runmode schematic

angle a
angle b

joint body 0.0 2.0 0.0 0.0 none
joint shoulder 2.0 1.0 0.0 a force
joint elbow 0.5 -0.3 0.0 b force

tensor body     1.4 0 0 0 0 0 -1 0 0 1
tensor shoulder 1.4 0 0 0 0 0 -1 0 0 1
tensor elbow    0.1 0 0 0 0 0 -0.25 0 0 0.3

graph activate

numsteps 1000
timestep 0.02

include robot.from
include robot.to

schematic create sh_bias bias 30 400
schematic create sh_out outputnode 300 400
schematic create el_bias bias 30 200
schematic create el_out outputnode 300 200

schematic connect sh_bias output sh_out input
schematic connect el_bias output el_out input

schematic position sh_bias output right
schematic position el_bias output right
schematic position sh_out input left
schematic position el_out input left

schematic bind current sh_out shoulder ftheta
schematic bind current el_out elbow ftheta

schematic bias sh_bias 1.0
schematic bias el_bias 0.0

graph create acc 10 10 500 300
graph mode acc auto auto
graph labels acc 3 5
graph trace acc shoulder thetadd red
graph trace acc elbow thetadd blue

graph create for 520 10 500 300
graph mode for auto auto
graph labels for 3 5
graph trace for shoulder ftheta red
graph trace for elbow ftheta blue

