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

object "Puma 560 Robot" {
  // This field tells which class to use to do the inverse solution...
  inversesolver = "PumaInverseKinematicSolver";

  // 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 = ((-100,-100, 580), ( 100,-100, 580), (-100, 100, 580), ( 100, 100, 580),
                (-100,-100,  20), ( 100,-100,  20), (-100, 100,  20), ( 100, 100,  20),
                (-200,-200,  20), ( 200,-200,  20), (-200, 200,  20), ( 200, 200,  20),
                (-200,-200,   0), ( 200,-200,   0), (-200, 200,   0), ( 200, 200,   0));


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

    //Plane = (2   -670,   255,0,0);
  }


  // Theta, Alpha, A,   D, Joint Min, Joint Max
  node (90,   -90, 0, 670,      -160,       160) {
    Color = (0, 1.0, 0);                  // The RGB Color of the node.

    Vertices = ((-75,-75, 190), (75,-75, 190), (-75, 75, 190), (75, 75, 190),
                (-75,-75,-160), (75,-75,-160), (-75, 75,-160), (75, 75,-160));

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

  // Theta, Alpha,      A, D, Joint Min, Joint Max
  node (45,     0, 431.8, 149.09,      -225,        45) {
    Color = (1.0, 0, 0);                  // The RGB Color of the node.

    // Points for section A...
    Vertices = ((-582,-150, 140), (-282,-150, 140), (-582, 150, 140), (-282, 150, 140),
                (-582,-150,  40), (-282,-150,  40), (-582, 150,  40), (-282, 150,  40),

    // Points for section B...
                (-432,-150, 140), (-332,-150, 140), (-432, 150, 140), (-332, 150, 140),
                (-432,-150,  40), (-332,-150,  40), (-432, 150,  40), (-332, 150,  40),

    // Points for section C...
                (-332,-150, 140), (   0,-100, 140), (-332, 150, 140), (   0, 100, 140),
                (-332,-150,  40), (   0,-100,  40), (-332, 150,  40), (   0, 100,  40),

    // Points for section D...
                (-100,-100, 140), ( 100,-100, 140), (-100, 100, 140), ( 100, 100, 140),
                (-100,-100,  40), ( 100,-100,  40), (-100, 100,  40), ( 100, 100,  40));

    // Surface for Section A - An Arcazoid.
    Arcazoid = (0, 1, 2, 3, 4, 5, 6, 7,    90,270);

    // Box for Section B...
    Box = (8, 9, 10, 11, 12, 13, 14, 15);

    // Box for section C...
    Box = (16, 17, 18, 19, 20, 21, 22, 23);

    // Arcazoid for section D...
    Arcazoid = (24, 25, 26, 27, 28, 29, 30, 31,  270,450);
  }

  // Theta, Alpha,      A, D, Joint Min, Joint Max
  node (45,    90, -20.32, 0,       -45,       225) {
    Color = (1.0, 1.0, 0);                  // The RGB Color of the node.

    // Vertices for Section A
    Vertices = ((-60, 40,-80), (-60, 40, 80), (100, 40, -80), (100, 40, 80),
                (-60,-40,-80), (-60,-40, 80), (100,-40, -80), (100,-40, 80),

                // Vertices for Section B
                (-60, 40,  0), (-40, 40,380), (100, 40,   0), ( 40, 40,380),
                (-60,-40,  0), (-40,-40,380), (100,-40,   0), ( 40,-40,380));


    // Section A
    Arcazoid = (0, 1, 2, 3, 4, 5, 6, 7, 90,270);

    // Section B
    Box = (8, 9, 10, 11, 12, 13, 14, 15);
  }


  // Start of the 5th node... Node parameters...
  // Theta, Alpha, A, D, Joint Min, Joint Max
  node (0,   -90, 0, 433.07,      -110,       170) {
    Color = (0, 1.0, 1.0);  // Node Color

    Vertices = ((-20,  0,  20), (-20, 0, -20), (20,  0, 20), (20,  0, -20),
                (-20, 53,  20), (-20,53, -20), (20, 53, 20), (20, 53, -20),

    // Vertices for section B
                (-22, 22,  30), (-22,-22, 30), (22, 22, 30), (22, -22,  30),
                (-22, 22, -30), (-22,-22,-30), (22, 22,-30), (22, -22, -30));

    Cylinder = (0, 1, 2, 3, 4, 5, 6, 7);        // Section A
    Cylinder = (8, 9, 10, 11, 12, 13, 14, 15);  // Section B
  }


  // Start of the 6th node... Node parameters...
  // Theta, Alpha, A,     D, Joint Min, Joint Max
  node ( 0,    90, 0, 0,      -100,       100) {
    Color = (1.0, 0, 1.0);

    Vertices = ((-15,-15, 0), (-15, 15,  0), (15,-15,  0), (-15,-15, 0),
                (-15,-15,30), (-15, 15, 30), (15,-15, 30), (-15,-15, 30));

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


  // Start of the 7th node... Node parameters...
  node ( 0,     0, 0, 56.25,      -266,       266) {
    Color = (1.0, 1.0, 1.0);          // Color of the gripper

    // Vertices for the gripper itself
    Vertices = ((-16,-20,-18), (-16, -20, 25), (16,-20,-18), (16, -20, 25),
                (-16, 20,-18), (-16,  20, 25), (16, 20,-18), (16,  20, 25),

                // Vertices for the gripper shaft...
                (-10, 10,-18), (-10, -10,-18), (10, 10,-18), (10,-10,-18),
                (-10, 10,-33), (-10, -10,-33), (10, 10,-33), (10,-10,-33));

    // The gripper shaft.
    Cylinder = (8, 9, 10, 11, 12, 13, 14, 15);

    Polygon = (0, 1, 3, 2);
    Polygon = (4, 0, 2, 6);
    Polygon = (5, 4, 6, 7);    // Need to be double sided...

    Polygon = (2, 3, 1, 0);
    Polygon = (6, 2, 0, 4);
    Polygon = (7, 6, 4, 5);    // Need to be double sided...
  }
}