* robot - Ian Davis, University of Sydney, 17 Mar 1982
* based upon  Don Herbison-Evans' version (13/8/81)
*
figure puma 11 *
    plate pedastal sump clavcl uarm larm carple hand lfngr rfngr inhand
*
ellipsoid plate    100   5 100
ellipsoid pedastal  40 120  40
ellipsoid clavcl    20  20  40
ellipsoid uarm      20  90  15
ellipsoid larm      20  80  15
ellipsoid carple    10  20  10
ellipsoid hand      20   5   5
ellipsoid inhand    18   4   4
ellipsoid lfngr      3  15   3
ellipsoid rfngr      3  15   3
ellipsoid sump      15  35  15
*
joint base  plate     0    0    0 pedastal    0 -110    0
joint neck  pedastal  0 +110  +10 clavcl      0    0  -10
joint shldr clavcl    0    0  +30 uarm        0  -80  -10
joint elbow uarm      0  +70  -10 larm        0  -60  +10
joint wrist larm      0  +75    0 carple      0  -10    0
joint hrot  carple    0  +15    0 hand        0    0    0
joint palm  hand      0    0    0 inhand      0    0    0
joint lgrip inhand   17    0    0 lfngr       0  -13    0
joint rgrip inhand  -17    0    0 rfngr       0  -13    0
joint sumpon plate  +60    0    0 sump        0  -31    0
*
*
figure conv1 2  belt1 roll1
ellipsoid belt1    300   30  40
ellipsoid roll1  30  30  40
joint frict1 belt1 285  0  0  roll1  0  0  0
*
*
figure conv2 2  belt2 roll2 *
ellipsoid belt2  300  30  40
ellipsoid roll2   20  20  40
joint frict2 belt2 285  0  0  roll2 0  0  0
*
*
figure disc1 1 d1
ellipsoid d1    20  5  20
*
*
figure disc2 1 d2
ellipsoid d2    20  5  20
*
*
variables  3  posx  posy  posz
*
call   0  72  setup
call  72 240  over1
call 240 300  back1
lin  300 321  moveby disc1 d1 0 0 0
*
***call 1380 1428  back2
*
***lin 2292 2436  bendto uarm shldr clavcl 0 0 0
***lin 2292 2436  bendto larm elbow uarm   0 0 0
***lin 2292 2436  bendto carple wrist larm 0 0 0
***lin 3300 3301  bendto carple wrist larm 0 0 0
*
*********************************
*
subrou setup
    linear   0   1  moveto  disc1  d1     -150  80 500
    linear   0   1  moveto  disc2  d2     1200 367 500
    linear   0   1  moveto  conv1  belt1   100  45 500
    linear   0   1  moveto  conv2  belt2  1140 330 500
    linear   0   1  spinby  conv2  belt2 world -180   y
    linear   0   1  moveto  puma   plate   600  50 460
*
    linear   0   1  grojnt inhand palm 0.4   1   1
    linear   1   2  grojnt inhand palm 2.5   1   1
    linear   1  72  bendby uarm shldr clavcl  120  z
    linear   1  72  bendby larm elbow uarm   17  z
    linear   1  72  bendby carple wrist larm  -35  z
*
    linear  49  72  moveto  disc1     d1   110  87  500
    repeat  71  72  centre hand     posx  posy  posz
    repeat  71  72  subtra posx     posx  25
    repeat  71  72  subtra posy     posy   5
end setup
*****************************************
*
subrou  over1
    linear   0  24  moveto  disc1     d1  posx  posy  posz
*
    linear  24  47  spinby  disc1     d1 world 12   z
    linear  24  47  grojnt inhand palm 0.4   1   1
*
    linear  47  48  attach  d1  grip  hand  0  0  0
*
    linear  48 168  bendby larm elbow uarm  -50   z
    linear  48 168  bendby uarm shldr clavcl  -170  z
end  over1
*********************************************
*
subrou  back1
    linear   0   1  detach d1   grip    disc1
    linear   0  11  spinto disc1 d1 belt1 180 0 0
    linear   0  11  grojnt inhand palm 2.5   1   1
*
    linear  11  12  moveto disc2      d2   895 367 500
    linear  11  12  moveto disc1      d1  -150  posy  posz
    linear  11  12  spinto disc1 d1 belt1 0 0 0
*
    linear  12  36  bendby larm elbow uarm   20   z
    linear  12  36  bendby uarm shldr clavcl  100   z
    linear  12  36  bendby carple wrist larm   30   z
*
    linear  12  24  moveto   disc2      d2    1200  367 500
*
    linear  36  60  bendby uarm shldr clavcl   70    z
    linear  36  60  bendby larm elbow uarm   30   z
    linear  36  60  bendby carple wrist larm  -30   z
*
    linear  36  60  moveto   disc1   d1  110   posy  posz
end  back1
*
*
subrou  back2
    linear   0  24  bendby larm elbow uarm   20   z
    linear   0  24  bendby uarm shldr clavcl  100   z
    linear   0  24  grojnt inhand palm 2.5    1   1
    linear   0  24  bendby carple wrist larm   30   z
*
    linear  19  20  detach  d1   grip    disc1
    linear  20  28  moveto  disc1 d1  -150  500 500
    linear  20  28  spinto disc1 d1 pedastal  0  0  0
*
    linear  24  48  bendby uarm shldr clavcl    70   z
    linear  24  48  bendby larm elbow uarm    30   z
    linear  24  48  bendby carple wrist larm   -30   z
*
    linear  28  29  moveto  disc1  d1  -150  posy  posz
    linear  29  48  moveto  disc1  d1   110  posy  posz
end  back2
*
stop