# comment

angle a
angle b
distance aa
distance bb

angle 1a
angle 1b
distance 1aa
distance 1bb

angle 2a
angle 2b
distance 2aa
distance 2bb

angle 3a
angle 3b
distance 3aa
distance 3bb

bound bb 0.0 10.0
bound 1bb 0.0 10.0
bound 2bb 0.0 10.0
bound 3bb 0.0 10.0

joint shoulder aa bb a b position
joint knee 1aa 1bb 1a 1b position
joint elbow 2aa 2bb 2a 2b position
joint knuckle 3aa 3bb 3a 3b position

tensor shoulder 1.4 0 0 0 0 0 -1 0 0 1
tensor knee 1.4 0 0 0 0 0 -1 0 0 1
tensor elbow 1.4 0 0 0 0 0 -1 0 0 1
tensor knuckle 1.4 0 0 0 0 0 -1 0 0 1

graph activate
graph create doodad 10 10 500 300
graph mode doodad auto auto
graph labels doodad 6 5
graph trace doodad shoulder a red
graph trace doodad shoulder d blue
graph trace doodad elbow alpha cyan

graph create humbug 520 10 200 120
graph mode humbug auto auto
graph labels humbug 3 3
graph trace humbug knee alpha white

numsteps 25
timestep 0.1

include robot.from
include robot.to
include schematic
