# DynaMechs V 3.0 ascii
# tree parameter file

Articulation {
    Name "wire"
    Graphics_Model	"../models/sm_cube_center.xan"

    Position	 	 20.0   0.0   2.0
    Orientation_Quat 	 0.0 0.0 0.0 1.0

    # Initial axial translation for control (the "push/pull" joint)
    PrismaticLink {
	Name				 "translation"
	Graphics_Model			 "../models/sm_cube_center.xan"

	Mass				 0.1
	Inertia				 0.1   0.0  0.0
					 0.0   0.1  0.0
					 0.0   0.0  0.1
	Center_of_Gravity		 0.0 0.0 0.0

	Number_of_Contact_Points	 0

	MDH_Parameters			 0.0 -1.5708 0.0 0.0
	Initial_Joint_Velocity		 0.0
	Joint_Limits			-20.0 20.0 
	Joint_Limit_Spring_Constant 	 50.0
	Joint_Limit_Damper_Constant 	 5.0

	Joint_Friction			 0.35
    }

    # Initial axial roll joint for control (the "twist" joint)
    RevoluteLink {
	Name				 "roll"
	Graphics_Model			 "../models/sm_cube_center.xan"

	Mass				 0.1
	Inertia				 0.1   0.0  0.0
					 0.0   0.1  0.0
					 0.0   0.0  0.1
	Center_of_Gravity		 0.0 0.0 0.0

	Number_of_Contact_Points	 0

	MDH_Parameters			 0.0 0.0 0.0 0.50
	Initial_Joint_Velocity		 0.0
	Joint_Limits			-10.172 10.172 
	Joint_Limit_Spring_Constant 	 50.0
	Joint_Limit_Damper_Constant 	 5.0

	Actuator_Type			 0
	Joint_Friction			 0.35
    }

	# This link pair is different from the rest that follow but
	# they still represent a universal joint

	# Element 1a - almost a massless, extent-less joint
	RevoluteLink {
	    Name "link1a"
	    Graphics_Model	"../models/sm_cube_center2.xan"

	    Mass			 0.01
	    Inertia			 0.01  0.0  0.0
					 0.0   0.01 0.0
					 0.0   0.0  0.01
	    Center_of_Gravity		 0.0 0.0 0.0

	    Number_of_Contact_Points	 0

	    MDH_Parameters		 0.0 1.5708 0.0 1.5708
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 1.5708 1.5708
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 1b - a wire element with mass and length (3.0)
	RevoluteLink {
	    Name "link1b"
	    Graphics_Model	"../models/obj_cylinder_x_slim.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# The following two are the repeating pairs corresponding to 2DOF
	# wire elements.

	# Element 2a - nearly massless, extent-less
	RevoluteLink {
	    Name			 "link2a"
	    Graphics_Model		 "../models/sm_cube_center2.xan"

	    Mass			 0.01
	    Inertia			 0.01  0.0  0.0
					 0.0   0.01 0.0
					 0.0   0.0  0.01
	    Center_of_Gravity		 0.0 0.0 0.0

	    Number_of_Contact_Points	 0

	    MDH_Parameters		 3.0 -1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2b - wire element
	RevoluteLink {
	    Name			 "link2b"
	    Graphics_Model		 "../models/obj_cylinder_x_slim.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2a - nearly massless, extent-less
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/sm_cube_center2.xan"

	    Mass			 0.01
	    Inertia			 0.01  0.0  0.0
					 0.0   0.01 0.0
					 0.0   0.0  0.01
	    Center_of_Gravity		 0.0 0.0 0.0

	    Number_of_Contact_Points	 0

	    MDH_Parameters		 3.0 -1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2b - wire element
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/obj_cylinder_x_slim.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2a - nearly massless, extent-less
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/sm_cube_center2.xan"

	    Mass			 0.01
	    Inertia			 0.01  0.0  0.0
					 0.0   0.01 0.0
					 0.0   0.0  0.01
	    Center_of_Gravity		 0.0 0.0 0.0

	    Number_of_Contact_Points	 0

	    MDH_Parameters		 3.0 -1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2b - wire element
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/obj_cylinder_x_slim.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2a - nearly massless, extent-less
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/sm_cube_center2.xan"

	    Mass			 0.01
	    Inertia			 0.01  0.0  0.0
					 0.0   0.01 0.0
					 0.0   0.0  0.01
	    Center_of_Gravity		 0.0 0.0 0.0

	    Number_of_Contact_Points	 0

	    MDH_Parameters		 3.0 -1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2b - wire element
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/obj_cylinder_x_slim.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2a - nearly massless, extent-less
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/sm_cube_center2.xan"

	    Mass			 0.01
	    Inertia			 0.01  0.0  0.0
					 0.0   0.01 0.0
					 0.0   0.0  0.01
	    Center_of_Gravity		 0.0 0.0 0.0

	    Number_of_Contact_Points	 0

	    MDH_Parameters		 3.0 -1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}

	# Element 2b - wire element
	RevoluteLink {
	    Name			 ""
	    Graphics_Model		 "../models/obj_cylinder_x_slim.xan"

	    Mass			 0.5
	    Inertia			 0.1   0.0  0.0
					 0.0   1.7  0.0
					 0.0   0.0  1.7
	    Center_of_Gravity		 1.5 0.0 0.0

	    Number_of_Contact_Points	 1
	    Contact_Locations		 3.0  0.0  0.0

	    MDH_Parameters		 0.0 1.5708 0.0 0.0
	    Initial_Joint_Velocity	 0.0
	    Joint_Limits		 0.0 0.0
	    Joint_Limit_Spring_Constant  50.0
	    Joint_Limit_Damper_Constant  5.0

	    Actuator_Type		 0
	    Joint_Friction		 0.35
	}
}