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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)
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)
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)
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)
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)
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)
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
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)
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)
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)
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)
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)
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)
122 cylinder r2 (0,0,0) (d_2_3,0,0)
124 sphere r3 (d_2_3,0,0)
127 cylinder r2 (0,0,0) (d_5_6,0,0)
129 sphere r3 (d_5_6,0,0)
132 cylinder r2 (0,0,0) (d_8_9,0,0)
134 sphere r3 (d_8_9,0,0)
137 cylinder r2 (0,0,0) (d_11_12,0,0)
139 sphere r3 (d_11_12,0,0)
142 cylinder r2 (0,0,0) (d_14_15,0,0)
144 sphere r3 (d_14_15,0,0)
147 cylinder r2 (0,0,0) (d_17_18,0,0)
149 sphere r3 (d_17_18,0,0)
153 revolute: ground (p1_x,0,p1_z)+(0,1,0)
154 link1 (0,0,0)+(0,1,0)
156 revolute: ground (p4_x,0,p4_z)+(0,1,0)
157 link2 (0,0,0)+(0,1,0)
159 revolute: ground (p7_x,0,p7_z)+(0,1,0)
160 link3 (0,0,0)+(0,1,0)
162 revolute: ground (p10_x,0,p10_z)+(0,1,0)
163 link4 (0,0,0)+(0,1,0)
165 revolute: ground (p13_x,0,p13_z)+(0,1,0)
166 link5 (0,0,0)+(0,1,0)
168 revolute: ground (p16_x,0,p16_z)+(0,1,0)
169 link6 (0,0,0)+(0,1,0)
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)
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)
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)
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)
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)
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)
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