From 2e309eff9d52c6df20c893815a0f410d49009ea5 Mon Sep 17 00:00:00 2001 From: Rui Date: Sun, 22 Oct 2023 13:49:22 +0000 Subject: [PATCH] Feature/ur5 --- UR5/UR5.spck | 162 ++++++++++++++++++++++++++------------------------- 1 file changed, 84 insertions(+), 78 deletions(-) diff --git a/UR5/UR5.spck b/UR5/UR5.spck index 5b47332..db9375c 100644 --- a/UR5/UR5.spck +++ b/UR5/UR5.spck @@ -57,18 +57,18 @@ prop2d.proj.dir = 2 ! Views !********************************************************************** view.type ( $V_WorkingView ) = 0 ! Projection type -view.pos ( 1 , $V_WorkingView ) = -1.3141853809356689E+00 ! Position -view.pos ( 2 , $V_WorkingView ) = -9.0818077325820923E-01 ! Position -view.pos ( 3 , $V_WorkingView ) = 9.8038291931152344E-01 ! Position -view.orient ( 1 , $V_WorkingView ) = -4.8386192321777344E-01 ! Orientation -view.orient ( 2 , $V_WorkingView ) = 1.8098425865173340E-01 ! Orientation -view.orient ( 3 , $V_WorkingView ) = 2.3338101804256439E-01 ! Orientation -view.orient ( 4 , $V_WorkingView ) = -8.2380557060241699E-01 ! Orientation +view.pos ( 1 , $V_WorkingView ) = -5.5430114269256592E-02 ! Position +view.pos ( 2 , $V_WorkingView ) = 1.2084892988204956E+00 ! Position +view.pos ( 3 , $V_WorkingView ) = 3.9537802338600159E-01 ! Position +view.orient ( 1 , $V_WorkingView ) = 6.1558574438095093E-02 ! Orientation +view.orient ( 2 , $V_WorkingView ) = 6.1368793249130249E-01 ! Orientation +view.orient ( 3 , $V_WorkingView ) = 7.8231781721115112E-01 ! Orientation +view.orient ( 4 , $V_WorkingView ) = 8.7043806910514832E-02 ! Orientation view.angle ( $V_WorkingView ) = 7.8539818525314331E-01 ! Lens angle view.fclip.auto ( $V_WorkingView ) = 1 ! Front clipping plane auto view.bclip.auto ( $V_WorkingView ) = 1 ! Back clipping plane auto view.fclip.value ( $V_WorkingView ) = 9.9999997764825821E-03 ! Front clipping plane value -view.bclip.value ( $V_WorkingView ) = 2.1862292289733887E+00 ! Back clipping plane value +view.bclip.value ( $V_WorkingView ) = 2.0715427398681641E+00 ! Back clipping plane value view.rotcenter.type ( $V_WorkingView ) = 0 ! Rotation center type view.rotcenter.adjust ( $V_WorkingView ) = 1 ! Adjust rotation center view.motion.active ( $V_WorkingView ) = 0 ! Camera is moved @@ -248,7 +248,7 @@ subvargroup.begin ( $G_DH4 ) subvar.str ( $_d ) = '0.10915' ! $G_DH4.$_d, Definition subvar.desc ( 1 , $_d ) = 'DHtable::d1' ! Description - subvar.str ( $_alpha ) = '1.5708' ! $G_DH4.$_alpha, Definition + subvar.str ( $_alpha ) = '90 deg' ! $G_DH4.$_alpha, Definition subvar.str ( $_theta ) = '0' ! $G_DH4.$_theta, Definition @@ -261,7 +261,7 @@ subvargroup.begin ( $G_DH5 ) subvar.str ( $_d ) = '0.09465' ! $G_DH5.$_d, Definition subvar.desc ( 1 , $_d ) = 'DHtable::d1' ! Description - subvar.str ( $_alpha ) = '-1.5708' ! $G_DH5.$_alpha, Definition + subvar.str ( $_alpha ) = '-90 deg' ! $G_DH5.$_alpha, Definition subvar.str ( $_theta ) = '0' ! $G_DH5.$_theta, Definition @@ -311,11 +311,17 @@ prim.par ( 3 , $P_Isys ) = 1.00000000 !********************************************************************** ! Bodies !********************************************************************** -body.m ( $B_Body1 ) = 1.0000000000000000E+00 ! Mass of the Body +body.m ( $B_Body1 ) = 3.7000000000000002E+00 ! Mass of the Body body.mp ( $B_Body1 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto +body.cg.pos ( 2 , $B_Body1 ) = -2.5610000000000001E-02 ! Center of gravity +body.cg.pos ( 3 , $B_Body1 ) = 1.9300000000000001E-03 ! Center of gravity body.I.tens ( 1 , 1 , $B_Body1 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 2 , 2 , $B_Body1 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 3 , 3 , $B_Body1 ) = 1.0000000000000000E+00 ! Moments of inertia +body.flx.cosim.job.type ( $B_Body1 ) = 0 ! 0=new run; 1=import co-sim with database results; 2=restart co-sim +body.flx.cosim.job.previous ( $B_Body1 ) = '' ! previous abaqus job run +body.flx.cosim.job.cmdoptions ( $B_Body1 ) = '' ! additional command line options for the abaqus run +body.flx.cosim.job.solver ( $B_Body1 ) = 0 ! 0=Abaqus/Explicit; 1=Abaqus/Standard body.attr.2d.pos.x ( $B_Body1 ) = -3.0000000000000000E+01 body.attr.2d.pos.y ( $B_Body1 ) = 3.0000000000000000E+01 body.attr.2d.width ( $B_Body1 ) = 1.1000000000000000E+02 @@ -334,7 +340,8 @@ marker.ang ( 3 , $M_Body1_Top ) = $G_DH1.$_t joint.from ( $J_Body1 ) = $M_Isys ! From Marker joint.to ( $J_Body1 ) = $M_Body1_BRF ! To Marker -joint.type ( $J_Body1 ) = 1 ! Type +joint.type ( $J_Body1 ) = 3 ! Type +joint.st.pos ( 1 , $J_Body1 ) = $G_DH1.$_theta ! Position joint.st.vel ( 1 , $J_Body1 ) = 0.0000000000000000E+00 ! Velocity joint.disabled ( $J_Body1 ) = 0 ! Disabled joint.attr.2d.pos.x ( 1 , $J_Body1 ) = 20 @@ -391,11 +398,18 @@ prim.par ( 10 , $P_Body1_Link ) = 0.00000000 prim.par ( 11 , $P_Body1_Link ) = 0.0000000000000000E+00 ! [-] Close geometry with -body.m ( $B_Body2 ) = 1.0000000000000000E+00 ! Mass of the Body +body.m ( $B_Body2 ) = 8.3930000000000007E+00 ! Mass of the Body +body.mp ( $B_Body2 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto +body.cg.pos ( 1 , $B_Body2 ) = 2.1249999999999999E-01 ! Center of gravity +body.cg.pos ( 3 , $B_Body2 ) = 1.1340000000000000E-01 ! Center of gravity body.I.tens ( 1 , 1 , $B_Body2 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 2 , 2 , $B_Body2 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 3 , 3 , $B_Body2 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.kind ( $B_Body2 ) = -1 ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker +body.flx.cosim.job.type ( $B_Body2 ) = 0 ! 0=new run; 1=import co-sim with database results; 2=restart co-sim +body.flx.cosim.job.previous ( $B_Body2 ) = '' ! previous abaqus job run +body.flx.cosim.job.cmdoptions ( $B_Body2 ) = '' ! additional command line options for the abaqus run +body.flx.cosim.job.solver ( $B_Body2 ) = 0 ! 0=Abaqus/Explicit; 1=Abaqus/Standard marker.type ( $M_Body2_BRF ) = 1 ! Type marker.parent ( $M_Body2_BRF ) = $B_Body2 ! Body @@ -410,36 +424,30 @@ marker.ang ( 3 , $M_Body2_Top ) = $G_DH2.$_t joint.from ( $J_Body2 ) = $M_Body1_Top ! From Marker joint.to ( $J_Body2 ) = $M_Body2_BRF ! To Marker -joint.type ( $J_Body2 ) = 0 ! Type -joint.par ( 1 , $J_Body2 ) = 0.0000000000000000E+00 ! [rad] Rotation about alpha -joint.par ( 2 , $J_Body2 ) = 0.0000000000000000E+00 ! [rad] Rotation about beta -joint.par ( 3 , $J_Body2 ) = 0.0000000000000000E+00 ! [rad] Rotation about gamma -joint.par ( 4 , $J_Body2 ) = 0.0000000000000000E+00 ! [m] Translation in x -joint.par ( 5 , $J_Body2 ) = 0.0000000000000000E+00 ! [m] Translation in y -joint.par ( 6 , $J_Body2 ) = 0.0000000000000000E+00 ! [m] Translation in z -joint.par ( 7 , $J_Body2 ) = 0.0000000000000000E+00 ! [-] Rotation sequence +joint.type ( $J_Body2 ) = 3 ! Type +joint.st.pos ( 1 , $J_Body2 ) = $G_DH2.$_theta ! Position -prim.type ( $P_Body2 ) = 2 ! Type -prim.ref ( $P_Body2 ) = $M_Body2_BRF ! Reference Marker -prim.ang ( 1 , $P_Body2 ) = { 90 deg } ! Angles -prim.color.r ( 1 , $P_Body2 ) = 2.5500000000000000E+02 ! Colors (red component) -prim.color.r ( 2 , $P_Body2 ) = 1.2800000000000000E+02 ! Colors (red component) -prim.color.g ( 1 , $P_Body2 ) = 1.8500000000000000E+02 ! Colors (green component) -prim.color.g ( 2 , $P_Body2 ) = 1.2800000000000000E+02 ! Colors (green component) -prim.color.b ( 1 , $P_Body2 ) = 1.5000000000000000E+01 ! Colors (blue component) -prim.color.b ( 2 , $P_Body2 ) = 1.2800000000000000E+02 ! Colors (blue component) -prim.color.t ( 1 , $P_Body2 ) = 0.0000000000000000E+00 ! Colors (transparency component) -prim.color.t ( 2 , $P_Body2 ) = 0.0000000000000000E+00 ! Colors (transparency component) -prim.par ( 2 , $P_Body2 ) = 4.0000000000000001E-02 ! [m] Height -prim.par ( 3 , $P_Body2 ) = 4.0000000000000001E-02 ! [m] Outer diameter -prim.par ( 4 , $P_Body2 ) = 0.0000000000000000E+00 ! [m] Inner diameter -prim.par ( 5 , $P_Body2 ) = 1.2000000000000000E+01 ! [-] Number of planes -prim.par ( 6 , $P_Body2 ) = 0.0000000000000000E+00 ! [-] Number of highlighted planes -prim.par ( 7 , $P_Body2 ) = 1.0000000000000000E+00 ! [-] Show bottom cap -prim.par ( 8 , $P_Body2 ) = 1.0000000000000000E+00 ! [-] Show top cap -prim.par ( 9 , $P_Body2 ) = 0.0000000000000000E+00 ! [rad] Start angle -prim.par ( 10 , $P_Body2 ) = 0.0000000000000000E+00 ! [rad] Delta angle -prim.par ( 11 , $P_Body2 ) = 0.0000000000000000E+00 ! [-] Close geometry with +prim.type ( $P_Body2_Joint ) = 2 ! Type +prim.ref ( $P_Body2_Joint ) = $M_Body2_BRF ! Reference Marker +prim.ang ( 1 , $P_Body2_Joint ) = { 90 deg } ! Angles +prim.color.r ( 1 , $P_Body2_Joint ) = 2.5500000000000000E+02 ! Colors (red component) +prim.color.r ( 2 , $P_Body2_Joint ) = 1.2800000000000000E+02 ! Colors (red component) +prim.color.g ( 1 , $P_Body2_Joint ) = 1.8500000000000000E+02 ! Colors (green component) +prim.color.g ( 2 , $P_Body2_Joint ) = 1.2800000000000000E+02 ! Colors (green component) +prim.color.b ( 1 , $P_Body2_Joint ) = 1.5000000000000000E+01 ! Colors (blue component) +prim.color.b ( 2 , $P_Body2_Joint ) = 1.2800000000000000E+02 ! Colors (blue component) +prim.color.t ( 1 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! Colors (transparency component) +prim.color.t ( 2 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! Colors (transparency component) +prim.par ( 2 , $P_Body2_Joint ) = 4.0000000000000001E-02 ! [m] Height +prim.par ( 3 , $P_Body2_Joint ) = 4.0000000000000001E-02 ! [m] Outer diameter +prim.par ( 4 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [m] Inner diameter +prim.par ( 5 , $P_Body2_Joint ) = 1.2000000000000000E+01 ! [-] Number of planes +prim.par ( 6 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [-] Number of highlighted planes +prim.par ( 7 , $P_Body2_Joint ) = 1.0000000000000000E+00 ! [-] Show bottom cap +prim.par ( 8 , $P_Body2_Joint ) = 1.0000000000000000E+00 ! [-] Show top cap +prim.par ( 9 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [rad] Start angle +prim.par ( 10 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [rad] Delta angle +prim.par ( 11 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [-] Close geometry with prim.type ( $P_Body2_Link ) = 2 ! Type prim.ref ( $P_Body2_Link ) = $M_Body2_BRF ! Reference Marker @@ -467,11 +475,18 @@ prim.par ( 10 , $P_Body2_Link ) = 0.00000000 prim.par ( 11 , $P_Body2_Link ) = 0.0000000000000000E+00 ! [-] Close geometry with -body.m ( $B_Body3 ) = 1.0000000000000000E+00 ! Mass of the Body +body.m ( $B_Body3 ) = 2.3300000000000001E+00 ! Mass of the Body +body.mp ( $B_Body3 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto +body.cg.pos ( 1 , $B_Body3 ) = 1.4999999999999999E-01 ! Center of gravity +body.cg.pos ( 3 , $B_Body3 ) = 2.6499999999999999E-02 ! Center of gravity body.I.tens ( 1 , 1 , $B_Body3 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 2 , 2 , $B_Body3 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 3 , 3 , $B_Body3 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.kind ( $B_Body3 ) = -1 ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker +body.flx.cosim.job.type ( $B_Body3 ) = 0 ! 0=new run; 1=import co-sim with database results; 2=restart co-sim +body.flx.cosim.job.previous ( $B_Body3 ) = '' ! previous abaqus job run +body.flx.cosim.job.cmdoptions ( $B_Body3 ) = '' ! additional command line options for the abaqus run +body.flx.cosim.job.solver ( $B_Body3 ) = 0 ! 0=Abaqus/Explicit; 1=Abaqus/Standard marker.type ( $M_Body3_BRF ) = 1 ! Type marker.parent ( $M_Body3_BRF ) = $B_Body3 ! Body @@ -486,14 +501,8 @@ marker.ang ( 3 , $M_Body3_Top ) = $G_DH3.$_t joint.from ( $J_Body3 ) = $M_Body2_Top ! From Marker joint.to ( $J_Body3 ) = $M_Body3_BRF ! To Marker -joint.type ( $J_Body3 ) = 0 ! Type -joint.par ( 1 , $J_Body3 ) = 0.0000000000000000E+00 ! [rad] Rotation about alpha -joint.par ( 2 , $J_Body3 ) = 0.0000000000000000E+00 ! [rad] Rotation about beta -joint.par ( 3 , $J_Body3 ) = 0.0000000000000000E+00 ! [rad] Rotation about gamma -joint.par ( 4 , $J_Body3 ) = 0.0000000000000000E+00 ! [m] Translation in x -joint.par ( 5 , $J_Body3 ) = 0.0000000000000000E+00 ! [m] Translation in y -joint.par ( 6 , $J_Body3 ) = 0.0000000000000000E+00 ! [m] Translation in z -joint.par ( 7 , $J_Body3 ) = 0.0000000000000000E+00 ! [-] Rotation sequence +joint.type ( $J_Body3 ) = 3 ! Type +joint.st.pos ( 1 , $J_Body3 ) = $G_DH3.$_theta ! Position prim.type ( $P_Body3_Joint ) = 2 ! Type prim.ref ( $P_Body3_Joint ) = $M_Body3_BRF ! Reference Marker @@ -541,11 +550,18 @@ prim.par ( 10 , $P_Body3_Link ) = 0.00000000 prim.par ( 11 , $P_Body3_Link ) = 0.0000000000000000E+00 ! [-] Close geometry with -body.m ( $B_Body4 ) = 1.0000000000000000E+00 ! Mass of the Body +body.m ( $B_Body4 ) = 1.2190000000000001E+00 ! Mass of the Body +body.mp ( $B_Body4 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto +body.cg.pos ( 2 , $B_Body4 ) = -1.8000000000000000E-03 ! Center of gravity +body.cg.pos ( 3 , $B_Body4 ) = 1.6340000000000000E-02 ! Center of gravity body.I.tens ( 1 , 1 , $B_Body4 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 2 , 2 , $B_Body4 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 3 , 3 , $B_Body4 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.kind ( $B_Body4 ) = -1 ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker +body.flx.cosim.job.type ( $B_Body4 ) = 0 ! 0=new run; 1=import co-sim with database results; 2=restart co-sim +body.flx.cosim.job.previous ( $B_Body4 ) = '' ! previous abaqus job run +body.flx.cosim.job.cmdoptions ( $B_Body4 ) = '' ! additional command line options for the abaqus run +body.flx.cosim.job.solver ( $B_Body4 ) = 0 ! 0=Abaqus/Explicit; 1=Abaqus/Standard marker.type ( $M_Body4_BRF ) = 1 ! Type marker.parent ( $M_Body4_BRF ) = $B_Body4 ! Body @@ -560,14 +576,8 @@ marker.ang ( 3 , $M_Body4_Top ) = $G_DH4.$_t joint.from ( $J_Body4 ) = $M_Body3_Top ! From Marker joint.to ( $J_Body4 ) = $M_Body4_BRF ! To Marker -joint.type ( $J_Body4 ) = 0 ! Type -joint.par ( 1 , $J_Body4 ) = 0.0000000000000000E+00 ! [rad] Rotation about alpha -joint.par ( 2 , $J_Body4 ) = 0.0000000000000000E+00 ! [rad] Rotation about beta -joint.par ( 3 , $J_Body4 ) = 0.0000000000000000E+00 ! [rad] Rotation about gamma -joint.par ( 4 , $J_Body4 ) = 0.0000000000000000E+00 ! [m] Translation in x -joint.par ( 5 , $J_Body4 ) = 0.0000000000000000E+00 ! [m] Translation in y -joint.par ( 6 , $J_Body4 ) = 0.0000000000000000E+00 ! [m] Translation in z -joint.par ( 7 , $J_Body4 ) = 0.0000000000000000E+00 ! [-] Rotation sequence +joint.type ( $J_Body4 ) = 3 ! Type +joint.st.pos ( 1 , $J_Body4 ) = $G_DH4.$_theta ! Position prim.type ( $P_Body4_Joint ) = 2 ! Type prim.ref ( $P_Body4_Joint ) = $M_Body4_BRF ! Reference Marker @@ -616,11 +626,18 @@ prim.par ( 10 , $P_Body4_Link ) = 0.00000000 prim.par ( 11 , $P_Body4_Link ) = 0.0000000000000000E+00 ! [-] Close geometry with -body.m ( $B_Body5 ) = 1.0000000000000000E+00 ! Mass of the Body +body.m ( $B_Body5 ) = 1.2190000000000001E+00 ! Mass of the Body +body.mp ( $B_Body5 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto +body.cg.pos ( 2 , $B_Body5 ) = -1.8000000000000000E-03 ! Center of gravity +body.cg.pos ( 3 , $B_Body5 ) = 1.6340000000000000E-02 ! Center of gravity body.I.tens ( 1 , 1 , $B_Body5 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 2 , 2 , $B_Body5 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 3 , 3 , $B_Body5 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.kind ( $B_Body5 ) = -1 ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker +body.flx.cosim.job.type ( $B_Body5 ) = 0 ! 0=new run; 1=import co-sim with database results; 2=restart co-sim +body.flx.cosim.job.previous ( $B_Body5 ) = '' ! previous abaqus job run +body.flx.cosim.job.cmdoptions ( $B_Body5 ) = '' ! additional command line options for the abaqus run +body.flx.cosim.job.solver ( $B_Body5 ) = 0 ! 0=Abaqus/Explicit; 1=Abaqus/Standard marker.type ( $M_Body5_BRF ) = 1 ! Type marker.parent ( $M_Body5_BRF ) = $B_Body5 ! Body @@ -635,14 +652,8 @@ marker.ang ( 3 , $M_Body5_Top ) = $G_DH5.$_t joint.from ( $J_Body5 ) = $M_Body4_Top ! From Marker joint.to ( $J_Body5 ) = $M_Body5_BRF ! To Marker -joint.type ( $J_Body5 ) = 0 ! Type -joint.par ( 1 , $J_Body5 ) = 0.0000000000000000E+00 ! [rad] Rotation about alpha -joint.par ( 2 , $J_Body5 ) = 0.0000000000000000E+00 ! [rad] Rotation about beta -joint.par ( 3 , $J_Body5 ) = 0.0000000000000000E+00 ! [rad] Rotation about gamma -joint.par ( 4 , $J_Body5 ) = 0.0000000000000000E+00 ! [m] Translation in x -joint.par ( 5 , $J_Body5 ) = 0.0000000000000000E+00 ! [m] Translation in y -joint.par ( 6 , $J_Body5 ) = 0.0000000000000000E+00 ! [m] Translation in z -joint.par ( 7 , $J_Body5 ) = 0.0000000000000000E+00 ! [-] Rotation sequence +joint.type ( $J_Body5 ) = 3 ! Type +joint.st.pos ( 1 , $J_Body5 ) = $G_DH5.$_theta ! Position prim.type ( $P_Body5_Joint ) = 2 ! Type prim.ref ( $P_Body5_Joint ) = $M_Body5_BRF ! Reference Marker @@ -691,8 +702,9 @@ prim.par ( 10 , $P_Body5_Link ) = 0.00000000 prim.par ( 11 , $P_Body5_Link ) = 0.0000000000000000E+00 ! [-] Close geometry with -body.m ( $B_Body6 ) = 1.0000000000000000E+00 ! Mass of the Body +body.m ( $B_Body6 ) = 1.8970000000000001E-01 ! Mass of the Body body.mp ( $B_Body6 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto +body.cg.pos ( 3 , $B_Body6 ) = -1.1590000000000001E-03 ! Center of gravity body.I.tens ( 1 , 1 , $B_Body6 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 2 , 2 , $B_Body6 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 3 , 3 , $B_Body6 ) = 1.0000000000000000E+00 ! Moments of inertia @@ -708,14 +720,8 @@ marker.flx.type ( $M_Body6_BRF ) = 4 joint.from ( $J_Body6 ) = $M_Body5_Top ! From Marker joint.to ( $J_Body6 ) = $M_Body6_BRF ! To Marker -joint.type ( $J_Body6 ) = 0 ! Type -joint.par ( 1 , $J_Body6 ) = 0.0000000000000000E+00 ! [rad] Rotation about alpha -joint.par ( 2 , $J_Body6 ) = 0.0000000000000000E+00 ! [rad] Rotation about beta -joint.par ( 3 , $J_Body6 ) = 0.0000000000000000E+00 ! [rad] Rotation about gamma -joint.par ( 4 , $J_Body6 ) = 0.0000000000000000E+00 ! [m] Translation in x -joint.par ( 5 , $J_Body6 ) = 0.0000000000000000E+00 ! [m] Translation in y -joint.par ( 6 , $J_Body6 ) = 0.0000000000000000E+00 ! [m] Translation in z -joint.par ( 7 , $J_Body6 ) = 0.0000000000000000E+00 ! [-] Rotation sequence +joint.type ( $J_Body6 ) = 3 ! Type +joint.st.pos ( 1 , $J_Body6 ) = $G_DH6.$_theta ! Position prim.type ( $P_Body_Joint ) = 2 ! Type prim.ref ( $P_Body_Joint ) = $M_Body6_BRF ! Reference Marker