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Merge branch 'feature/UR5' into 'master' 

Feature/ur5

See merge request dynamics/simpack!1
This commit is contained in:
Rui 2023-10-22 13:49:22 +00:00
parent 96da6bc9ec 2e309eff9d
commit 0b58d07853
1 changed files with 84 additions and 78 deletions
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162
UR5/UR5.spck
View File

@ -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