runmode schematic
worldmode simple

angle a
angle b
angle c
angle d

joint frame  0.0 3.0 0.0 0.0 none
joint out    2.0 0.0 1.57 0 none
joint top    1.0 0.0 0.0 a force
joint middle 1.0 0.0 0.0 b force
joint bottom 1.0 0.0 0.0 c force
joint down   1.0 0.0 0.0 d force

# friction top theta 0.01 0.01 0.0
# friction middle theta 0.01 0.01 0.0
# friction bottom theta 0.01 0.01 0.0
# friction down theta 0.01 0.01 0.0

visual shape frame 8 0.3
visual shape out 8 0.3
visual shape top 8 0.2
visual shape middle 8 0.2
visual shape bottom 8 0.2
visual shape down 8 0.2

visual ambient top 0.0 0.0 1.0
visual ambient middle 0.0 0.0 1.0
visual ambient bottom 0.0 0.0 1.0
visual ambient down 0.0 0.0 1.0

tensor frame    1.4 0 0 0 0 0 -1 0 0 1
tensor out      1.4 0 0 0 0 0 -1 0 0 1
tensor top      0.33 0 0 0 0 0 -0.5 0 0 1
tensor middle   0.33 0 0 0 0 0 -0.5 0 0 1
tensor bottom   0.33 0 0 0 0 0 -0.5 0 0 1
tensor down     0.33 0 0 0 0 0 -0.5 0 0 1

numsteps 1000
timestep 0.01
boundtime 0.0 0.1

include chain.from
include chain.to
include chain.scm
include chain.graph

