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. 2020 Dec 18;20(24):7287. doi: 10.3390/s20247287
Code 6. A nut description in extended VCD format.
 

  1. #obj nut

  2. contours A (hexagon), B (circle)

  3. inside (B, A)

  4. equal (A .centroid, B .centroid)

  5. exclude C (any)

  6. inside (C, A)

  7. parameters D (real) , grasp (position)

  8. D = radius (B)

  9. grasp .point = B .centroid

  10. grasp .angle = A .a.angle