runmode schematic

angle a

joint shoulder 2.0 0.0 0.0 a velocity
tensor shoulder 1.4 0 0 0 0 0 -1 0 0 1

graph activate

numsteps 100
timestep 0.1

include robot.from
include robot.to

schematic create in inputnode 30 400
schematic create tin inputnode 30 300
schematic create diff difference 100 400
schematic create tran transformation 200 383
schematic create out outputnode 300 400

schematic connect in output diff inputa
schematic connect tin output diff inputb
schematic connect diff output tran input
schematic connect tran output out input

schematic position in output right
schematic position tin output right
schematic position tran input left
schematic position tran output right
schematic position out input left
schematic position diff inputa left
schematic position diff inputb down
schematic position diff output right

schematic program tran 0.1/1

schematic bind current in shoulder theta
schematic bind to tin shoulder theta
schematic bind current out shoulder theta
