From e494c33f1fedd200701e824decbe39070a81a248 Mon Sep 17 00:00:00 2001 From: cosmic_power Date: Sun, 22 Oct 2023 22:47:21 +0800 Subject: [PATCH] Create planar1.spck --- planar/planar1.spck | 360 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 360 insertions(+) create mode 100644 planar/planar1.spck diff --git a/planar/planar1.spck b/planar/planar1.spck new file mode 100644 index 0000000..a054a29 --- /dev/null +++ b/planar/planar1.spck @@ -0,0 +1,360 @@ +!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 ) = 1.2533285617828369E+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.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.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 ) = '1' ! $G_DH1.$_a, Definition + + subvar.str ( $_d ) = '0' ! $G_DH1.$_d, Definition + subvar.desc ( 1 , $_d ) = 'DHtable::d1' ! Description + + subvar.str ( $_alpha ) = '0' ! $G_DH1.$_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 ) = '1' ! $G_DH2.$_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 + +!********************************************************************** +! 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 ) = 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.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.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 +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 ( 2 , $M_Body1_Top ) = 0.0000000000000000E+00 ! Position +marker.ang ( 1 , $M_Body1_Top ) = 0.0000000000000000E+00 ! Angles + +joint.from ( $J_Body1 ) = $M_Isys ! From Marker +joint.to ( $J_Body1 ) = $M_Body1_BRF ! To Marker +joint.type ( $J_Body1 ) = 29 ! Type +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.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 ) = 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.color.r ( 1 , $P_Body1_Joint ) = 3.0000000000000000E+01 ! Colors (red component) +prim.color.r ( 2 , $P_Body1_Joint ) = 1.2800000000000000E+02 ! Colors (red component) +prim.color.g ( 1 , $P_Body1_Joint ) = 1.4400000000000000E+02 ! Colors (green component) +prim.color.g ( 2 , $P_Body1_Joint ) = 1.2800000000000000E+02 ! Colors (green component) +prim.color.b ( 1 , $P_Body1_Joint ) = 2.5500000000000000E+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.transparency ( $P_Body1_Joint ) = 2.5000000000000000E-01 ! Transparency +prim.mp.dens.solid ( $P_Body1_Joint ) = 7.8500000000000000E+03 ! Density +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 ) = { $G_DH2.$_a/2 } ! Position +prim.pos ( 2 , $P_Body1_Link ) = 0.0000000000000000E+00 ! Position +prim.pos ( 3 , $P_Body1_Link ) = 0.0000000000000000E+00 ! Position +prim.ang ( 1 , $P_Body1_Link ) = 0.0000000000000000E+00 ! Angles +prim.ang ( 2 , $P_Body1_Link ) = 0.0000000000000000E+00 ! Angles +prim.ang ( 3 , $P_Body1_Link ) = { 90 deg } ! Angles +prim.color.r ( 1 , $P_Body1_Link ) = 1.2800000000000000E+02 ! Colors (red component) +prim.color.r ( 2 , $P_Body1_Link ) = 1.2800000000000000E+02 ! Colors (red component) +prim.color.g ( 1 , $P_Body1_Link ) = 1.2800000000000000E+02 ! Colors (green component) +prim.color.g ( 2 , $P_Body1_Link ) = 1.2800000000000000E+02 ! Colors (green component) +prim.color.b ( 1 , $P_Body1_Link ) = 1.2800000000000000E+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 ) = 1.0000000000000000E+00 ! [m] Height +prim.par ( 3 , $P_Body1_Link ) = 2.9999999999999999E-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 ) = 1.0000000000000000E+00 ! [-] Show bottom cap +prim.par ( 8 , $P_Body1_Link ) = 1.0000000000000000E+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 + + +!********************************************************************** +! Sensors +!********************************************************************** +sensor.from ( $S_end ) = $M_Isys ! From Marker +sensor.to ( $S_end ) = $M_Body1_Top ! To Marker + +