runmode schematic
# worldmode complex

angle a
angle b

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 bottom 1.0 0.0 0.0 b force

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

visual ambient top 0.0 0.0 1.0
visual ambient bottom 0.0 1.0 0.0

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 1.0
tensor bottom   0.33 0 0 0 0 0 -0.5 0 0 1.0

graph activate

numsteps 1000
timestep 0.002
boundtime 0.0 0.04

include demo2.from
include demo2.to

include demo2.scm
include demo2.graph

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