From c48080b9aed87acd74ff02686baff14c75cad909 Mon Sep 17 00:00:00 2001
From: Rui <cosmic_power@163.com>
Date: Sun, 5 Nov 2023 05:50:54 +0000
Subject: [PATCH] Feature/plabar dynamics matlab

---
 planar/planar1.output/planar1.sbr         | Bin 29362 -> 29275 bytes
 planar/planar1.output/planar1.sir         | Bin 72189 -> 72189 bytes
 planar/planar1.spck                       |   4 +-
 planar/planar1_F.output/planar1_F.intinfo |  16 +--
 planar/planar1_F.output/planar1_F.sbr     | Bin 32073 -> 17486 bytes
 planar/planar1_F.output/planar1_F.sir     | Bin 72306 -> 9274 bytes
 planar/planar1_F.output/planar1_F.spckst  |   4 +-
 planar/planar1_F.spck                     |  17 ++-
 planar/planar2.output/planar2.sbr         | Bin 29481 -> 45641 bytes
 planar/planar2.output/planar2.sir         | Bin 72189 -> 72189 bytes
 planar/planar2.spck                       | 130 +++++++++++++++++++---
 11 files changed, 135 insertions(+), 36 deletions(-)

diff --git a/planar/planar1.output/planar1.sbr b/planar/planar1.output/planar1.sbr
index eb7376c9f8986b68533919c8a31132e42045e0a8..548a4d1b24f9b2ee83934b327f146ceed8f08930 100644
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diff --git a/planar/planar1.spck b/planar/planar1.spck
index 25630a4..cf7de2a 100644
--- a/planar/planar1.spck
+++ b/planar/planar1.spck
@@ -253,9 +253,9 @@ prim.par (                3 ,       $P_Isys                       ) = 1.00000000
 !**********************************************************************
 body.m (                            $B_Body1                      ) = 1.0000000000000000E+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 (             1 ,       $B_Body1                      ) = 0.0000000000000000E+00  ! Center of gravity
+body.cg.pos (             1 ,       $B_Body1                      ) = { 1/2 }                 ! Center of gravity
 body.cg.kind (                      $B_Body1                      ) = 1                       ! Kind of CG specification: 0=wrt CG; 1=wrt Marker
-body.cg.ref (                       $B_Body1                      ) = $M_Body1_Top            ! Reference Marker for center of gravity
+body.cg.ref (                       $B_Body1                      ) = $M_Body1_BRF            ! Reference Marker for 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
diff --git a/planar/planar1_F.output/planar1_F.intinfo b/planar/planar1_F.output/planar1_F.intinfo
index 72bab47..40ecfd2 100644
--- a/planar/planar1_F.output/planar1_F.intinfo
+++ b/planar/planar1_F.output/planar1_F.intinfo
@@ -1,11 +1,11 @@
  # Time Integration Statistics used by Simpack ModelExpert
            1  # ModelExpertVersion
            8  # N-Values for IntegratorSettings
-           0  # nx
+           2  # nx
            0  # nlages
            0  # n_add_eq
            0  # n_roots
-   2.000000      # tend
+   2.270000      # tend
            1  # integration method
   9.9999997E-06  #   atolg(1)
   1.0000000E-07  #   rtolg(1)
@@ -112,17 +112,17 @@
   0.0000000E+00  #   vipar
   
           14  # N-Values for IntegrationOutputInfos
-          20  #   nrhs_total
-          19  #   nrhs_nojac
+         250  #   nrhs_total
+         248  #   nrhs_nojac
            1  #   n jacobi
            0  #   n mass
-          19  #   n steps
+         248  #   n steps
            0  #   n roots
            0  #   n error test failors
            0  #   n convergence test failors
            0  #   n steps_rejected
-  0.6892850      #   last step size
-           1  #   last order
+  9.9999998E-03  #   last step size
+           2  #   last order
            0  #   rhs_error_flag
            0  #   integrator_error_flag
-   2.000000      #   tout required
+   2.270000      #   tout required
diff --git a/planar/planar1_F.output/planar1_F.sbr b/planar/planar1_F.output/planar1_F.sbr
index b582a9c7deac2053b1f8d7b61a15a1a6114bf445..9f62222d4d4cae50e1cf2c948483b0dab83abf85 100644
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diff --git a/planar/planar1_F.output/planar1_F.spckst b/planar/planar1_F.output/planar1_F.spckst
index d814ab5..9bfe6aa 100644
--- a/planar/planar1_F.output/planar1_F.spckst
+++ b/planar/planar1_F.output/planar1_F.spckst
@@ -5,7 +5,9 @@
 !**********************************************************************
 stateset.begin (                    $ST___Dummy__ )
    stset.force.st.intern (          $F_1                          ) = ''                      ! Force internal state
+   stset.joint.st.pos (   1 ,       $J_Body1                      ) = 0.0000000000000000E+00  ! Joint position states
+   stset.joint.st.vel (   1 ,       $J_Body1                      ) = 0.0000000000000000E+00  ! Joint velocity states
 stateset.end (                      $ST___Dummy__ )
-stset.time (                        $ST___Dummy__                 ) = 2.0000000000000000E+00  ! Time
+stset.time (                        $ST___Dummy__                 ) = 1.0000000000000000E+00  ! Time
 
                                                                                                                                                                             
diff --git a/planar/planar1_F.spck b/planar/planar1_F.spck
index f824b2a..70b0045 100644
--- a/planar/planar1_F.spck
+++ b/planar/planar1_F.spck
@@ -264,7 +264,7 @@ body.cg.ref (                       $B_Body1                      ) = $M_Body1_T
 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.I.kind (                       $B_Body1                      ) = 1                       ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker
+body.I.kind (                       $B_Body1                      ) = -1                      ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker
 body.I.ref (                        $B_Body1                      ) = $M_Body1_Top            ! Inertia Reference Marker
 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
@@ -287,13 +287,10 @@ marker.ang (              1 ,       $M_Body1_Top                  ) = 0.00000000
 
 joint.from (                        $J_Body1                      ) = $M_Isys                 ! From Marker
 joint.to (                          $J_Body1                      ) = $M_Body1_BRF            ! To Marker
-joint.type (                        $J_Body1                      ) = 29                      ! Type
+joint.type (                        $J_Body1                      ) = 3                       ! Type
+joint.st.pos (            1 ,       $J_Body1                      ) = 0.0000000000000000E+00  ! Position
 joint.st.vel (            1 ,       $J_Body1                      ) = 0.0000000000000000E+00  ! Velocity
-joint.par (               1 ,       $J_Body1                      ) = 3.0000000000000000E+00  ! [-] Axis of motion
-joint.par (               2 ,       $J_Body1                      ) = 0.0000000000000000E+00  ! [rad] Angle at t = 0
-joint.par (               3 ,       $J_Body1                      ) = 1.0000000000000000E+00  ! [rad] Amplitude
-joint.par (               4 ,       $J_Body1                      ) = { 2*pi }                ! [rad/s] Frequency
-joint.par (               5 ,       $J_Body1                      ) = 0.0000000000000000E+00  ! [rad] Phase
+joint.st.dep (            1 ,       $J_Body1                      ) = 1                       ! Dependency state
 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
@@ -360,8 +357,8 @@ prim.par (               11 ,       $P_Body1_Link                 ) = 0.00000000
 ! Force Elements
 !**********************************************************************
 force.type (                        $F_1                          ) = 50                      ! Type
-force.from (                        $F_1                          ) = $M_Body1_Top            ! From Marker
-force.to (                          $F_1                          ) = $M_Isys                 ! To Marker
+force.from (                        $F_1                          ) = $M_Isys                 ! From Marker
+force.to (                          $F_1                          ) = $M_Body1_Top            ! To Marker
 force.par (               1 ,       $F_1                          ) = $M_Body1_Top            ! [-] Reference Marker for calc.
 force.par (               3 ,       $F_1                          ) = null                    ! [-] Expression for Fx
 force.par (               4 ,       $F_1                          ) = $X_1                    ! [-] Expression for Fy
@@ -373,7 +370,7 @@ force.par (               8 ,       $F_1                          ) = null
 !**********************************************************************
 ! Expressions
 !**********************************************************************
-express.str (                       $X_1                          ) = '10'                    ! Definition
+express.str (                       $X_1                          ) = '100'                   ! Definition
 
 !**********************************************************************
 ! Excitations
diff --git a/planar/planar2.output/planar2.sbr b/planar/planar2.output/planar2.sbr
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diff --git a/planar/planar2.output/planar2.sir b/planar/planar2.output/planar2.sir
index fa933aa597392cb30f865ba95e4e5f3246db3214..67d5cef92139998e13d7b6ef14aa3c6167143f20 100644
GIT binary patch
delta 3605
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diff --git a/planar/planar2.spck b/planar/planar2.spck
index a054a29..907b154 100644
--- a/planar/planar2.spck
+++ b/planar/planar2.spck
@@ -57,18 +57,18 @@ prop2d.proj.dir                                                     = 2
 ! Views
 !**********************************************************************
 view.type (                         $V_WorkingView                ) = 0                       ! Projection type
-view.pos (                1 ,       $V_WorkingView                ) = 1.2533285617828369E+00  ! Position
-view.pos (                2 ,       $V_WorkingView                ) = -2.9677152633666992E+00 ! Position
-view.pos (                3 ,       $V_WorkingView                ) = 1.0700625181198120E+00  ! Position
-view.orient (             1 ,       $V_WorkingView                ) = 5.7451611757278442E-01  ! Orientation
-view.orient (             2 ,       $V_WorkingView                ) = 3.0375838279724121E-02  ! Orientation
-view.orient (             3 ,       $V_WorkingView                ) = 2.9174527153372765E-02  ! Orientation
-view.orient (             4 ,       $V_WorkingView                ) = 8.1740903854370117E-01  ! Orientation
+view.pos (                1 ,       $V_WorkingView                ) = -7.4012970924377441E-01 ! Position
+view.pos (                2 ,       $V_WorkingView                ) = -6.2400698661804199E-01 ! Position
+view.pos (                3 ,       $V_WorkingView                ) = 6.7095392942428589E-01  ! Position
+view.orient (             1 ,       $V_WorkingView                ) = 4.5991823077201843E-01  ! Orientation
+view.orient (             2 ,       $V_WorkingView                ) = -3.4318101406097412E-01 ! Orientation
+view.orient (             3 ,       $V_WorkingView                ) = -4.4884416460990906E-01 ! Orientation
+view.orient (             4 ,       $V_WorkingView                ) = 6.8501162528991699E-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                ) = 4.1498994827270508E+00  ! Back clipping plane value
+view.bclip.value (                  $V_WorkingView                ) = 3.0534176826477051E+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
@@ -253,14 +253,14 @@ prim.par (                3 ,       $P_Isys                       ) = 1.00000000
 !**********************************************************************
 body.m (                            $B_Body1                      ) = 1.0000000000000000E+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 (             1 ,       $B_Body1                      ) = 0.0000000000000000E+00  ! Center of gravity
+body.cg.pos (             1 ,       $B_Body1                      ) = { 1/2 }                 ! Center of gravity
 body.cg.kind (                      $B_Body1                      ) = 1                       ! Kind of CG specification: 0=wrt CG; 1=wrt Marker
-body.cg.ref (                       $B_Body1                      ) = $M_Body1_Top            ! Reference Marker for center of gravity
+body.cg.ref (                       $B_Body1                      ) = $M_Body1_BRF            ! Reference Marker for 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.I.kind (                       $B_Body1                      ) = 1                       ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker
-body.I.ref (                        $B_Body1                      ) = $M_Body1_Top            ! Inertia Reference Marker
+body.I.kind (                       $B_Body1                      ) = -1                      ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker
+body.I.ref (                        $B_Body1                      ) = $M_Body1_BRF            ! Inertia Reference Marker
 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
@@ -280,6 +280,10 @@ marker.pos (              1 ,       $M_Body1_Top                  ) = $G_DH1.$_a
 marker.pos (              2 ,       $M_Body1_Top                  ) = 0.0000000000000000E+00  ! Position
 marker.ang (              1 ,       $M_Body1_Top                  ) = 0.0000000000000000E+00  ! Angles
 
+marker.type (                       $M_Body1_GC                   ) = 2                       ! Type
+marker.parent (                     $M_Body1_GC                   ) = $B_Body1                ! Body
+marker.pos (              1 ,       $M_Body1_GC                   ) = { $G_DH1.$_a/2 }        ! Position
+
 joint.from (                        $J_Body1                      ) = $M_Isys                 ! From Marker
 joint.to (                          $J_Body1                      ) = $M_Body1_BRF            ! To Marker
 joint.type (                        $J_Body1                      ) = 29                      ! Type
@@ -299,7 +303,7 @@ 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                ) = 0.0000000000000000E+00  ! Angles
+prim.ang (                1 ,       $P_Body1_Joint                ) = { 90 deg }              ! Angles
 prim.ang (                2 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! Angles
 prim.ang (                3 ,       $P_Body1_Joint                ) = 0.0000000000000000E+00  ! Angles
 prim.color.r (            1 ,       $P_Body1_Joint                ) = 3.0000000000000000E+01  ! Colors (red component)
@@ -351,10 +355,106 @@ prim.par (               10 ,       $P_Body1_Link                 ) = 0.00000000
 prim.par (               11 ,       $P_Body1_Link                 ) = 0.0000000000000000E+00  ! [-] Close geometry with
 
 
+body.m (                            $B_Body2                      ) = 1.0000000000000000E+00  ! Mass of the Body
+body.mp (                           $B_Body2                      ) = 0                       ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto
+body.cg.pos (             1 ,       $B_Body2                      ) = { 1/2 }                 ! Center of gravity
+body.cg.kind (                      $B_Body2                      ) = 1                       ! Kind of CG specification: 0=wrt CG; 1=wrt Marker
+body.cg.ref (                       $B_Body2                      ) = $M_Body2_BRF            ! Reference Marker for 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.I.ref (                        $B_Body2                      ) = $M_Body2_BRF            ! Inertia Reference 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 (              2 ,       $M_Body2_Top                  ) = 0.0000000000000000E+00  ! Position
+marker.ang (              1 ,       $M_Body2_Top                  ) = 0.0000000000000000E+00  ! Angles
+
+marker.type (                       $M_Body2_GC                   ) = 2                       ! Type
+marker.parent (                     $M_Body2_GC                   ) = $B_Body2                ! Body
+marker.pos (              1 ,       $M_Body2_GC                   ) = { $G_DH2.$_a/2 }        ! Position
+
+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.vel (            1 ,       $J_Body2                      ) = 0.0000000000000000E+00  ! Velocity
+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                      ) = -1.0000000000000000E+00 ! [rad] Amplitude
+joint.par (               4 ,       $J_Body2                      ) = { 2*pi }                ! [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.ang (                2 ,       $P_Body2_Joint                ) = 0.0000000000000000E+00  ! Angles
+prim.ang (                3 ,       $P_Body2_Joint                ) = 0.0000000000000000E+00  ! Angles
+prim.color.r (            1 ,       $P_Body2_Joint                ) = 3.0000000000000000E+01  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body2_Joint                ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body2_Joint                ) = 1.4400000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body2_Joint                ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body2_Joint                ) = 2.5500000000000000E+02  ! 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.transparency (                 $P_Body2_Joint                ) = 2.5000000000000000E-01  ! Transparency
+prim.mp.dens.solid (                $P_Body2_Joint                ) = 7.8500000000000000E+03  ! Density
+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 (                2 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Position
+prim.pos (                3 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Position
+prim.ang (                1 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Angles
+prim.ang (                2 ,       $P_Body2_Link                 ) = 0.0000000000000000E+00  ! Angles
+prim.ang (                3 ,       $P_Body2_Link                 ) = { 90 deg }              ! Angles
+prim.color.r (            1 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.r (            2 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! Colors (red component)
+prim.color.g (            1 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.g (            2 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! Colors (green component)
+prim.color.b (            1 ,       $P_Body2_Link                 ) = 1.2800000000000000E+02  ! 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                 ) = 1.0000000000000000E+00  ! [m] Height
+prim.par (                3 ,       $P_Body2_Link                 ) = 2.9999999999999999E-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
+
+
 !**********************************************************************
 ! Sensors
 !**********************************************************************
-sensor.from (                       $S_end                        ) = $M_Isys                 ! From Marker
-sensor.to (                         $S_end                        ) = $M_Body1_Top            ! To Marker
+sensor.from (                       $S_1                          ) = $M_Isys                 ! From Marker
+sensor.to (                         $S_1                          ) = $M_Body1_GC             ! To Marker
+
+sensor.from (                       $S_2                          ) = $M_Isys                 ! From Marker
+sensor.to (                         $S_2                          ) = $M_Body2_GC             ! To Marker