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 0 force

visual shape frame 4 0.3
visual shape out 10 0.2

friction top theta    1.0 1.0 0.0
friction bottom theta 0.0 0.0 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      0.4 0 0 0 0 0 -0.5 0 0 1
tensor bottom   0.4 0 0 0 0 0 -0.5 0 0 1

graph activate

numsteps 1000
timestep 0.02
boundtime 0.0 1.0

include robot.from
include robot.to

include simple4.scm
include simple4.graph

graph trace acc top thetadd red
graph trace acc bottom thetadd blue

# graph trace for top ftheta red
# graph trace for bottom ftheta blue
graph probe for sh_pos cyan

visual ambient frame 0.0 0.0 1.0
visual diffuse frame 0.0 0.0 1.0
visual specular frame 0.0 0.0 1.0

# visual picture pictures/horse.pic
# visual picture pictures/andrew.pic
# visual picture pictures/craig.pic

box create box1 1.0 1.0 1.0 1.0 1.0 1.0
plan size 20 20 10
plan arm 10.0 0.0 0.0 0.0
