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## File  : robotfile							      ##
## Author: Patrick van der Smagt					      ##
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#
# The floor: it needs no homogenous matrix, since it does not move.
# The variable nr_links is therefore not really set correctly but
# one too high.
#
points:

1: -100 0 0
2:  100 0 0
3: 0 -100 0
4: 0  100 0

edges:
1 2
3 4

# link 1

points:

# top
 1: -12  -5 -10	# back left
 2: -12  -5  10	# back right
 3:  12  -5  10	# front right
 4:  12  -5 -10	# front left
# bottom
 5: -12  46 -10	# back left
 6: -12  46  10	# back right
 7:  12  46  10	# front right
 8:  12  46 -10	# front left
# the hunch
 9: -20   0 -10
10: -20   0  10
11: -20  20 -10
12: -20  20  10
13: -12  20 -10
14: -12  20  10




edges:

1 2
2 3
3 4
4 1

5 6
6 7
7 8
8 5

1 5
2 6
3 7
4 8

# finishing the hunch
9 1
10 2
9 10
11 13
12 14
11 12
13 14
9 11
10 12


# link 2

points:

1:   5 -10 -10
2:   5  10 -10
3: -56 -10 -10
4: -56  10 -10

5:   5 -10  10
6:   5  10  10
7: -56 -10  10
8: -56  10  10

9:   0   0  10
10:  0   0 -10

11: -51 0  10
12: -51 0 -10

edges:
1 2
1 3
2 4
3 4

5 6
5 7
6 8
7 8

9 10
11 12

# link 3

points:
1: 0 0 0

edges:

# link 4

points:

 1: -7  0  0
 2:  7  0  0
 3:  0  0 -7
 4:  0  0  7
 5: -7 55  0
 6:  7 55  0
 7:  0 55 -7
 8:  0 55  7
# extra points
 9:  -5  0  5
10:   5  0  5
11:   5  0 -5
12:  -5  0 -5
13:  -5 55  5
14:   5 55  5
15:   5 55 -5
16:  -5 55 -5


edges:

#lower circle
1 9
9 4
4 10
10 2
2 11
11 3
3 12
12 1
#upper circle
5 13
13 8
8 14
14 6
6 15
15 7
7 16
16 5
#connections
1 5
2 6
3 7
4 8
9 13
10 14
11 15
12 16


# link 5

points:
1: 0 0 0

edges:

# link 6 has a `problem.'  We want the DH matrix to calculate
# the position of the CCD, but we'd rather draw it a bit farther
# down, namely 7 cm.

points:
# point 1 is the centre of the CCD.
1: 0 0  -7

# point 2 is the attachment to link 4
2: 0 0 -21

# outline of the CCD
3:  2  2 -7
4: -2  2 -7
5: -2 -2 -7
6:  2 -2 -7

# the fingers
#	finger 1
 7:  2  0 -7
 8:  4  0 -4
 9:  2  0 0
#	finger 2
10:  0  2 -7
11:  0  4 -4
12:  0  2 0
#	finger 3
13: -2  0 -7
14: -4  0 -4
15: -2  0 0
#	finger 4
16:  0 -2 -7
17:  0 -4 -4
18:  0 -2 0

edges:
1 2
#
3 4
4 5
5 6
6 3
#
7 8
8 9
#
10 11
11 12
#
13 14
14 15
#
16 17
17 18
#	points:
#	#centre
#	1: 0 0   7
#	2: 0 0 -14
#	# outline
#	3:  4  0 7
#	4: -4 -2 7
#	5: -4  2 7
#	#filling
#	6: -4 -1.67 7
#	7: -4 -1.33 7
#	8: -4 -1    7
#	9: -4 -0.67 7
#	10:-4 -0.33 7
#	11:-4  0    7
#	12:-4  0.33 7
#	13:-4  0.67 7
#	14:-4  1    7
#	15:-4  1.33 7
#	16:-4  1.67 7
#	
#	edges:
#	1 2
#	#
#	3 4
#	4 5
#	5 3
#	#
#	6 3
#	7 3
#	8 3
#	9 3
#	10 3
#	11 3
#	12 3
#	13 3
#	14 3
#	15 3
#	16 3
#	


# object
points:
1:  0 -4  0
2:  2  4  0
3: -2  4  0
4:  0 -4  3
5:  2  4  3
6: -2  4  3

edges:
1 2
2 3
1 3
1 4
2 5
3 6
4 5
4 6
5 6


