runmode user
worldmode complex

angle a
angle b
angle c

bound b 0.0 4.0
bound c 0.0 3.0

joint frame  0.0 2.0 1.57 c none
joint out    2.0 0.0 0 a position
joint arm    2.0 0.0 0 b position

visual shape frame 8 0.2
visual shape out 8 0.15
visual shape arm 8 0.10

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 arm      1.4 0 0 0 0 0 -1 0 0 1

graph activate

numsteps 500
timestep 0.1
boundtime 0.0 0.5

include demo4.from
include demo4.to

include demo4.scm
include demo4.graph

graph trace one frame theta red
graph trace one frame thetad blue

graph trace two out theta red
graph trace two out thetad blue

graph trace thr out theta red
graph trace thr out thetad blue

box create box1 0.0 2.0 1.0 1.0 1.0 1.0
box create box2 0.0 3.0 3.0 1.0 1.0 3.0
plan size 40 40 20
plan arm 100.0 0.0 0.0 0.0
plan expand 1

box diffuse box1 0.0 0.3 0.4
box diffuse box2 0.0 0.3 0.4

include demo4.path

