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Feature/plabar dynamics matlab

This commit is contained in:
Rui 2023-11-05 05:50:54 +00:00
parent f6bf50b1df
commit c48080b9ae
11 changed files with 135 additions and 36 deletions
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planar/planar1.spck
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@ -253,9 +253,9 @@ prim.par ( 3 , $P_Isys ) = 1.00000000
!********************************************************************** !**********************************************************************
body.m ( $B_Body1 ) = 1.0000000000000000E+00 ! Mass of the Body 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.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.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 ( 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 ( 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.tens ( 3 , 3 , $B_Body1 ) = 1.0000000000000000E+00 ! Moments of inertia

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planar/planar1_F.output/planar1_F.intinfo
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@ -1,11 +1,11 @@
# Time Integration Statistics used by Simpack ModelExpert # Time Integration Statistics used by Simpack ModelExpert
1 # ModelExpertVersion 1 # ModelExpertVersion
8 # N-Values for IntegratorSettings 8 # N-Values for IntegratorSettings
0 # nx 2 # nx
0 # nlages 0 # nlages
0 # n_add_eq 0 # n_add_eq
0 # n_roots 0 # n_roots
2.000000 # tend 2.270000 # tend
1 # integration method 1 # integration method
9.9999997E-06 # atolg(1) 9.9999997E-06 # atolg(1)
1.0000000E-07 # rtolg(1) 1.0000000E-07 # rtolg(1)
@ -112,17 +112,17 @@
0.0000000E+00 # vipar 0.0000000E+00 # vipar
14 # N-Values for IntegrationOutputInfos 14 # N-Values for IntegrationOutputInfos
20 # nrhs_total 250 # nrhs_total
19 # nrhs_nojac 248 # nrhs_nojac
1 # n jacobi 1 # n jacobi
0 # n mass 0 # n mass
19 # n steps 248 # n steps
0 # n roots 0 # n roots
0 # n error test failors 0 # n error test failors
0 # n convergence test failors 0 # n convergence test failors
0 # n steps_rejected 0 # n steps_rejected
0.6892850 # last step size 9.9999998E-03 # last step size
1 # last order 2 # last order
0 # rhs_error_flag 0 # rhs_error_flag
0 # integrator_error_flag 0 # integrator_error_flag
2.000000 # tout required 2.270000 # tout required

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planar/planar1_F.output/planar1_F.spckst
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@ -5,7 +5,9 @@
!********************************************************************** !**********************************************************************
stateset.begin ( $ST___Dummy__ ) stateset.begin ( $ST___Dummy__ )
stset.force.st.intern ( $F_1 ) = '' ! Force internal state 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__ ) stateset.end ( $ST___Dummy__ )
stset.time ( $ST___Dummy__ ) = 2.0000000000000000E+00 ! Time stset.time ( $ST___Dummy__ ) = 1.0000000000000000E+00 ! Time

17
planar/planar1_F.spck
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@ -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 ( 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 ( 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.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.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.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.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.from ( $J_Body1 ) = $M_Isys ! From Marker
joint.to ( $J_Body1 ) = $M_Body1_BRF ! To 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.st.vel ( 1 , $J_Body1 ) = 0.0000000000000000E+00 ! Velocity
joint.par ( 1 , $J_Body1 ) = 3.0000000000000000E+00 ! [-] Axis of motion joint.st.dep ( 1 , $J_Body1 ) = 1 ! Dependency state
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.attr.2d.pos.x ( 1 , $J_Body1 ) = 20 joint.attr.2d.pos.x ( 1 , $J_Body1 ) = 20
joint.attr.2d.pos.y ( 1 , $J_Body1 ) = 170 joint.attr.2d.pos.y ( 1 , $J_Body1 ) = 170
joint.attr.2d.ori ( 1 , $J_Body1 ) = 270 joint.attr.2d.ori ( 1 , $J_Body1 ) = 270
@ -360,8 +357,8 @@ prim.par ( 11 , $P_Body1_Link ) = 0.00000000
! Force Elements ! Force Elements
!********************************************************************** !**********************************************************************
force.type ( $F_1 ) = 50 ! Type force.type ( $F_1 ) = 50 ! Type
force.from ( $F_1 ) = $M_Body1_Top ! From Marker force.from ( $F_1 ) = $M_Isys ! From Marker
force.to ( $F_1 ) = $M_Isys ! To Marker force.to ( $F_1 ) = $M_Body1_Top ! To Marker
force.par ( 1 , $F_1 ) = $M_Body1_Top ! [-] Reference Marker for calc. force.par ( 1 , $F_1 ) = $M_Body1_Top ! [-] Reference Marker for calc.
force.par ( 3 , $F_1 ) = null ! [-] Expression for Fx force.par ( 3 , $F_1 ) = null ! [-] Expression for Fx
force.par ( 4 , $F_1 ) = $X_1 ! [-] Expression for Fy force.par ( 4 , $F_1 ) = $X_1 ! [-] Expression for Fy
@ -373,7 +370,7 @@ force.par ( 8 , $F_1 ) = null
!********************************************************************** !**********************************************************************
! Expressions ! Expressions
!********************************************************************** !**********************************************************************
express.str ( $X_1 ) = '10' ! Definition express.str ( $X_1 ) = '100' ! Definition
!********************************************************************** !**********************************************************************
! Excitations ! Excitations

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@ -57,18 +57,18 @@ prop2d.proj.dir = 2
! Views ! Views
!********************************************************************** !**********************************************************************
view.type ( $V_WorkingView ) = 0 ! Projection type view.type ( $V_WorkingView ) = 0 ! Projection type
view.pos ( 1 , $V_WorkingView ) = 1.2533285617828369E+00 ! Position view.pos ( 1 , $V_WorkingView ) = -7.4012970924377441E-01 ! Position
view.pos ( 2 , $V_WorkingView ) = -2.9677152633666992E+00 ! Position view.pos ( 2 , $V_WorkingView ) = -6.2400698661804199E-01 ! Position
view.pos ( 3 , $V_WorkingView ) = 1.0700625181198120E+00 ! Position view.pos ( 3 , $V_WorkingView ) = 6.7095392942428589E-01 ! Position
view.orient ( 1 , $V_WorkingView ) = 5.7451611757278442E-01 ! Orientation view.orient ( 1 , $V_WorkingView ) = 4.5991823077201843E-01 ! Orientation
view.orient ( 2 , $V_WorkingView ) = 3.0375838279724121E-02 ! Orientation view.orient ( 2 , $V_WorkingView ) = -3.4318101406097412E-01 ! Orientation
view.orient ( 3 , $V_WorkingView ) = 2.9174527153372765E-02 ! Orientation view.orient ( 3 , $V_WorkingView ) = -4.4884416460990906E-01 ! Orientation
view.orient ( 4 , $V_WorkingView ) = 8.1740903854370117E-01 ! Orientation view.orient ( 4 , $V_WorkingView ) = 6.8501162528991699E-01 ! Orientation
view.angle ( $V_WorkingView ) = 7.8539818525314331E-01 ! Lens angle view.angle ( $V_WorkingView ) = 7.8539818525314331E-01 ! Lens angle
view.fclip.auto ( $V_WorkingView ) = 1 ! Front clipping plane auto view.fclip.auto ( $V_WorkingView ) = 1 ! Front clipping plane auto
view.bclip.auto ( $V_WorkingView ) = 1 ! Back 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.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.type ( $V_WorkingView ) = 0 ! Rotation center type
view.rotcenter.adjust ( $V_WorkingView ) = 1 ! Adjust rotation center view.rotcenter.adjust ( $V_WorkingView ) = 1 ! Adjust rotation center
view.motion.active ( $V_WorkingView ) = 0 ! Camera is moved 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.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.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.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 ( 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 ( 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.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.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.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.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.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.pos ( 2 , $M_Body1_Top ) = 0.0000000000000000E+00 ! Position
marker.ang ( 1 , $M_Body1_Top ) = 0.0000000000000000E+00 ! Angles 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.from ( $J_Body1 ) = $M_Isys ! From Marker
joint.to ( $J_Body1 ) = $M_Body1_BRF ! To Marker joint.to ( $J_Body1 ) = $M_Body1_BRF ! To Marker
joint.type ( $J_Body1 ) = 29 ! Type 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.type ( $P_Body1_Joint ) = 2 ! Type
prim.ref ( $P_Body1_Joint ) = $M_Body1_BRF ! Reference Marker 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 ( 2 , $P_Body1_Joint ) = 0.0000000000000000E+00 ! Angles
prim.ang ( 3 , $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) 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 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 ! Sensors
!********************************************************************** !**********************************************************************
sensor.from ( $S_end ) = $M_Isys ! From Marker sensor.from ( $S_1 ) = $M_Isys ! From Marker
sensor.to ( $S_end ) = $M_Body1_Top ! To 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