Wheelie6mobile.world
Go to the documentation of this file.
1 
2 [CONSTANTS]
3 
4 % length of the bar connecting two consecutive triangles
5 l_in:=8
6 l_out:=5.596459
7 
8 % length of the bar connecting odd triangles spared by one triangle
9 l_nc:=13.189931
10 
11 % radius of the cylinders representing the bars
12 rc:=0.05
13 % radius of the spheres used to decor the extremes of the bars
14 rs:=0.1
15 
16 [LINKS]
17 
18 % Six triangles
19 t1: body "bodies/triangle.off" yellow
20 
21 t2: body "bodies/triangle.off" yellow
22 
23 t3: body "bodies/triangle.off" yellow
24 
25 t4: body "bodies/triangle.off" yellow
26 
27 t5: body "bodies/triangle.off" yellow
28 
29 t6: body "bodies/triangle.off" yellow
30 
31 % Two bars between adjacent triangles
32 b_1_2_out: cylinder rc (0,0,0) (l_out,0,0) black
33  sphere rs (0, 0,0) red
34  sphere rs (l_out,0,0) red
35 
36 b_1_2_in: cylinder rc (0,0,0) (l_in,0,0) black
37  sphere rs (0, 0,0) red
38  sphere rs (l_in,0,0) red
39 
40 b_2_3_out: cylinder rc (0,0,0) (l_out,0,0) black
41  sphere rs (0, 0,0) red
42  sphere rs (l_out,0,0) red
43 
44 b_2_3_in: cylinder rc (0,0,0) (l_in,0,0) black
45  sphere rs (0, 0,0) red
46  sphere rs (l_in,0,0) red
47 
48 b_3_4_out: cylinder rc (0,0,0) (l_out,0,0) black
49  sphere rs (0, 0,0) red
50  sphere rs (l_out,0,0) red
51 
52 b_3_4_in: cylinder rc (0,0,0) (l_in,0,0) black
53  sphere rs (0, 0,0) red
54  sphere rs (l_in,0,0) red
55 
56 b_4_5_out: cylinder rc (0,0,0) (l_out,0,0) black
57  sphere rs (0, 0,0) red
58  sphere rs (l_out,0,0) red
59 
60 b_4_5_in: cylinder rc (0,0,0) (l_in,0,0) black
61  sphere rs (0, 0,0) red
62  sphere rs (l_in,0,0) red
63 
64 b_5_6_out: cylinder rc (0,0,0) (l_out,0,0) black
65  sphere rs (0, 0,0) red
66  sphere rs (l_out,0,0) red
67 
68 b_5_6_in: cylinder rc (0,0,0) (l_in,0,0) black
69  sphere rs (0, 0,0) red
70  sphere rs (l_in,0,0) red
71 
72 b_6_1_out: cylinder rc (0,0,0) (l_out,0,0) black
73  sphere rs (0, 0,0) red
74  sphere rs (l_out,0,0) red
75 
76 b_6_1_in: cylinder rc (0,0,0) (l_in,0,0) black
77  sphere rs (0, 0,0) red
78  sphere rs (l_in,0,0) red
79 
80 % These bars do not include spheres since they would overlap with
81 % the spheres of other bars.
82 b_1_3: cylinder rc (0,0,0) (l_nc,0,0) black
83 b_3_5: cylinder rc (0,0,0) (l_nc,0,0) black
84 
85 [JOINTS]
86 
87 % Two bars between adjacent triangles
88 revolute: t1 1+(0,1,0)
89  b_1_2_out 0+(0,1,0)
90 revolute: b_1_2_out 1+(0,1,0)
91  t2 0+(0,1,0)
92 
93 revolute: t1 2+(0,1,0)
94  b_1_2_in 0+(0,1,0)
95 revolute: b_1_2_in 1+(0,1,0)
96  t2 2+(0,1,0)
97 
98 revolute: t2 1+(0,1,0)
99  b_2_3_out 0+(0,1,0)
100 revolute: b_2_3_out 1+(0,1,0)
101  t3 0+(0,1,0)
102 
103 revolute: t2 2+(0,1,0)
104  b_2_3_in 0+(0,1,0)
105 revolute: b_2_3_in 1+(0,1,0)
106  t3 2+(0,1,0)
107 
108 revolute: t3 1+(0,1,0)
109  b_3_4_out 0+(0,1,0)
110 revolute: b_3_4_out 1+(0,1,0)
111  t4 0+(0,1,0)
112 
113 revolute: t3 2+(0,1,0)
114  b_3_4_in 0+(0,1,0)
115 revolute: b_3_4_in 1+(0,1,0)
116  t4 2+(0,1,0)
117 
118 revolute: t4 1+(0,1,0)
119  b_4_5_out 0+(0,1,0)
120 revolute: b_4_5_out 1+(0,1,0)
121  t5 0+(0,1,0)
122 
123 revolute: t4 2+(0,1,0)
124  b_4_5_in 0+(0,1,0)
125 revolute: b_4_5_in 1+(0,1,0)
126  t5 2+(0,1,0)
127 
128 revolute: t5 1+(0,1,0)
129  b_5_6_out 0+(0,1,0)
130 revolute: b_5_6_out 1+(0,1,0)
131  t6 0+(0,1,0)
132 
133 revolute: t5 2+(0,1,0)
134  b_5_6_in 0+(0,1,0)
135 revolute: b_5_6_in 1+(0,1,0)
136  t6 2+(0,1,0)
137 
138 revolute: t6 1+(0,1,0)
139  b_6_1_out 0+(0,1,0)
140 revolute: b_6_1_out 1+(0,1,0)
141  t1 0+(0,1,0)
142 
143 revolute: t6 2+(0,1,0)
144  b_6_1_in 0+(0,1,0)
145 revolute: b_6_1_in 1+(0,1,0)
146  t1 2+(0,1,0)
147 
148 % The bars between non-adjacent triangles
149 revolute: t1 1+(0,1,0)
150  b_1_3 0+(0,1,0)
151 revolute: b_1_3 1+(0,1,0)
152  t3 0+(0,1,0)
153 
154 revolute: t3 1+(0,1,0)
155  b_3_5 0+(0,1,0)
156 revolute: b_3_5 1+(0,1,0)
157  t5 0+(0,1,0)
158 
159