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4 % length of the bar connecting two consecutive triangles
8 % length of the bar connecting odd triangles spared by one triangle
11 % length of the bar added to make the linkage rigic
14 % radius of the cylinders representing the bars
16 % radius of the spheres used to decor the extremes of the bars
22 t1: body "bodies/triangle.off" yellow
24 t2: body "bodies/triangle.off" yellow
26 t3: body "bodies/triangle.off" yellow
28 t4: body "bodies/triangle.off" yellow
30 t5: body "bodies/triangle.off" yellow
32 t6: body "bodies/triangle.off" yellow
34 t7: body "bodies/triangle.off" yellow
36 t8: body "bodies/triangle.off" yellow
38 t9: body "bodies/triangle.off" yellow
40 t10: body "bodies/triangle.off" yellow
42 % Two bars between adjacent triangles
43 b_1_2_out: cylinder rc (0,0,0) (l_out,0,0) black
44 sphere rs (0, 0,0) red
45 sphere rs (l_out,0,0) red
47 b_1_2_in: cylinder rc (0,0,0) (l_in,0,0) black
48 sphere rs (0, 0,0) red
49 sphere rs (l_in,0,0) red
51 b_2_3_out: cylinder rc (0,0,0) (l_out,0,0) black
52 sphere rs (0, 0,0) red
53 sphere rs (l_out,0,0) red
55 b_2_3_in: cylinder rc (0,0,0) (l_in,0,0) black
56 sphere rs (0, 0,0) red
57 sphere rs (l_in,0,0) red
59 b_3_4_out: cylinder rc (0,0,0) (l_out,0,0) black
60 sphere rs (0, 0,0) red
61 sphere rs (l_out,0,0) red
63 b_3_4_in: cylinder rc (0,0,0) (l_in,0,0) black
64 sphere rs (0, 0,0) red
65 sphere rs (l_in,0,0) red
67 b_4_5_out: cylinder rc (0,0,0) (l_out,0,0) black
68 sphere rs (0, 0,0) red
69 sphere rs (l_out,0,0) red
71 b_4_5_in: cylinder rc (0,0,0) (l_in,0,0) black
72 sphere rs (0, 0,0) red
73 sphere rs (l_in,0,0) red
75 b_5_6_out: cylinder rc (0,0,0) (l_out,0,0) black
76 sphere rs (0, 0,0) red
77 sphere rs (l_out,0,0) red
79 b_5_6_in: cylinder rc (0,0,0) (l_in,0,0) black
80 sphere rs (0, 0,0) red
81 sphere rs (l_in,0,0) red
83 b_6_7_out: cylinder rc (0,0,0) (l_out,0,0) black
84 sphere rs (0, 0,0) red
85 sphere rs (l_out,0,0) red
87 b_6_7_in: cylinder rc (0,0,0) (l_in,0,0) black
88 sphere rs (0, 0,0) red
89 sphere rs (l_in,0,0) red
91 b_7_8_out: cylinder rc (0,0,0) (l_out,0,0) black
92 sphere rs (0, 0,0) red
93 sphere rs (l_out,0,0) red
95 b_7_8_in: cylinder rc (0,0,0) (l_in,0,0) black
96 sphere rs (0, 0,0) red
97 sphere rs (l_in,0,0) red
99 b_8_9_out: cylinder rc (0,0,0) (l_out,0,0) black
100 sphere rs (0, 0,0) red
101 sphere rs (l_out,0,0) red
103 b_8_9_in: cylinder rc (0,0,0) (l_in,0,0) black
104 sphere rs (0, 0,0) red
105 sphere rs (l_in,0,0) red
107 b_9_10_out: cylinder rc (0,0,0) (l_out,0,0) black
108 sphere rs (0, 0,0) red
109 sphere rs (l_out,0,0) red
111 b_9_10_in: cylinder rc (0,0,0) (l_in,0,0) black
112 sphere rs (0, 0,0) red
113 sphere rs (l_in,0,0) red
115 b_10_1_out: cylinder rc (0,0,0) (l_out,0,0) black
116 sphere rs (0, 0,0) red
117 sphere rs (l_out,0,0) red
119 b_10_1_in: cylinder rc (0,0,0) (l_in,0,0) black
120 sphere rs (0, 0,0) red
121 sphere rs (l_in,0,0) red
123 % Bars connecting non-adjacent triangles.
124 % These bars do not include spheres since they would overlap with
125 % the spheres of other bars.
126 b_1_3: cylinder rc (0,0,0) (l_nc,0,0) black
127 b_3_5: cylinder rc (0,0,0) (l_nc,0,0) black
128 b_5_7: cylinder rc (0,0,0) (l_nc,0,0) black
129 b_7_9: cylinder rc (0,0,0) (l_nc,0,0) black
130 b_9_1: cylinder rc (0,0,0) (l_nc,0,0) black
132 % One additional bar to make the think rigid.
133 b_10_2: cylinder rc (0,0,0) (l_f,0,0) black
134 b_2_4: cylinder rc (0,0,0) (l_f,0,0) black
138 % Two bars between adjacent triangles
139 revolute: t1 1+(0,1,0)
141 revolute: b_1_2_out 1+(0,1,0)
144 revolute: t1 2+(0,1,0)
146 revolute: b_1_2_in 1+(0,1,0)
149 revolute: t2 1+(0,1,0)
151 revolute: b_2_3_out 1+(0,1,0)
154 revolute: t2 2+(0,1,0)
156 revolute: b_2_3_in 1+(0,1,0)
159 revolute: t3 1+(0,1,0)
161 revolute: b_3_4_out 1+(0,1,0)
164 revolute: t3 2+(0,1,0)
166 revolute: b_3_4_in 1+(0,1,0)
169 revolute: t4 1+(0,1,0)
171 revolute: b_4_5_out 1+(0,1,0)
174 revolute: t4 2+(0,1,0)
176 revolute: b_4_5_in 1+(0,1,0)
179 revolute: t5 1+(0,1,0)
181 revolute: b_5_6_out 1+(0,1,0)
184 revolute: t5 2+(0,1,0)
186 revolute: b_5_6_in 1+(0,1,0)
189 revolute: t6 1+(0,1,0)
191 revolute: b_6_7_out 1+(0,1,0)
194 revolute: t6 2+(0,1,0)
196 revolute: b_6_7_in 1+(0,1,0)
199 revolute: t7 1+(0,1,0)
201 revolute: b_7_8_out 1+(0,1,0)
204 revolute: t7 2+(0,1,0)
206 revolute: b_7_8_in 1+(0,1,0)
209 revolute: t8 1+(0,1,0)
211 revolute: b_8_9_out 1+(0,1,0)
214 revolute: t8 2+(0,1,0)
216 revolute: b_8_9_in 1+(0,1,0)
219 revolute: t9 1+(0,1,0)
221 revolute: b_9_10_out 1+(0,1,0)
224 revolute: t9 2+(0,1,0)
226 revolute: b_9_10_in 1+(0,1,0)
229 revolute: t10 1+(0,1,0)
231 revolute: b_10_1_out 1+(0,1,0)
234 revolute: t10 2+(0,1,0)
236 revolute: b_10_1_in 1+(0,1,0)
240 % The bars between non-adjacent triangles
241 revolute: t1 1+(0,1,0)
243 revolute: b_1_3 1+(0,1,0)
246 revolute: t3 1+(0,1,0)
248 revolute: b_3_5 1+(0,1,0)
251 revolute: t5 1+(0,1,0)
253 revolute: b_5_7 1+(0,1,0)
256 revolute: t7 1+(0,1,0)
258 revolute: b_7_9 1+(0,1,0)
261 revolute: t9 1+(0,1,0)
263 revolute: b_9_1 1+(0,1,0)
266 % A couple of bars fixing the mobility
267 revolute: t10 2+(0,1,0)
269 revolute: b_10_2 1+(0,1,0)
272 revolute: t2 2+(0,1,0)
274 revolute: b_2_4 1+(0,1,0)
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