#
#  GRAS Pegasus Robot GGF (GRAS Geometry File)
#

object "Pegasus Robot" {
  // This field tells which class to use to do the inverse solution...
  InverseSolver = "NONE";

  // Theta, Alpha, A, D, Joint Min, Joint Max
  node () {             // Node attributes for the first node are not used!
    Color = (0, 0, 1.0);                  // The RGB Color of the node.

    Vertices = ((-88.9, 82.55,      0), ( 88.9,  82.55,      0), (-88.9,-82.55,      0), (88.9,-82.55,      0),
                (-88.9, 82.55, 196.85), ( 88.9,  82.55, 196.85), (-88.9,-82.55, 196.85), (88.9,-82.55, 196.85),

               // Vertex data for the rim of the base which is slightly larger than the main block.
                (-114.3, 107.95,  -12), (114.3, 107.95,    -12), (-114.3,-107.95,  -12), (114.3,-107.95,  -12),
                (-114.3, 107.95,    0), (114.3, 107.95,      0), (-114.3,-107.95,    0), (114.3,-107.95,    0));

    Box = (0, 1, 2, 3, 4, 5, 6, 7);
    Box = (8, 9,10,11,12,13,14,15);
  }


  // Theta, Alpha, A,   D, Joint Min, Joint Max
  node (0,    90, 0, 317.5,      -160,       160) {
    Color = (0, 1.0, 0);                  // The RGB Color of the node.

    Vertices = ((-76.2,-120.65, 95.25),    (-76.2, 6.35, 95.25),    (-50.8,  57.15, 95.25),
                ( 50.8,  57.15, 95.25),    ( 76.2, 6.35, 95.25),    ( 76.2,-120.65, 95.25),

                (-76.2,-120.65,-95.25),    (-76.2, 6.35,-95.25),    (-50.8,  57.15,-95.25),
                ( 50.8,  57.15,-95.25),    ( 76.2, 6.35,-95.25),    ( 76.2,-120.65,-95.25));

    Polygon = (5, 4, 3, 2, 1, 0);    // One 6 sider
    Polygon = (6, 7, 8, 9,10,11);    // The other
    Polygon = (9, 8, 2, 3);          // Top of the box
    Polygon = (5, 0, 6, 11);         // Bottom of box
    Polygon = (10, 9, 3, 4);         // Slant #1
    Polygon = (7, 1, 2, 8);          // Slant #2
    Polygon = (4, 5,11,10);          // Front of box
    Polygon = (1, 7, 6, 0);          // Back of box
  }

  // Theta, Alpha,      A, D, Joint Min, Joint Max
  node (0,     0, 228.5, 0,      -225,      360) {
    Color = (1.0, 0, 0);                  // The RGB Color of the node.

    // Points for section A...
    Vertices = (( -228.6, 31.75, 76.2), (  0, 31.75,  76.2),   (-228.6,-31.75, 76.2),    (0,-31.75, 76.2),
                ( -228.6, 31.75,-76.2), (  0, 31.75, -76.2),   (-228.6,-31.75,-76.2),    (0,-31.75,-76.2),

    // Vertices for Section B
                ( -31.75, 31.75,-76.2), (  31.75, 31.75,-76.2),    (-31.75,-31.75,-76.2),     (31.75,-31.75,-76.2),
                ( -31.75, 31.75, 76.2), (  31.75, 31.75, 76.2),    (-31.75,-31.75, 76.2),     (31.75,-31.75, 76.2),

    // Vertices for Section C
                (-260.35, 31.75,-76.2), (-196.85, 31.75,-76.2),   (-260.35,-31.75,-76.2),   (-196.85,-31.75,-76.2),
                (-260.35, 31.75, 76.2), (-196.85, 31.75, 76.2),   (-260.35,-31.75, 76.2),   (-196.85,-31.75, 76.2));


// Surface for Section A - Two blocks (two sided polys)
    Box = (0, 1, 2, 3, 0, 1, 2, 3);
    Box = (4, 5, 6, 7, 4, 5, 6, 7);

// Two Arcazoids for section C...
    Arcazoid = (8, 9,10,11,8, 9,10,11,-90, 90);
    Arcazoid = (12,13,14,15,12,13,14,15,-90, 90);

// Two Arcazoids for section D...
    Arcazoid = (16,17,18,19,16,17,18,19, 90,270);
    Arcazoid = (20,21,22,23,20,21,22,23, 90,270);
  }


  // Theta, Alpha,      A, D, Joint Min, Joint Max
  node (0,     0, 228.6, 0,      -360,       360) {
    Color = (1.0, 1.0, 0);                  // The RGB Color of the node.

    // Vertices for Section A
    Vertices = ((-228.6, 25.4, 50.8),   (0, 25.4,  50.8),   (-228.6,-25.4, 50.8),    (0,-25.4, 50.8),
                (-228.6, 25.4,-50.8),   (0, 25.4, -50.8),   (-228.6,-25.4,-50.8),    (0,-25.4,-50.8),

    // Vertices for Section B
                (-25.4, 25.4,-50.8),      (25.4, 25.4,-50.8),    (-25.4,-25.4,-50.8),     (25.4,-25.4,-50.8),
                (-25.4, 25.4, 50.8),      (25.4, 25.4, 50.8),    (-25.4,-25.4, 50.8),     (25.4,-25.4, 50.8),

    // Vertices for Section C
                (-254, 25.4,-50.8),   (-203.2, 25.4,-50.8),   (-254,-25.4,-50.8),   (-203.2,-25.4,-50.8),
                (-254, 25.4, 50.8),   (-203.2, 25.4, 50.8),   (-254,-25.4, 50.8),   (-203.2,-25.4, 50.8),

    // Vertices for Cylinder D
                (-12.7, 12.7,-50.8),   (12.7, 12.7,-50.8),   (-12.7,-12.7,-50.8),   (12.7,-12.7,-50.8),
                (-12.7, 12.7, 50.8),   (12.7, 12.7, 50.8),   (-12.7,-12.7, 50.8),   (12.7,-12.7, 50.8),

    // Vertices for Cylinder E
                (-241.3, 12.7,-76.2),  (-215.9, 12.7,-76.2),   (-241.3,-12.7,-76.2),   (-215.9,-12.7,-76.2),
                (-241.3, 12.7, 76.2),  (-215.9, 12.7, 76.2),   (-241.3,-12.7, 76.2),   (-215.9,-12.7, 76.2));


    // Surface for Section A - Two Two sided polys
    Polygon = (0, 1, 3, 2);
    Polygon = (2, 3, 1, 0);
    Polygon = (4, 5, 7, 6);     
    Polygon = (6, 7, 5, 4);

    // Two Arcazoids for section B...
    Arcazoid = (8, 9,10,11,8, 9,10,11,-90, 90);
    Arcazoid = (12,13,14,15,12,13,14,15,-90, 90);

    // Two Arcazoids for section C...
    Arcazoid = (16,17,18,19,16,17,18,19, 90,270);
    Arcazoid = (20,21,22,23,20,21,22,23, 90,270);

    // Cylinder for axis.  Section D.
    Cylinder = (24,25,26,27,28,29,30,31);
    Cylinder = (32,33,34,35,36,37,38,39);
  }

  // Start of the 5th node... Node parameters...
  // Theta, Alpha, A, D, Joint Min, Joint Max
  node (0,    90, 0,      0,      -110,       170) {
    Color = (0, 1.0, 1.0);  // Node Color

    Vertices = ((-15.875,-15.875, 50.8), (15.875,-15.875, 50.8), (-15.875, 15.875, 50.8), (15.875, 15.875, 50.8),
                (-15.875,-15.875,    0), (15.875,-15.875,    0), (-15.875, 15.875,    0), (15.875, 15.875,    0));

    Cylinder = (0, 1, 2, 3, 4, 5, 6, 7);
  }


  // Start of the 6th node... Node parameters...
  // Theta, Alpha, A,     D, Joint Min, Joint Max
  node ( 0,     0, 0, 76.2,      -100,       100) {
    Color = (1.0, 1.0, 1.0);

    // Vertices for the gripper itself
    Vertices = ((-22.225, 22.225,-25.4), (-22.225,-22.225,-25.4), (22.225,22.225,-25.4), (22.225,-22.225,-25.4),
                (-22.225, 22.225, 50.8), (-22.225,-22.225, 50.8), (22.225,22.225, 50.8), (22.225,-22.225, 50.8));

    Polygon = (0, 1, 3, 2);
    Polygon = (0, 2, 3, 1);
    Polygon = (0, 2, 6, 4);
    Polygon = (4, 6, 2, 0);
    Polygon = (1, 3, 7, 5);
    Polygon = (5, 7, 3, 1);
  }
}