From 685e75be750ae93de484bda3dcc461db7644e105 Mon Sep 17 00:00:00 2001
From: cosmic_power <cosmic_power@163.com>
Date: Sat, 28 Sep 2024 13:41:19 +0800
Subject: [PATCH] add R1000

---
 R1000/R1000-DVT-ME.output/R1000-DVT-ME.sbr   | Bin 0 -> 60622 bytes
 R1000/R1000-DVT.output/R1000-DVT-statics.sbr | Bin 0 -> 74232 bytes
 R1000/R1000-DVT.output/R1000-DVT.intinfo     | 128 +++
 R1000/R1000-DVT.output/R1000-DVT.licreq.log  |  41 +
 R1000/R1000-DVT.spck                         | 851 +++++++++++++++++++
 5 files changed, 1020 insertions(+)
 create mode 100644 R1000/R1000-DVT-ME.output/R1000-DVT-ME.sbr
 create mode 100644 R1000/R1000-DVT.output/R1000-DVT-statics.sbr
 create mode 100644 R1000/R1000-DVT.output/R1000-DVT.intinfo
 create mode 100644 R1000/R1000-DVT.output/R1000-DVT.licreq.log
 create mode 100644 R1000/R1000-DVT.spck

diff --git a/R1000/R1000-DVT-ME.output/R1000-DVT-ME.sbr b/R1000/R1000-DVT-ME.output/R1000-DVT-ME.sbr
new file mode 100644
index 0000000000000000000000000000000000000000..e5c80e3d3ae0a15c5f69f4123620d892263cc41c
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diff --git a/R1000/R1000-DVT.output/R1000-DVT-statics.sbr b/R1000/R1000-DVT.output/R1000-DVT-statics.sbr
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diff --git a/R1000/R1000-DVT.output/R1000-DVT.intinfo b/R1000/R1000-DVT.output/R1000-DVT.intinfo
new file mode 100644
index 0000000..2252e48
--- /dev/null
+++ b/R1000/R1000-DVT.output/R1000-DVT.intinfo
@@ -0,0 +1,128 @@
+ # Time Integration Statistics used by Simpack ModelExpert
+           1  # ModelExpertVersion
+           8  # N-Values for IntegratorSettings
+           0  # nx
+           0  # nlages
+           0  # n_add_eq
+           0  # n_roots
+  0.1829831      # tend
+           1  # integration method
+  9.9999997E-06  #   atolg(1)
+  1.0000000E-07  #   rtolg(1)
+         100  #   nipmax
+  -1.000000      #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+   5.000000      #   vipar
+   5.000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+  1.0000000E-07  #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+   2.000000      #   vipar
+   2.000000      #   vipar
+   7.000000      #   vipar
+   3.000000      #   vipar
+   3.000000      #   vipar
+   2.000000      #   vipar
+  0.0000000E+00  #   vipar
+   3.000000      #   vipar
+  0.3330000      #   vipar
+  -1.000000      #   vipar
+   1.000000      #   vipar
+   2.000000      #   vipar
+  1.0000000E-06  #   vipar
+  0.0000000E+00  #   vipar
+   2.000000      #   vipar
+  0.0000000E+00  #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+  1.0000000E-03  #   vipar
+   3.000000      #   vipar
+  0.5000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+  0.0000000E+00  #   vipar
+   1.000000      #   vipar
+   1.000000      #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  0.0000000E+00  #   vipar
+  
+          14  # N-Values for IntegrationOutputInfos
+         243  #   nrhs_total
+         242  #   nrhs_nojac
+           1  #   n jacobi
+           0  #   n mass
+         242  #   n steps
+           0  #   n roots
+           0  #   n error test failors
+           0  #   n convergence test failors
+           0  #   n steps_rejected
+  9.9990773E-04  #   last step size
+           1  #   last order
+           0  #   rhs_error_flag
+           0  #   integrator_error_flag
+  0.1829831      #   tout required
diff --git a/R1000/R1000-DVT.output/R1000-DVT.licreq.log b/R1000/R1000-DVT.output/R1000-DVT.licreq.log
new file mode 100644
index 0000000..e7a09bb
--- /dev/null
+++ b/R1000/R1000-DVT.output/R1000-DVT.licreq.log
@@ -0,0 +1,41 @@
+*********************************************************
+License Requirements for Model:
+ R1000-DVT
+*********************************************************
+gui:
+ - R1000-DVT
+
+*********************************************************
+
+
+Body requirements:
+==================
+   ./.
+
+Marker requirements:
+=====================
+   ./.
+
+Joint requirements:
+===================
+   ./.
+
+Force requirements:
+===================
+   ./.
+
+Constraint requirements:
+=========================
+   ./.
+
+Result requirements:
+=========================
+   ./.
+
+Filter requirements:
+====================
+   ./.
+
+Primitive requirements:
+====================
+   ./.
diff --git a/R1000/R1000-DVT.spck b/R1000/R1000-DVT.spck
new file mode 100644
index 0000000..8990f07
--- /dev/null
+++ b/R1000/R1000-DVT.spck
@@ -0,0 +1,851 @@
+!file.version=2.5! Removing this line will make the file unreadable
+
+!**********************************************************************
+! Simpack Version Information
+!**********************************************************************
+version.number = 201801
+version.desc   = ''
+version.build  = 66
+
+!**********************************************************************
+!  Global parameters
+!**********************************************************************
+gravity (                 1                                       ) = 0.0000000000000000E+00  ! Gravity
+gravity (                 2                                       ) = 0.0000000000000000E+00  ! Gravity
+gravity (                 3                                       ) = -9.8100000000000005E+00 ! Gravity
+vehicle.startvel                                                    = 0.0000000000000000E+00  ! Vehicle initial velocity
+vehicle.applystartvel                                               = 0                       ! Apply vehicle initial velocity at solver start
+glob.compat.flxnodeori                                              = 0                       ! Flexbody Node Orientation Method
+glob.compat.afcf                                                    = 0                       ! References Frame for Joint and Force Element Forces and Torques
+glob.form.tuning                                                    = 0                       ! Formalism Tuning
+rw.cont.meth                                                        = 2                       ! MISCPAR_RW_CONTACT_METHOD
+rw.linear                                                           = 0                       ! MISCPAR_RW_PROFILE_LINEARIZATION_METHOD
+time                                                                = 0.0000000000000000E+00  ! Time
+slv.active                                                          = $SLV_SolverSettings     ! Active SolverSettings element
+track.active                                                        = null                    ! Active Track element
+prop3d.bg.base.color.r                                              = 9.9000000000000000E+01  ! Background color (red component)
+prop3d.bg.base.color.g                                              = 1.8400000000000000E+02  ! Background color (green component)
+prop3d.bg.base.color.b                                              = 2.5500000000000000E+02  ! Background color (blue component)
+prop3d.bg.base.color.t                                              = 0.0000000000000000E+00  ! Background color (transparency component)
+prop3d.bg.grad.color.r                                              = 2.5500000000000000E+02  ! Gradient color (red component)
+prop3d.bg.grad.color.g                                              = 2.5500000000000000E+02  ! Gradient color (green component)
+prop3d.bg.grad.color.b                                              = 2.5500000000000000E+02  ! Gradient color (blue component)
+prop3d.bg.grad.color.t                                              = 0.0000000000000000E+00  ! Gradient color (transparency component)
+prop3d.bg.gradient                                                  = 1                       ! 0 = constant, 1 = gradient
+prop3d.marker.size                                                  = 0.0000000000000000E+00  ! length of Marker axes, if value is zero, use "auto"
+prop3d.marker.auto                                                  = 1                       ! 0 = user defined, 1 = auto size determination
+prop3d.marker.color.r                                               = 0.0000000000000000E+00  ! Marker color (red component)
+prop3d.marker.color.g                                               = 0.0000000000000000E+00  ! Marker color (green component)
+prop3d.marker.color.b                                               = 0.0000000000000000E+00  ! Marker color (blue component)
+prop3d.marker.color.t                                               = 0.0000000000000000E+00  ! Marker color (transparency component)
+prop3d.display                                                      = 1                       ! 1 = shaded,  2 = wireframe, 3 = hidden line
+prop3d.bbox                                                         = 0                       ! 0 = exclude all refsys objects, 1 = include all refsys objects
+prop2d.joint.visible                                                = 1                       ! Joints visible
+prop2d.force.visible                                                = 1                       ! Forces visible
+prop2d.constr.visible                                               = 1                       ! Constraints visible
+prop2d.sensor.visible                                               = 0                       ! Sensors visible
+prop2d.grid.visible                                                 = 0                       ! Show grid
+prop2d.grid.hor.start                                               = 0.0000000000000000E+00  ! Horizontal offset
+prop2d.grid.hor.step                                                = 1.0000000000000000E+01  ! Horizontal step
+prop2d.grid.vert.start                                              = 0.0000000000000000E+00  ! Vertical offset
+prop2d.grid.vert.step                                               = 1.0000000000000000E+01  ! Vertical step
+prop2d.line.width                                                   = 0                       ! Line width
+prop2d.proj.dir                                                     = 2                       ! Projection direction
+
+
+!**********************************************************************
+! Views
+!**********************************************************************
+view.type (                         $V_WorkingView                ) = 0                       ! Projection type
+view.pos (                1 ,       $V_WorkingView                ) = 1.8545341491699219E+00  ! Position
+view.pos (                2 ,       $V_WorkingView                ) = -2.3901579380035400E+00 ! Position
+view.pos (                3 ,       $V_WorkingView                ) = 7.4233853816986084E-01  ! Position
+view.orient (             1 ,       $V_WorkingView                ) = 6.1801481246948242E-01  ! Orientation
+view.orient (             2 ,       $V_WorkingView                ) = 1.8156309425830841E-01  ! Orientation
+view.orient (             3 ,       $V_WorkingView                ) = 1.6454981267452240E-01  ! Orientation
+view.orient (             4 ,       $V_WorkingView                ) = 7.4700468778610229E-01  ! 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                ) = 3.7506186962127686E+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
+
+view.type (                         $V_Ortho                      ) = 0                       ! Projection type
+view.pos (                1 ,       $V_Ortho                      ) = 6.8524776119738817E-01  ! Position
+view.pos (                2 ,       $V_Ortho                      ) = -7.1946778753772378E-01 ! Position
+view.pos (                3 ,       $V_Ortho                      ) = 3.5240458619955461E-01  ! Position
+view.orient (             1 ,       $V_Ortho                      ) = 5.2440571784973145E-01  ! Orientation
+view.orient (             2 ,       $V_Ortho                      ) = 2.1178941428661346E-01  ! Orientation
+view.orient (             3 ,       $V_Ortho                      ) = 2.8827568888664246E-01  ! Orientation
+view.orient (             4 ,       $V_Ortho                      ) = 7.7268427610397339E-01  ! Orientation
+view.angle (                        $V_Ortho                      ) = 7.8539818525314331E-01  ! Lens angle
+view.fclip.auto (                   $V_Ortho                      ) = 1                       ! Front clipping plane auto
+view.bclip.auto (                   $V_Ortho                      ) = 1                       ! Back clipping plane auto
+view.rotcenter.type (               $V_Ortho                      ) = 0                       ! Rotation center type
+view.rotcenter.adjust (             $V_Ortho                      ) = 1                       ! Adjust rotation center
+view.motion.active (                $V_Ortho                      ) = 0                       ! Camera is moved
+
+view.type (                         $V_Front                      ) = 1                       ! Projection type
+view.pos (                1 ,       $V_Front                      ) = 0.0000000000000000E+00  ! Position
+view.pos (                2 ,       $V_Front                      ) = -5.9984529018402100E-01 ! Position
+view.pos (                3 ,       $V_Front                      ) = 2.9802329493122670E-08  ! Position
+view.orient (             1 ,       $V_Front                      ) = 7.0710676908493042E-01  ! Orientation
+view.orient (             2 ,       $V_Front                      ) = 0.0000000000000000E+00  ! Orientation
+view.orient (             3 ,       $V_Front                      ) = 0.0000000000000000E+00  ! Orientation
+view.orient (             4 ,       $V_Front                      ) = 7.0710676908493042E-01  ! Orientation
+view.height (                       $V_Front                      ) = 8.0000000000000004E-01  ! View height
+view.fclip.auto (                   $V_Front                      ) = 1                       ! Front clipping plane auto
+view.bclip.auto (                   $V_Front                      ) = 1                       ! Back clipping plane auto
+view.rotcenter.type (               $V_Front                      ) = 0                       ! Rotation center type
+view.rotcenter.adjust (             $V_Front                      ) = 1                       ! Adjust rotation center
+view.motion.active (                $V_Front                      ) = 0                       ! Camera is moved
+
+view.type (                         $V_Top                        ) = 1                       ! Projection type
+view.pos (                1 ,       $V_Top                        ) = 0.0000000000000000E+00  ! Position
+view.pos (                2 ,       $V_Top                        ) = -7.4989371933043003E-04 ! Position
+view.pos (                3 ,       $V_Top                        ) = 5.9909558296203613E-01  ! Position
+view.orient (             1 ,       $V_Top                        ) = 2.5144752058281483E-08  ! Orientation
+view.orient (             2 ,       $V_Top                        ) = 0.0000000000000000E+00  ! Orientation
+view.orient (             3 ,       $V_Top                        ) = 0.0000000000000000E+00  ! Orientation
+view.orient (             4 ,       $V_Top                        ) = 1.0000000000000000E+00  ! Orientation
+view.height (                       $V_Top                        ) = 8.0000000000000004E-01  ! View height
+view.fclip.auto (                   $V_Top                        ) = 1                       ! Front clipping plane auto
+view.bclip.auto (                   $V_Top                        ) = 1                       ! Back clipping plane auto
+view.rotcenter.type (               $V_Top                        ) = 0                       ! Rotation center type
+view.rotcenter.adjust (             $V_Top                        ) = 1                       ! Adjust rotation center
+view.motion.active (                $V_Top                        ) = 0                       ! Camera is moved
+
+!**********************************************************************
+! Solver Settings
+!**********************************************************************
+slv.kin.task (                      $SLV_SolverSettings           ) = 3                       ! KIN_INTPAR_TASK
+slv.kin.tout.n (                    $SLV_SolverSettings           ) = 201                     ! KIN_INTPAR_NUM_STEPS
+slv.kin.tol (                       $SLV_SolverSettings           ) = 9.9999999999999995E-07  ! Kinematics tolerance
+slv.integ.fix.driftstab (           $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_INTPAR_FIXINT_CONSTAB
+slv.integ.fix.jac.update (          $SLV_SolverSettings           ) = 3                       ! TIME_INTEG_PAR_FIXINT_JACOBIAN_EVAL
+slv.integ.fix.part.type (           $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_INTPAR_FIXINT_JAC_PART_TYPE
+slv.integ.fix.order (               $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_PAR_FIXINT_METHOD_ORDER
+slv.integ.fix.posup (               $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_PAR_FIXINT_POS_COORD_UPDATE
+slv.integ.sodasrt.formalism (       $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_PAR_FORMALISM
+slv.integ.type (                    $SLV_SolverSettings           ) = 1                       ! Integrator type
+slv.integ.jac.struc (               $SLV_SolverSettings           ) = 3                       ! SOLVER_TIME_INTEG_PAR_JACOBIAN_STRUC
+slv.integ.jac.incr.type (           $SLV_SolverSettings           ) = 2                       ! Jacobian increment type
+slv.integ.linalg.slv (              $SLV_SolverSettings           ) = 1                       ! 1 = dense ; 2 = sparse (UMFPACK) ; 3 = sparse (PARDISO)
+slv.integ.lsode.meth (              $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_PAR_LSODE_INTEG_METHOD
+slv.integ.lsode.jac.struc (         $SLV_SolverSettings           ) = 3                       ! SOLVER_TIME_INTEG_PAR_LSODE_JACOBIAN_STRUC
+slv.integ.lsode.maxord (            $SLV_SolverSettings           ) = 5                       ! TIME_INTEG_INTPAR_LSODE_MAX_ORDER
+slv.integ.maxrhs (                  $SLV_SolverSettings           ) = -1                      ! TIME_INTEG_INTPAR_MAX_RHS
+slv.integ.maxstp (                  $SLV_SolverSettings           ) = -1                      ! TIME_INTEG_INTPAR_MAX_TIME_STEPS
+slv.integ.newton.maxit (            $SLV_SolverSettings           ) = 7                       ! TIME_INTEG_INTPAR_NEWTON_ITERS
+slv.integ.tout.n (                  $SLV_SolverSettings           ) = 101                     ! TIME_INTEG_INTPAR_OUTPUT_NUM_POINTS
+slv.integ.sodasrt2.iestsc (         $SLV_SolverSettings           ) = 2                       ! TIME_INTEG_PAR_SODASRT20_ERROR_EST_SCALE_METHOD
+slv.integ.sodasrt.maxord (          $SLV_SolverSettings           ) = 5                       ! TIME_INTEG_INTPAR_SODASRT_MAX_ORDER
+slv.integ.sodasrt1.errnorm (        $SLV_SolverSettings           ) = 3                       ! TIME_INTEG_PAR_SODASRT_NORM_TYPE
+slv.integ.tout.mode (               $SLV_SolverSettings           ) = 0                       ! TIME_INTEG_INTPAR_TOUT_MODE
+slv.integ.meetop (                  $SLV_SolverSettings           ) = 0                       ! TIME_INTEG_BOOLPAR_EVAL_MOTION_EQ_AT_COMM_POINTS
+slv.integ.driftstab (               $SLV_SolverSettings           ) = 2                       ! TIME_INTEG_BOOLPAR_ACCEPT_DRIFT
+slv.integ.root (                    $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_BOOLPAR_DETECT_IMPLICIT_DISCONTINUITIES
+slv.integ.jac.part (                $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_BOOLPAR_PARTITIONED_EVAL_JACOBIAN
+slv.integ.addrhscall (              $SLV_SolverSettings           ) = 0                       ! TIME_INTEG_BOOLPAR_EXTRA_EVAL_AFTER_SUCCESSFUL_STEP
+slv.integ.linalg.red2nd (           $SLV_SolverSettings           ) = 1                       ! Linear equations second order reduction
+slv.integ.fix.oneleg (              $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_BOOLPAR_FIXINT_IMPLICIT_ONE_LEG_OLC
+slv.integ.fix.conforce (            $SLV_SolverSettings           ) = 0                       ! TIME_INTEG_BOOLPAR_FIXINT_CONFORCE
+slv.integ.fix.clss (                $SLV_SolverSettings           ) = 1                       ! TIME_INTEG_BOOLPAR_FIXINT_METHOD_CLASS
+slv.integ.sodasrt1.scal.lam (       $SLV_SolverSettings           ) = 9.9999999999999995E-08  ! TIME_INTEG_SCALARPAR_SCALE_CONSTRAINT_FORCES
+slv.integ.sodasrt1.scal.acc (       $SLV_SolverSettings           ) = 1.0000000000000000E+00  ! TIME_INTEG_SCALARPAR_SCALE_ACCELERATIONS
+slv.integ.newton.eps (              $SLV_SolverSettings           ) = 3.3300000000000002E-01  ! TIME_INTEG_SCALARPAR_NEWTON_ERROR_BOUND
+slv.integ.fix.utcpar (              $SLV_SolverSettings           ) = 1.0000000000000000E+00  ! TIME_INTEG_SCALARPAR_FIXINT_EULER_UTC
+slv.integ.fix.olcpar (              $SLV_SolverSettings           ) = 5.0000000000000000E-01  ! TIME_INTEG_SCALARPAR_FIXINT_ONE_LEG_OLC
+slv.integ.sodasrt2.estfac (         $SLV_SolverSettings           ) = 9.9999999999999995E-07  ! TIME_INTEG_SCALARPAR_SODASRT20_ERROR_EST_SCALE_FACTOR
+slv.integ.tout.freq (               $SLV_SolverSettings           ) = { 200 Hz }              ! TIME_INTEG_PAR_OUTPUT_FREQ
+slv.integ.tend.time (               $SLV_SolverSettings           ) = { 2 s }                 ! TIME_INTEG_TIMEPAR_END_TIME
+slv.integ.atol.gen (                $SLV_SolverSettings           ) = 1.0000000000000001E-05  ! TIME_INTEG_PARSTATE_DEFAULT
+slv.integ.atol.vel (                $SLV_SolverSettings           ) = 1.0000000000000000E-04  ! TIME_INTEG_PARSTATE_VEL
+slv.integ.rtol.gen (                $SLV_SolverSettings           ) = 9.9999999999999995E-08  ! TIME_INTEG_PARSTATE_DEFAULT
+slv.integ.rtol.vel (                $SLV_SolverSettings           ) = 1.0000000000000001E-05  ! TIME_INTEG_PARSTATE_VEL
+slv.meas.geo (                      $SLV_SolverSettings           ) = 1                       ! Animation data to result file
+slv.meas.sensor.pos (               $SLV_SolverSettings           ) = 1                       ! Sensor position to result file
+slv.meas.sensor.vel (               $SLV_SolverSettings           ) = 1                       ! Sensor velocity to result file
+slv.meas.sensor.acc (               $SLV_SolverSettings           ) = 1                       ! Sensor acceleration to result file
+slv.meas.force.af (                 $SLV_SolverSettings           ) = 1                       ! applied forces to result file
+slv.meas.force.ov (                 $SLV_SolverSettings           ) = 1                       ! Force outpur values to result file
+slv.meas.force.st.dyn (             $SLV_SolverSettings           ) = 1                       ! Force dynamic states to result file
+slv.meas.force.st.alg (             $SLV_SolverSettings           ) = 1                       ! Force algebraic states to result file
+slv.meas.joint.st.pos (             $SLV_SolverSettings           ) = 1                       ! Joint position to result file
+slv.meas.joint.st.vel (             $SLV_SolverSettings           ) = 1                       ! Joint velocity to result file
+slv.meas.joint.st.acc (             $SLV_SolverSettings           ) = 1                       ! Joint acceleration to result file
+slv.meas.joint.cf (                 $SLV_SolverSettings           ) = 1                       ! Joint constraining forces to result file
+slv.meas.body.pos (                 $SLV_SolverSettings           ) = 1                       ! Body position to result file
+slv.meas.body.vel (                 $SLV_SolverSettings           ) = 1                       ! Body velocity to result file
+slv.meas.body.acc (                 $SLV_SolverSettings           ) = 1                       ! Body acceleration to result file
+slv.meas.body.flx.st.pos (          $SLV_SolverSettings           ) = 1                       ! Body elastic state position to result file
+slv.meas.body.flx.st.vel (          $SLV_SolverSettings           ) = 1                       ! Body elastic state velocity to result file
+slv.meas.body.flx.st.acc (          $SLV_SolverSettings           ) = 1                       ! Body elastic state acceleration to result file
+slv.meas.marker.st.alg (            $SLV_SolverSettings           ) = 1                       ! Marker algebraic state to result file
+slv.meas.constr.cf (                $SLV_SolverSettings           ) = 1                       ! Constraint constrained state to result file
+slv.meas.yout (                     $SLV_SolverSettings           ) = 1                       ! y-Outputs to result file
+slv.meas.result (                   $SLV_SolverSettings           ) = 1                       ! Result elements to result file
+slv.meas.subvar (                   $SLV_SolverSettings           ) = 1                       ! MEAS_BOOLPAR_SUBVAR
+slv.assmbl.task (                   $SLV_SolverSettings           ) = 3                       ! ASSMBL_PAR_SOLVER_MODE
+slv.output.path.type (              $SLV_SolverSettings           ) = 1                       ! OUTPUT_PATH_PAR_TYPE
+slv.txt (                           $SLV_SolverSettings           ) = ''                      ! Comment
+
+!**********************************************************************
+! SubVars
+!**********************************************************************
+subvargroup.begin (                 $G_DH1                        )                           ! $G_DH1
+   subvar.str (                     $_a                           ) = '0.2'                   ! $G_DH1.$_a, Definition
+
+   subvar.str (                     $_d                           ) = '0'                     ! $G_DH1.$_d, Definition
+   subvar.desc (          1 ,       $_d                           ) = 'DHtable::d1'           ! Description
+
+   subvar.str (                     $_alpha                       ) = 'pi/2'                  ! $G_DH1.$_alpha, Definition
+
+   subvar.str (                     $_theta                       ) = '0'                     ! $G_DH1.$_theta, Definition
+
+   subvar.str (                     $_offset                      ) = '0'                     ! $G_DH1.$_offset, Definition
+
+subvargroup.end (                   $G_DH1                        )                           ! $G_DH1
+subvargroup.desc (        1 ,       $G_DH1                        ) = ''                      ! Description
+
+subvargroup.begin (                 $G_DH2                        )                           ! $G_DH2
+   subvar.str (                     $_a                           ) = '0.5'                   ! $G_DH2.$_a, Definition
+   subvar.desc (          1 ,       $_a                           ) = ''                      ! Description
+
+   subvar.str (                     $_d                           ) = '0'                     ! $G_DH2.$_d, Definition
+   subvar.desc (          1 ,       $_d                           ) = 'DHtable::d1'           ! Description
+
+   subvar.str (                     $_alpha                       ) = '0'                     ! $G_DH2.$_alpha, Definition
+
+   subvar.str (                     $_theta                       ) = '0'                     ! $G_DH2.$_theta, Definition
+
+   subvar.str (                     $_offset                      ) = '0'                     ! $G_DH2.$_offset, Definition
+
+subvargroup.end (                   $G_DH2                        )                           ! $G_DH2
+subvargroup.desc (        1 ,       $G_DH2                        ) = ''                      ! Description
+
+subvargroup.begin (                 $G_DH3                        )                           ! $G_DH3
+   subvar.str (                     $_a                           ) = '0.45'                  ! $G_DH3.$_a, Definition
+
+   subvar.str (                     $_d                           ) = '0'                     ! $G_DH3.$_d, Definition
+   subvar.desc (          1 ,       $_d                           ) = 'DHtable::d1'           ! Description
+
+   subvar.str (                     $_alpha                       ) = '0'                     ! $G_DH3.$_alpha, Definition
+
+   subvar.str (                     $_theta                       ) = '0'                     ! $G_DH3.$_theta, Definition
+
+   subvar.str (                     $_offset                      ) = '0'                     ! $G_DH3.$_offset, Definition
+
+subvargroup.end (                   $G_DH3                        )                           ! $G_DH3
+subvargroup.desc (        1 ,       $G_DH3                        ) = ''                      ! Description
+
+subvargroup.begin (                 $G_DH4                        )                           ! $G_DH4
+   subvar.str (                     $_a                           ) = '0.12'                  ! $G_DH4.$_a, Definition
+
+   subvar.str (                     $_d                           ) = '0'                     ! $G_DH4.$_d, Definition
+   subvar.desc (          1 ,       $_d                           ) = 'DHtable::d1'           ! Description
+
+   subvar.str (                     $_alpha                       ) = '-pi/2'                 ! $G_DH4.$_alpha, Definition
+
+   subvar.str (                     $_theta                       ) = '-pi/2'                 ! $G_DH4.$_theta, Definition
+
+   subvar.str (                     $_offset                      ) = '0'                     ! $G_DH4.$_offset, Definition
+
+subvargroup.end (                   $G_DH4                        )                           ! $G_DH4
+subvargroup.desc (        1 ,       $G_DH4                        ) = ''                      ! Description
+
+subvargroup.begin (                 $G_DH5                        )                           ! $G_DH5
+   subvar.str (                     $_a                           ) = '0.28'                  ! $G_DH5.$_a, Definition
+
+   subvar.str (                     $_d                           ) = '0'                     ! $G_DH5.$_d, Definition
+   subvar.desc (          1 ,       $_d                           ) = 'DHtable::d1'           ! Description
+
+   subvar.str (                     $_alpha                       ) = '-pi/2'                 ! $G_DH5.$_alpha, Definition
+
+   subvar.str (                     $_theta                       ) = '0'                     ! $G_DH5.$_theta, Definition
+
+   subvar.str (                     $_offset                      ) = '0'                     ! $G_DH5.$_offset, Definition
+
+subvargroup.end (                   $G_DH5                        )                           ! $G_DH5
+subvargroup.desc (        1 ,       $G_DH5                        ) = ''                      ! Description
+
+subvargroup.begin (                 $G_DH6                        )                           ! $G_DH6
+   subvar.str (                     $_a                           ) = '0'                     ! $G_DH6.$_a, Definition
+
+   subvar.str (                     $_d                           ) = '0.4'                   ! $G_DH6.$_d, Definition
+   subvar.desc (          1 ,       $_d                           ) = 'DHtable::d1'           ! Description
+
+   subvar.str (                     $_alpha                       ) = '-pi/2'                 ! $G_DH6.$_alpha, Definition
+
+   subvar.str (                     $_theta                       ) = '-pi/2'                 ! $G_DH6.$_theta, Definition
+
+   subvar.str (                     $_offset                      ) = '0'                     ! $G_DH6.$_offset, Definition
+
+subvargroup.end (                   $G_DH6                        )                           ! $G_DH6
+subvargroup.desc (        1 ,       $G_DH6                        ) = ''                      ! Description
+
+!**********************************************************************
+! Reference systems
+!**********************************************************************
+refsys.type (                       $R_Isys                       ) = 1                       ! Type
+refsys.attr.2d.pos.x (              $R_Isys                       ) = -9.0000000000000000E+01
+refsys.attr.2d.pos.y (              $R_Isys                       ) = -1.0000000000000000E+01
+refsys.attr.2d.width (              $R_Isys                       ) = 2.4000000000000000E+02
+refsys.attr.2d.height (             $R_Isys                       ) = 2.2000000000000000E+02
+
+marker.type (                       $M_Isys                       ) = 1                       ! Type
+marker.parent (                     $M_Isys                       ) = $R_Isys                 ! Reference system
+
+prim.type (                         $P_Isys                       ) = 30                      ! Type
+prim.ref (                          $P_Isys                       ) = $M_Isys                 ! Reference Marker
+prim.color.r (            1 ,       $P_Isys                       ) = 1.4800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Isys                       ) = 1.4800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Isys                       ) = 1.4800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Isys                       ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                3 ,       $P_Isys                       ) = 1.0000000000000001E-01  ! [m] Length
+
+
+!**********************************************************************
+! Bodies
+!**********************************************************************
+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
+body.attr.2d.height (               $B_Body1                      ) = 8.0000000000000000E+01
+
+marker.type (                       $M_Body1_BRF                  ) = 1                       ! Type
+marker.parent (                     $M_Body1_BRF                  ) = $B_Body1                ! Body
+marker.flx.type (                   $M_Body1_BRF                  ) = 4                       ! Flexible type
+
+marker.type (                       $M_Body1_Top                  ) = 2                       ! Type
+marker.parent (                     $M_Body1_Top                  ) = $B_Body1                ! Body
+marker.pos (              1 ,       $M_Body1_Top                  ) = $G_DH1.$_a              ! Position
+marker.pos (              3 ,       $M_Body1_Top                  ) = $G_DH1.$_d              ! Position
+marker.ang (              1 ,       $M_Body1_Top                  ) = $G_DH1.$_alpha          ! Angles
+marker.ang (              3 ,       $M_Body1_Top                  ) = $G_DH1.$_theta          ! Angles
+
+joint.from (                        $J_Body1                      ) = $M_Isys                 ! From Marker
+joint.to (                          $J_Body1                      ) = $M_Body1_BRF            ! To Marker
+joint.type (                        $J_Body1                      ) = 40                      ! 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.par (               1 ,       $J_Body1                      ) = 3.0000000000000000E+00  ! [-] Axis of motion
+joint.par (               2 ,       $J_Body1                      ) = $UE_sin_Value           ! [-] u-Vector Element s(t)
+joint.par (               3 ,       $J_Body1                      ) = $UE_sin_1st_deriv       ! [-] u-Vector Element sd(t)
+joint.par (               4 ,       $J_Body1                      ) = $UE_sin_2nd_deriv       ! [-] u-Vector Element sdd(t)
+joint.par (               5 ,       $J_Body1                      ) = 0.0000000000000000E+00  ! [rad] Constant offset
+joint.par (               8 ,       $J_Body1                      ) = 1.0000000000000000E+00  ! [-] Scaling factor for s/sd/sdd
+joint.attr.2d.pos.x (     1 ,       $J_Body1                      ) = 20
+joint.attr.2d.pos.y (     1 ,       $J_Body1                      ) = 170
+joint.attr.2d.ori (       1 ,       $J_Body1                      ) = 270
+joint.attr.2d.paths.from.x (   1 ,   1 ,   1 , $J_Body1           ) = 20, 20
+joint.attr.2d.paths.from.y (   1 ,   1 ,   1 , $J_Body1           ) = 210, 187
+joint.attr.2d.paths.to.x (   1 ,   1 ,   1 , $J_Body1             ) = 20, 20
+joint.attr.2d.paths.to.y (   1 ,   1 ,   1 , $J_Body1             ) = 110, 153
+
+prim.type (                         $P_Body1_Joint                ) = 2                       ! Type
+prim.ref (                          $P_Body1_Joint                ) = $M_Body1_BRF            ! Reference Marker
+prim.ang (                1 ,       $P_Body1_Joint                ) = { 90 deg }              ! Angles
+prim.color.r (            1 ,       $P_Body1_Joint                ) = 2.5500000000000000E+02  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body1_Joint                ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body1_Joint                ) = 1.0500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body1_Joint                ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body1_Joint                ) = 1.8000000000000000E+02  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body1_Joint                ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body1_Joint                ) = 4.0000000000000001E-02  ! [m] Height
+prim.par (                3 ,       $P_Body1_Joint                ) = 4.0000000000000001E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body1_Joint                ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body1_Joint                ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body1_Joint                ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+prim.type (                         $P_Body1_Link                 ) = 2                       ! Type
+prim.ref (                          $P_Body1_Link                 ) = $M_Body1_BRF            ! Reference Marker
+prim.pos (                1 ,       $P_Body1_Link                 ) = { $G_DH1.$_a/2 }        ! Position
+prim.pos (                3 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! Position
+prim.ang (                1 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! Angles
+prim.ang (                3 ,       $P_Body1_Link                 ) = $G_DH1.$_alpha          ! Angles
+prim.color.r (            1 ,       $P_Body1_Link                 ) = 2.5500000000000000E+02  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body1_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body1_Link                 ) = 1.0500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body1_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body1_Link                 ) = 1.8000000000000000E+02  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body1_Link                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body1_Link                 ) = $G_DH1.$_a              ! [m] Height
+prim.par (                3 ,       $P_Body1_Link                 ) = 1.0000000000000000E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body1_Link                 ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+
+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
+marker.flx.type (                   $M_Body2_BRF                  ) = 4                       ! Flexible type
+
+marker.type (                       $M_Body2_Top                  ) = 2                       ! Type
+marker.parent (                     $M_Body2_Top                  ) = $B_Body2                ! Body
+marker.pos (              1 ,       $M_Body2_Top                  ) = $G_DH2.$_a              ! Position
+marker.pos (              3 ,       $M_Body2_Top                  ) = $G_DH2.$_d              ! Position
+marker.ang (              1 ,       $M_Body2_Top                  ) = $G_DH2.$_alpha          ! Angles
+marker.ang (              3 ,       $M_Body2_Top                  ) = $G_DH2.$_theta          ! Angles
+
+joint.from (                        $J_Body2                      ) = $M_Body1_Top            ! From Marker
+joint.to (                          $J_Body2                      ) = $M_Body2_BRF            ! To Marker
+joint.type (                        $J_Body2                      ) = 29                      ! Type
+joint.st.pos (            1 ,       $J_Body2                      ) = $G_DH2.$_theta          ! Position
+joint.par (               1 ,       $J_Body2                      ) = 3.0000000000000000E+00  ! [-] Axis of motion
+joint.par (               2 ,       $J_Body2                      ) = 0.0000000000000000E+00  ! [rad] Angle at t = 0
+joint.par (               3 ,       $J_Body2                      ) = 0.0000000000000000E+00  ! [rad] Amplitude
+joint.par (               4 ,       $J_Body2                      ) = 0.0000000000000000E+00  ! [rad/s] Frequency
+joint.par (               5 ,       $J_Body2                      ) = 0.0000000000000000E+00  ! [rad] Phase
+
+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
+prim.pos (                1 ,       $P_Body2_Link                 ) = { $G_DH2.$_a/2 }        ! Position
+prim.pos (                3 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Position
+prim.ang (                1 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Angles
+prim.ang (                3 ,       $P_Body2_Link                 ) = $G_DH1.$_alpha          ! Angles
+prim.color.r (            1 ,       $P_Body2_Link                 ) = 2.5500000000000000E+02  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body2_Link                 ) = 1.8500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body2_Link                 ) = 1.5000000000000000E+01  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body2_Link                 ) = $G_DH2.$_a              ! [m] Height
+prim.par (                3 ,       $P_Body2_Link                 ) = 1.0000000000000000E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body2_Link                 ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body2_Link                 ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body2_Link                 ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+
+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
+marker.flx.type (                   $M_Body3_BRF                  ) = 4                       ! Flexible type
+
+marker.type (                       $M_Body3_Top                  ) = 2                       ! Type
+marker.parent (                     $M_Body3_Top                  ) = $B_Body3                ! Body
+marker.pos (              1 ,       $M_Body3_Top                  ) = $G_DH3.$_a              ! Position
+marker.pos (              3 ,       $M_Body3_Top                  ) = $G_DH3.$_d              ! Position
+marker.ang (              1 ,       $M_Body3_Top                  ) = $G_DH3.$_alpha          ! Angles
+marker.ang (              3 ,       $M_Body3_Top                  ) = $G_DH3.$_theta          ! Angles
+
+joint.from (                        $J_Body3                      ) = $M_Body2_Top            ! From Marker
+joint.to (                          $J_Body3                      ) = $M_Body3_BRF            ! To Marker
+joint.type (                        $J_Body3                      ) = 27                      ! Type
+joint.st.pos (            1 ,       $J_Body3                      ) = $G_DH3.$_theta          ! Position
+joint.par (               1 ,       $J_Body3                      ) = 3.0000000000000000E+00  ! [-] Axis of Motion:
+joint.par (               2 ,       $J_Body3                      ) = 0.0000000000000000E+00  ! [rad] Angle at time = 0
+joint.par (               3 ,       $J_Body3                      ) = 0.0000000000000000E+00  ! [rad/s] Angular velocity
+
+prim.type (                         $P_Body3_Joint                ) = 2                       ! Type
+prim.ref (                          $P_Body3_Joint                ) = $M_Body3_BRF            ! Reference Marker
+prim.ang (                1 ,       $P_Body3_Joint                ) = { 90 deg }              ! Angles
+prim.color.r (            1 ,       $P_Body3_Joint                ) = 2.5500000000000000E+02  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body3_Joint                ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body3_Joint                ) = 2.5500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body3_Joint                ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body3_Joint                ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body3_Joint                ) = 4.0000000000000001E-02  ! [m] Height
+prim.par (                3 ,       $P_Body3_Joint                ) = 4.0000000000000001E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body3_Joint                ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body3_Joint                ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body3_Joint                ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body3_Joint                ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+prim.type (                         $P_Body3_Link                 ) = 2                       ! Type
+prim.ref (                          $P_Body3_Link                 ) = $M_Body3_BRF            ! Reference Marker
+prim.pos (                1 ,       $P_Body3_Link                 ) = { $G_DH3.$_a/2 }        ! Position
+prim.ang (                3 ,       $P_Body3_Link                 ) = $G_DH1.$_alpha          ! Angles
+prim.color.r (            1 ,       $P_Body3_Link                 ) = 2.5500000000000000E+02  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body3_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body3_Link                 ) = 2.5500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body3_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body3_Link                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body3_Link                 ) = $G_DH3.$_a              ! [m] Height
+prim.par (                3 ,       $P_Body3_Link                 ) = 1.0000000000000000E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body3_Link                 ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body3_Link                 ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body3_Link                 ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body3_Link                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+
+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
+marker.flx.type (                   $M_Body4_BRF                  ) = 4                       ! Flexible type
+
+marker.type (                       $M_Body4_Top                  ) = 2                       ! Type
+marker.parent (                     $M_Body4_Top                  ) = $B_Body4                ! Body
+marker.pos (              1 ,       $M_Body4_Top                  ) = $G_DH4.$_a              ! Position
+marker.pos (              3 ,       $M_Body4_Top                  ) = $G_DH4.$_d              ! Position
+marker.ang (              1 ,       $M_Body4_Top                  ) = $G_DH4.$_alpha          ! Angles
+marker.ang (              3 ,       $M_Body4_Top                  ) = $G_DH4.$_theta          ! Angles
+
+joint.from (                        $J_Body4                      ) = $M_Body3_Top            ! From Marker
+joint.to (                          $J_Body4                      ) = $M_Body4_BRF            ! To Marker
+joint.type (                        $J_Body4                      ) = 27                      ! Type
+joint.st.pos (            1 ,       $J_Body4                      ) = $G_DH4.$_theta          ! Position
+joint.par (               1 ,       $J_Body4                      ) = 3.0000000000000000E+00  ! [-] Axis of Motion:
+joint.par (               2 ,       $J_Body4                      ) = 0.0000000000000000E+00  ! [rad] Angle at time = 0
+joint.par (               3 ,       $J_Body4                      ) = 0.0000000000000000E+00  ! [rad/s] Angular velocity
+
+prim.type (                         $P_Body4_Joint                ) = 2                       ! Type
+prim.ref (                          $P_Body4_Joint                ) = $M_Body4_BRF            ! Reference Marker
+prim.ang (                1 ,       $P_Body4_Joint                ) = { 90 deg }              ! Angles
+prim.color.r (            1 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body4_Joint                ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body4_Joint                ) = 2.5500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body4_Joint                ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body4_Joint                ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body4_Joint                ) = 4.0000000000000001E-02  ! [m] Height
+prim.par (                3 ,       $P_Body4_Joint                ) = 4.0000000000000001E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body4_Joint                ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body4_Joint                ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body4_Joint                ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body4_Joint                ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+prim.type (                         $P_Body4_Link                 ) = 2                       ! Type
+prim.ref (                          $P_Body4_Link                 ) = $M_Body4_BRF            ! Reference Marker
+prim.pos (                1 ,       $P_Body4_Link                 ) = { $G_DH4.$_a/2 }        ! Position
+prim.pos (                3 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! Position
+prim.ang (                1 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! Angles
+prim.ang (                3 ,       $P_Body4_Link                 ) = $G_DH1.$_alpha          ! Angles
+prim.color.r (            1 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body4_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body4_Link                 ) = 2.5500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body4_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body4_Link                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body4_Link                 ) = $G_DH4.$_a              ! [m] Height
+prim.par (                3 ,       $P_Body4_Link                 ) = 1.0000000000000000E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body4_Link                 ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body4_Link                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+
+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
+marker.flx.type (                   $M_Body5_BRF                  ) = 4                       ! Flexible type
+
+marker.type (                       $M_Body5_Top                  ) = 2                       ! Type
+marker.parent (                     $M_Body5_Top                  ) = $B_Body5                ! Body
+marker.pos (              1 ,       $M_Body5_Top                  ) = $G_DH5.$_a              ! Position
+marker.pos (              3 ,       $M_Body5_Top                  ) = $G_DH5.$_d              ! Position
+marker.ang (              1 ,       $M_Body5_Top                  ) = $G_DH5.$_alpha          ! Angles
+marker.ang (              3 ,       $M_Body5_Top                  ) = $G_DH5.$_theta          ! Angles
+
+marker.type (                       $M_Body5_Mid                  ) = 2                       ! Type
+marker.parent (                     $M_Body5_Mid                  ) = $B_Body5                ! Body
+
+joint.from (                        $J_Body5                      ) = $M_Body4_Top            ! From Marker
+joint.to (                          $J_Body5                      ) = $M_Body5_BRF            ! To Marker
+joint.type (                        $J_Body5                      ) = 27                      ! Type
+joint.st.pos (            1 ,       $J_Body5                      ) = $G_DH5.$_theta          ! Position
+joint.par (               1 ,       $J_Body5                      ) = 3.0000000000000000E+00  ! [-] Axis of Motion:
+joint.par (               2 ,       $J_Body5                      ) = 0.0000000000000000E+00  ! [rad] Angle at time = 0
+joint.par (               3 ,       $J_Body5                      ) = 0.0000000000000000E+00  ! [rad/s] Angular velocity
+
+prim.type (                         $P_Body5_Joint                ) = 2                       ! Type
+prim.ref (                          $P_Body5_Joint                ) = $M_Body5_BRF            ! Reference Marker
+prim.ang (                1 ,       $P_Body5_Joint                ) = { 90 deg }              ! Angles
+prim.color.r (            1 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body5_Joint                ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body5_Joint                ) = 2.5500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body5_Joint                ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body5_Joint                ) = 2.5500000000000000E+02  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body5_Joint                ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body5_Joint                ) = 4.0000000000000001E-02  ! [m] Height
+prim.par (                3 ,       $P_Body5_Joint                ) = 4.0000000000000001E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body5_Joint                ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body5_Joint                ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body5_Joint                ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body5_Joint                ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+prim.type (                         $P_Body5_Link                 ) = 2                       ! Type
+prim.ref (                          $P_Body5_Link                 ) = $M_Body5_BRF            ! Reference Marker
+prim.pos (                1 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! Position
+prim.pos (                3 ,       $P_Body5_Link                 ) = { $G_DH5.$_d/2 }        ! Position
+prim.ang (                1 ,       $P_Body5_Link                 ) = $G_DH4.$_alpha          ! Angles
+prim.color.r (            1 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body5_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body5_Link                 ) = 2.5500000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body5_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body5_Link                 ) = 2.5500000000000000E+02  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body5_Link                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body5_Link                 ) = $G_DH5.$_d              ! [m] Height
+prim.par (                3 ,       $P_Body5_Link                 ) = 1.0000000000000000E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body5_Link                 ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                9 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body5_Link                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+
+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
+body.I.kind (                       $B_Body6                      ) = -1                      ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker
+body.flx.cosim.job.type (           $B_Body6                      ) = 0                       ! 0=new run; 1=import co-sim with database results; 2=restart co-sim
+body.flx.cosim.job.previous (       $B_Body6                      ) = ''                      ! previous abaqus job run
+body.flx.cosim.job.cmdoptions (     $B_Body6                      ) = ''                      ! additional command line options for the abaqus run
+body.flx.cosim.job.solver (         $B_Body6                      ) = 0                       ! 0=Abaqus/Explicit; 1=Abaqus/Standard
+
+marker.type (                       $M_Body6_BRF                  ) = 1                       ! Type
+marker.parent (                     $M_Body6_BRF                  ) = $B_Body6                ! Body
+marker.flx.type (                   $M_Body6_BRF                  ) = 4                       ! Flexible type
+
+marker.type (                       $M_Body6_Top                  ) = 2                       ! Type
+marker.ref (                        $M_Body6_Top                  ) = $M_Body6_BRF            ! Reference Marker
+marker.parent (                     $M_Body6_Top                  ) = $B_Body6                ! Body
+marker.pos (              3 ,       $M_Body6_Top                  ) = $G_DH6.$_d              ! Position
+marker.ang (              1 ,       $M_Body6_Top                  ) = $G_DH5.$_alpha          ! Angles
+
+joint.from (                        $J_Body6                      ) = $M_Body5_Top            ! From Marker
+joint.to (                          $J_Body6                      ) = $M_Body6_BRF            ! To Marker
+joint.type (                        $J_Body6                      ) = 27                      ! Type
+joint.st.pos (            1 ,       $J_Body6                      ) = $G_DH6.$_theta          ! Position
+joint.par (               1 ,       $J_Body6                      ) = 3.0000000000000000E+00  ! [-] Axis of Motion:
+joint.par (               2 ,       $J_Body6                      ) = 0.0000000000000000E+00  ! [rad] Angle at time = 0
+joint.par (               3 ,       $J_Body6                      ) = 0.0000000000000000E+00  ! [rad/s] Angular velocity
+
+prim.type (                         $P_Body_Joint                 ) = 2                       ! Type
+prim.ref (                          $P_Body_Joint                 ) = $M_Body6_BRF            ! Reference Marker
+prim.ang (                1 ,       $P_Body_Joint                 ) = { 90 deg }              ! Angles
+prim.color.r (            1 ,       $P_Body_Joint                 ) = 9.9000000000000000E+01  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body_Joint                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body_Joint                 ) = 1.8400000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body_Joint                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body_Joint                 ) = 2.5500000000000000E+02  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body_Joint                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body_Joint                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body_Joint                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body_Joint                 ) = 4.0000000000000001E-02  ! [m] Height
+prim.par (                3 ,       $P_Body_Joint                 ) = 4.0000000000000001E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body_Joint                 ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body_Joint                 ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body_Joint                 ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body_Joint                 ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body_Joint                 ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body_Joint                 ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body_Joint                 ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body_Joint                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+prim.type (                         $P_Body6_Link                 ) = 2                       ! Type
+prim.ref (                          $P_Body6_Link                 ) = $M_Body6_BRF            ! Reference Marker
+prim.pos (                3 ,       $P_Body6_Link                 ) = { $G_DH6.$_d/2 }        ! Position
+prim.ang (                1 ,       $P_Body6_Link                 ) = $G_DH5.$_alpha          ! Angles
+prim.ang (                3 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! Angles
+prim.color.r (            1 ,       $P_Body6_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body6_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body6_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body6_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body6_Link                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.b (            2 ,       $P_Body6_Link                 ) = 1.2800000000000000E+02  ! Colors (blue component)
+prim.color.t (            1 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.color.t (            2 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! Colors (transparency component)
+prim.par (                2 ,       $P_Body6_Link                 ) = $G_DH6.$_d              ! [m] Height
+prim.par (                3 ,       $P_Body6_Link                 ) = 1.0000000000000000E-02  ! [m] Outer diameter
+prim.par (                4 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! [m] Inner diameter
+prim.par (                5 ,       $P_Body6_Link                 ) = 1.2000000000000000E+01  ! [-] Number of planes
+prim.par (                6 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! [-] Number of highlighted planes
+prim.par (                7 ,       $P_Body6_Link                 ) = 1.0000000000000000E+00  ! [-] Show bottom cap
+prim.par (                8 ,       $P_Body6_Link                 ) = 1.0000000000000000E+00  ! [-] Show top cap
+prim.par (                9 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! [rad] Start angle
+prim.par (               10 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! [rad] Delta angle
+prim.par (               11 ,       $P_Body6_Link                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
+
+
+!**********************************************************************
+! Expressions
+!**********************************************************************
+express.str (                       $X_sin                        ) = '0'                     ! Definition
+
+!**********************************************************************
+! Excitations
+!**********************************************************************
+excit.type (                        $E_sin                        ) = 1                       ! Type
+excit.par (               1 ,       $E_sin                        ) = 0.0000000000000000E+00  ! [-] Offset f0
+excit.par (               2 ,       $E_sin                        ) = 1.0000000000000000E+00  ! [-] Amplitude A
+excit.par (               3 ,       $E_sin                        ) = { 2*pi }                ! [rad/s] Angular frequency omega
+excit.par (               4 ,       $E_sin                        ) = 0.0000000000000000E+00  ! [rad] Phase phi
+excit.par (               5 ,       $E_sin                        ) = 0.0000000000000000E+00  ! [-] Exponent n
+excit.plot.par (          1 ,       $E_sin                        ) = 1.0000000000000000E+00  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   1 , $E_sin                        ) = 1.0240000000000000E+03  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   2 , $E_sin                        ) = 0.0000000000000000E+00  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   3 , $E_sin                        ) = 0.0000000000000000E+00  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   4 , $E_sin                        ) = 0.0000000000000000E+00  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   5 , $E_sin                        ) = 1.0000000000000000E+01  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   6 ,   1 , $E_sin                  ) = 1.0000000000000000E+00  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   7 ,   1 , $E_sin                  ) = 1.0000000000000000E+00  ! [-] Unknown plot parameter
+excit.plot.par (          1 ,   8 ,   1 , $E_sin                  ) = 1.0000000000000000E+00  ! [-] Unknown plot parameter
+
+!**********************************************************************
+! u-Vector
+!**********************************************************************
+uele.type (                         $UE_sin_Value                 ) = 1                       ! Type
+uele.excit (                        $UE_sin_Value                 ) = $E_sin                  ! Referenced Excitation
+uele.index (                        $UE_sin_Value                 ) = 0                       ! Index
+
+uele.type (                         $UE_sin_1st_deriv             ) = 1                       ! Type
+uele.excit (                        $UE_sin_1st_deriv             ) = $E_sin                  ! Referenced Excitation
+uele.index (                        $UE_sin_1st_deriv             ) = 1                       ! Index
+
+uele.type (                         $UE_sin_2nd_deriv             ) = 1                       ! Type
+uele.excit (                        $UE_sin_2nd_deriv             ) = $E_sin                  ! Referenced Excitation
+uele.index (                        $UE_sin_2nd_deriv             ) = 2                       ! Index
+
+!**********************************************************************
+! Sensors
+!**********************************************************************
+sensor.from (                       $S_end                        ) = $M_Isys                 ! From Marker
+sensor.to (                         $S_end                        ) = $M_Body6_Top            ! To Marker
+
+