! THIS FILE CONTAINS THE DATA TO CONSTRUCT A ROBOT. ! Notes - ! ! 1. Comments are preceded by an exclamation mark. ! ! 2. Other text must avoid the following : ! i. ! (introduces comments), ! ii. + (plus), ! iii. - (minus), ! iv. any numerical character. ! ! 3. Blank lines are ignored. There are 7 limbs in this robot : ! ==== DATA FOR LIMB 0 ===================== ! Vertex Data .... Number of Vertices = 8 ! Coordinates : X Y Z 55 40 158 ! vertex 1 55 40 -40 ! vertex 2 -57 40 158 ! vertex 3 -57 40 -40 ! vertex 4 -57 -40 158 ! vertex 5 -57 -40 -40 ! vertex 6 55 -40 158 ! vertex 7 55 -40 -40 ! vertex 8 ! Zero Offset of Joint Rotation : 0 Degrees ! Boolean to Indicate Whether Angles Should Be Reversed : 0 ! Note: 0 = FALSE and 1 = TRUE ! Min Joint Limit (mod 360) : 0 Degrees ! Max Joint Limit (mod 360) : 0 Degrees ! Offset Matrix : -0.0000009537 -0.9999972256 0.0000000000 -0.0000705719 0.9999972256 -0.0000009537 0.0000000000 73.9999780414 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! Inverse Offset Matrix : 0.0000030994 1.0000013113 0.0000000000 -74.0002145767 -1.0000013113 0.0000030994 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! ==== END OF LIMB 0 ======================= ! ==== DATA FOR LIMB 1 ===================== ! Vertex Data .... Number of Vertices = 12 ! Coordinates : X Y Z 10 38 24 ! vertex 1 10 38 -24 ! vertex 2 -32 38 24 ! vertex 3 -32 38 -24 ! vertex 4 -32 -24 24 ! vertex 5 -32 -24 -24 ! vertex 6 -12 -24 24 ! vertex 7 -12 -24 -24 ! vertex 8 2 -36 24 ! vertex 9 2 -36 -24 ! vertex 10 10 -36 24 ! vertex 11 10 -36 -24 ! vertex 12 ! Zero Offset of Joint Rotation : -90 Degrees ! Boolean to Indicate Whether Angles Should Be Reversed : 0 ! Note: 0 = FALSE and 1 = TRUE ! Min Joint Limit (mod 360) : -44 Degrees ! Max Joint Limit (mod 360) : 44 Degrees ! Offset Matrix : -0.0000009537 0.0000000000 0.9999972256 0.0000000000 0.0000000000 1.0000001192 0.0000000000 0.0000000000 -0.9999972256 0.0000000000 -0.0000009537 0.0000000000 ! Inverse Offset Matrix : 0.0000030994 0.0000000000 -1.0000013113 0.0000000000 0.0000000000 1.0000001192 0.0000000000 0.0000000000 1.0000013113 0.0000000000 0.0000030994 0.0000000000 ! ==== END OF LIMB 1 ======================= ! ==== DATA FOR LIMB 2 ===================== ! Vertex Data .... Number of Vertices = 16 ! Coordinates : X Y Z -21 153 -14 ! vertex 1 21 153 -14 ! vertex 2 -21 117 -16 ! vertex 3 21 117 -16 ! vertex 4 -21 118 -26 ! vertex 5 21 118 -26 ! vertex 6 -21 101 -25 ! vertex 7 21 101 -25 ! vertex 8 -21 101 -17 ! vertex 9 21 101 -17 ! vertex 10 -21 -15 -23 ! vertex 11 21 -15 -23 ! vertex 12 -21 -6 24 ! vertex 13 21 -6 24 ! vertex 14 -21 151 14 ! vertex 15 21 151 14 ! vertex 16 ! Zero Offset of Joint Rotation : 90 Degrees ! Boolean to Indicate Whether Angles Should Be Reversed : 1 ! Note: 0 = FALSE and 1 = TRUE ! Min Joint Limit (mod 360) : 5 Degrees ! Max Joint Limit (mod 360) : 85 Degrees ! Offset Matrix : 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 142.0005500316 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! Inverse Offset Matrix : 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 -142.0005500316 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! ==== END OF LIMB 2 ======================= ! ==== DATA FOR LIMB 3 ===================== ! Vertex Data .... Number of Vertices = 16 ! Coordinates : X Y Z 18 153 8 ! vertex 1 -18 153 8 ! vertex 2 18 -9 17 ! vertex 3 -18 -9 17 ! vertex 4 18 -11 -15 ! vertex 5 -18 -11 -15 ! vertex 6 18 46 -11 ! vertex 7 -18 46 -11 ! vertex 8 18 45 -39 ! vertex 9 -18 45 -39 ! vertex 10 18 67 -41 ! vertex 11 -18 67 -41 ! vertex 12 18 69 -10 ! vertex 13 -18 69 -10 ! vertex 14 18 152 -6 ! vertex 15 -18 152 -6 ! vertex 16 ! Zero Offset of Joint Rotation : 0 Degrees ! Boolean to Indicate Whether Angles Should Be Reversed : 1 ! Note: 0 = FALSE and 1 = TRUE ! Min Joint Limit (mod 360) : 12 Degrees ! Max Joint Limit (mod 360) : 100 Degrees ! Offset Matrix : 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 147.0005970001 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! Inverse Offset Matrix : 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 -147.0005970001 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! ==== END OF LIMB 3 ======================= ! ==== DATA FOR LIMB 4 ===================== ! Vertex Data .... Number of Vertices = 12 ! Coordinates : X Y Z -16 -14 25 ! vertex 1 16 -14 25 ! vertex 2 -16 10 25 ! vertex 3 16 10 25 ! vertex 4 -16 24 11 ! vertex 5 16 24 11 ! vertex 6 -16 24 -3 ! vertex 7 16 24 -3 ! vertex 8 -16 -4 -3 ! vertex 9 16 -4 -3 ! vertex 10 -16 -14 7 ! vertex 11 16 -14 7 ! vertex 12 ! Zero Offset of Joint Rotation : -90 Degrees ! Boolean to Indicate Whether Angles Should Be Reversed : 1 ! Note: 0 = FALSE and 1 = TRUE ! Min Joint Limit (mod 360) : -45 Degrees ! Max Joint Limit (mod 360) : 55 Degrees ! Offset Matrix : -0.0000009537 0.0000000000 0.9999974044 0.0000886941 0.0000000000 1.0000001192 0.0000000000 0.0000000000 -0.9999974044 0.0000000000 -0.0000009537 92.9999091384 ! Inverse Offset Matrix : 0.0000030994 0.0000000000 -1.0000013113 93.0001761913 0.0000000000 1.0000001192 0.0000000000 0.0000000000 1.0000013113 0.0000000000 0.0000030994 0.0000000000 ! ==== END OF LIMB 4 ======================= ! ==== DATA FOR LIMB 5 ===================== ! Vertex Data .... Number of Vertices = 24 ! Coordinates : X Y Z 68 6 6 ! vertex 1 68 6 -6 ! vertex 2 68 -6 6 ! vertex 3 68 -6 -6 ! vertex 4 0 -6 6 ! vertex 5 0 -6 -6 ! vertex 6 -10 -8 6 ! vertex 7 -10 -8 -6 ! vertex 8 -12 -11 6 ! vertex 9 -12 -11 -6 ! vertex 10 -26 -14 6 ! vertex 11 -26 -14 -6 ! vertex 12 -36 -7 6 ! vertex 13 -36 -7 -6 ! vertex 14 -26 -13 6 ! vertex 15 -26 -13 -6 ! vertex 16 -13 -10 6 ! vertex 17 -13 -10 -6 ! vertex 18 -11 -7 6 ! vertex 19 -11 -7 -6 ! vertex 20 0 -5 6 ! vertex 21 0 -5 -6 ! vertex 22 0 6 6 ! vertex 23 0 6 -6 ! vertex 24 ! Zero Offset of Joint Rotation : 0 Degrees ! Boolean to Indicate Whether Angles Should Be Reversed : 1 ! Note: 0 = FALSE and 1 = TRUE ! Min Joint Limit (mod 360) : -100 Degrees ! Max Joint Limit (mod 360) : 100 Degrees ! Offset Matrix : -0.0000009537 0.0000000000 0.9999990137 0.0000000000 0.0000000000 1.0000001192 0.0000000000 6.0000004768 -0.9999990137 0.0000000000 -0.0000009537 0.0000000000 ! Inverse Offset Matrix : -0.0000007153 0.0000000000 -0.9999990137 0.0000000000 0.0000000000 1.0000001192 0.0000000000 -6.0000004768 0.9999990137 0.0000000000 -0.0000007153 0.0000000000 ! ==== END OF LIMB 5 ======================= ! ==== DATA FOR LIMB 6 ===================== ! Vertex Data .... Number of Vertices = 18 ! Coordinates : X Y Z 6 0 -1 ! vertex 1 -6 0 -1 ! vertex 2 6 11 1 ! vertex 3 -6 11 1 ! vertex 4 6 13 4 ! vertex 5 -6 13 4 ! vertex 6 6 26 7 ! vertex 7 -6 26 7 ! vertex 8 6 36 1 ! vertex 9 -6 36 1 ! vertex 10 6 26 8 ! vertex 11 -6 26 8 ! vertex 12 6 12 5 ! vertex 13 -6 12 5 ! vertex 14 6 10 2 ! vertex 15 -6 10 2 ! vertex 16 6 0 0 ! vertex 17 -6 0 0 ! vertex 18 ! Zero Offset of Joint Rotation : -110 Degrees ! Boolean to Indicate Whether Angles Should Be Reversed : 0 ! Note: 0 = FALSE and 1 = TRUE ! Min Joint Limit (mod 360) : 0 Degrees ! Max Joint Limit (mod 360) : 50 Degrees ! Offset Matrix : 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! Inverse Offset Matrix : 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000001192 0.0000000000 ! ==== END OF LIMB 6 =======================