runmode schematic
# worldmode complex

angle a

joint frame  0.0 3.0 0.0 0.0 none
joint out    2.0 0.0 1.57 0 none
joint top    2.0 0.0 0.0 a force

visual shape frame 8 0.3
visual shape out 8 0.3
visual shape top 8 0.2

visual ambient top 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      1.0 0 0 0 0 0 -1 0 0 0.8

graph activate

numsteps 1000
timestep 0.002
boundtime 0.0 0.04

include demo1.from
include demo1.to

include demo1.scm
include demo1.graph

graph trace acc top thetadd blue
graph trace for top ftheta red
graph trace theta top theta magenta
