From ca58c92dbfc8745135e6fcae175c19808573d33a Mon Sep 17 00:00:00 2001
From: cosmic_power <cosmic_power@163.com>
Date: Sat, 4 Nov 2023 20:39:33 +0800
Subject: [PATCH] 1/2 GC for Planar

---
 UR5/UR5.output/UR5.sbr                | Bin 105783 -> 105666 bytes
 UR5/UR5.output/UR5.sir                | Bin 72189 -> 72189 bytes
 planar/planar2.output/planar2.intinfo |  12 +--
 planar/planar2.output/planar2.sbr     | Bin 29481 -> 45486 bytes
 planar/planar2.output/planar2.sir     | Bin 72189 -> 72189 bytes
 planar/planar2.spck                   | 120 ++++++++++++++++++++++++--
 6 files changed, 117 insertions(+), 15 deletions(-)

diff --git a/UR5/UR5.output/UR5.sbr b/UR5/UR5.output/UR5.sbr
index 76bb3186ab3912f3c62f5410f30ebf3b8e00900b..ea539720be5948c39b9edd486951d5205bd878a1 100644
GIT binary patch
delta 1061
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diff --git a/UR5/UR5.output/UR5.sir b/UR5/UR5.output/UR5.sir
index 766c4c851fd83a92fbc81cd67cac648d162a45ed..be4dd2b2def4524a1391b15389fb51ad7418ae4e 100644
GIT binary patch
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diff --git a/planar/planar2.output/planar2.intinfo b/planar/planar2.output/planar2.intinfo
index 72bab47..88ba055 100644
--- a/planar/planar2.output/planar2.intinfo
+++ b/planar/planar2.output/planar2.intinfo
@@ -5,7 +5,7 @@
            0  # nlages
            0  # n_add_eq
            0  # n_roots
-   2.000000      # tend
+   4.610000      # 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
+         480  #   nrhs_total
+         479  #   nrhs_nojac
            1  #   n jacobi
            0  #   n mass
-          19  #   n steps
+         479  #   n steps
            0  #   n roots
            0  #   n error test failors
            0  #   n convergence test failors
            0  #   n steps_rejected
-  0.6892850      #   last step size
+  9.9999998E-03  #   last step size
            1  #   last order
            0  #   rhs_error_flag
            0  #   integrator_error_flag
-   2.000000      #   tout required
+   4.610000      #   tout required
diff --git a/planar/planar2.output/planar2.sbr b/planar/planar2.output/planar2.sbr
index 3ce0d389681b6da18b6dfac296a1929fdb8de474..fc8a0cc651e39c24f4b61b5ccf5b32356b219fe9 100644
GIT binary patch
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diff --git a/planar/planar2.spck b/planar/planar2.spck
index a054a29..b9e7573 100644
--- a/planar/planar2.spck
+++ b/planar/planar2.spck
@@ -57,9 +57,9 @@ 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.pos (                1 ,       $V_WorkingView                ) = 1.1450420618057251E+00  ! Position
+view.pos (                2 ,       $V_WorkingView                ) = -1.7473140954971313E+00 ! Position
+view.pos (                3 ,       $V_WorkingView                ) = 6.3002502918243408E-01  ! 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
@@ -68,7 +68,7 @@ view.angle (                        $V_WorkingView                ) = 7.85398185
 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                ) = 3.7554283142089844E+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
@@ -253,13 +253,13 @@ 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.kind (                      $B_Body1                      ) = 1                       ! Kind of CG specification: 0=wrt CG; 1=wrt Marker
+body.cg.pos (             1 ,       $B_Body1                      ) = { 1/2 }                 ! Center of gravity
+body.cg.kind (                      $B_Body1                      ) = 0                       ! 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.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
@@ -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
@@ -351,10 +355,108 @@ 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                      ) = 0                       ! Kind of CG specification: 0=wrt CG; 1=wrt Marker
+body.cg.ref (                       $B_Body2                      ) = $M_Body2_Top            ! 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_Top            ! 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                  ) = $G_DH1.$_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                   ) = { $G_DH1.$_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                ) = 0.0000000000000000E+00  ! 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.kind (                       $S_1                          ) = 1                       ! Coordinate Ref. Marker
+sensor.ref (                        $S_1                          ) = $M_Isys                 ! Reference Marker
+
+sensor.from (                       $S_2                          ) = $M_Isys                 ! From Marker
+sensor.to (                         $S_2                          ) = $M_Body2_GC             ! To Marker