,0,0)+(0,1,0)
161 
162 revolute: ground (p10_x,0,p10_z)+(0,1,0)
163  link4 (0,0,0)+(0,1,0)
164 
165 revolute: ground (p13_x,0,p13_z)+(0,1,0)
166  link5 (0,0,0)+(0,1,0)
167 
168 revolute: ground (p16_x,0,p16_z)+(0,1,0)
169  link6 (0,0,0)+(0,1,0)
170 
171 revolute: link1 (d_1_2,0,0)+(0,1,0)
172  link7 (0,0,0)+(0,1,0)
173 revolute: link7 (d_2_3,0,0)+(0,1,0)
174  link2 (p2x,0,p2z)+(0,1,0)
175 
176 revolute: link2 (d_4_5,0,0)+(0,1,0)
177  link8 (0,0,0)+(0,1,0)
178 revolute: link8 (d_5_6,0,0)+(0,1,0)
179  link3 (p3x,0,p3z)+(0,1,0)
180 
181 revolute: link3 (d_7_8,0,0)+(0,1,0)
182  link9 (0,0,0)+(0,1,0)
183 revolute: link9 (d_8_9,0,0)+(0,1,0)
184  link4 (p4x,0,p4z)+(0,1,0)
185 
186 revolute: link4 (d_10_11,0,0)+(0,1,0)
187  link10 (0,0,0)+(0,1,0)
188 revolute: link10 (d_11_12,0,0)+(0,1,0)
189  link5 (p5x,0,p5z)+(0,1,0)
190 
191 revolute: link5 (d_13_14,0,0)+(0,1,0)
192  link11 (0,0,0)+(0,1,0)
193 revolute: link11 (d_14_15,0,0)+(0,1,0)
194  link6 (p6x,0,p6z)+(0,1,0)
195 
196 revolute: link6 (d_16_17,0,0)+(0,1,0)
197  link12 (0,0,0)+(0,1,0)
198 revolute: link12 (d_17_18,0,0)+(0,1,0)
199  link1 (p1x,0,p1z)+(0,1,0)
200