CenterOfMassMapping
Set the point to the center of mass of the DOFs it is attached to
Rigid2d,Vec2d
Templates:
- Rigid2d,Vec2d
Target: Sofa.Component.Mapping.Linear
namespace: sofa::component::mapping::linear
parents:
- CRTPLinearMapping
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| mapForces | Are forces mapped ? | 1 |
| mapConstraints | Are constraints mapped ? | 1 |
| mapMasses | Are masses mapped ? | 1 |
| mapMatrices | Are matrix explicit mapped? | 0 |
| applyRestPosition | set to true to apply this mapping to restPosition at init | 0 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
| input | Input object to map | State<Rigid2d> |
| output | Output object to map | State<Vec2d> |
Rigid3d,Vec3d
Templates:
- Rigid3d,Vec3d
Target: Sofa.Component.Mapping.Linear
namespace: sofa::component::mapping::linear
parents:
- CRTPLinearMapping
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| mapForces | Are forces mapped ? | 1 |
| mapConstraints | Are constraints mapped ? | 1 |
| mapMasses | Are masses mapped ? | 1 |
| mapMatrices | Are matrix explicit mapped? | 0 |
| applyRestPosition | set to true to apply this mapping to restPosition at init | 0 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
| input | Input object to map | State<Rigid3d> |
| output | Output object to map | State<Vec3d> |
Examples
CenterOfMassMapping.scn
<Node name="root" gravity="0 -9.81 0" dt="0.01" time="0" animate="0">
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [CenterOfMassMapping SkinningMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [JointSpringForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showVisual showForceFields showCollisionModels showMechanicalMappings showWireframe" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default1" />
<CollisionPipeline name="default2" />
<MinProximityIntersection name="default3" alarmDistance="1" contactDistance="0.5"/>
<DefaultAnimationLoop/>
<Node name="pendulum" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" name="DOFs" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1"
velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
force="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
dx="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
free_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1"
free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
rest_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1" />
<UniformMass template="Rigid3" name="mass" vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
<FixedProjectiveConstraint template="Rigid3" name="fixOrigin" indices="0" />
<Node name="segmentsNode" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
<MechanicalObject template="Rigid3" name="attaches" position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914"
velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
force="-0.204691 0.493087 -1.55393 -15.7823 -4.91695 -0.011207 0.204691 -0.493087 1.55393 15.7823 4.91695 0.011207 -0.817747 -0.565234 -0.504438 15.6267 -1.41904 0.0182122 0.817747 0.565234 0.504438 -15.6267 1.41904 -0.0182122 -0.490036 0.948643 0.849816 10.3784 20.6947 0.014016 0.490036 -0.948643 -0.849816 -10.3784 -20.6947 -0.014016 -1.16244 -0.595626 0.268606 3.22919 22.0184 -0.0357184 1.16244 0.595626 -0.268606 -3.22919 -22.0184 0.0357184 0 0 0 0 0 0"
dx="0 0 0 0 0 0 -2.04691e-005 4.93087e-005 -0.000155393 -7.89115e-005 -2.45853e-005 2.00717e-007 -2.01601e-005 4.95435e-005 -5.1433e-006 -7.89115e-005 -2.45853e-005 2.00717e-007 -0.000101935 -6.97992e-006 -5.55871e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -3.64901e-006 -8.78868e-005 -1.67401e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -5.26526e-005 6.9775e-006 6.82415e-005 5.10966e-005 7.20224e-005 -0.000102151 6.00157e-005 0.000177406 0.000244762 5.10966e-005 7.20224e-005 -0.000102151 -5.62283e-005 0.000117843 0.000271622 6.71189e-005 0.000181679 6.29123e-005 7.75285e-006 1.00596e-005 0.000514622 6.71189e-005 0.000181679 6.29123e-005"
free_position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914"
free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
rest_position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914" />
<RigidMapping template="Rigid3,Rigid3" name="default55" initialPoints="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914" rigidIndexPerPoint="1 2 2 2 2" />
<JointSpringForceField template="Rigid3" name="joint springs" spring="BEGIN_SPRING 0 1 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 2 3 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 4 5 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 6 7 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
" />
</Node>
<Node name="default65" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
<OglModel name="Visual" position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5"
normals="-0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248"
triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24" />
<SkinningMapping template="Rigid3,Vec3" name="map" input="@.." output="@Visual" />
</Node>
<Node name="CenterOfMass" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
<MechanicalObject template="Vec3" name="default88" listening="0" printLog="0" restScale="1" position="3.2 0 0" velocity="0 0 0" force="0 0 0" dx="-1.87325e-005 3.16272e-005 8.66385e-005" free_position="3.2 0 0" free_velocity="0 0 0" rest_position="0 0 0"/>
<SphereCollisionModel name="default88Sphere" active="1" moving="1" simulated="1" selfCollision="0" proximity="0" contactStiffness="10" contactFriction="0.01" color="1 0.5 0 1" radius="0.2"/>
<CenterOfMassMapping template="Rigid3,Vec3" name="default105" />
</Node>
</Node>
</Node>
```python def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.01", time="0", animate="0")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm") root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection") root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry") root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact") root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective") root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative") root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear") root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear") root.addObject('RequiredPlugin', name="Sofa.Component.Mass") root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward") root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring") root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer") root.addObject('RequiredPlugin', name="Sofa.Component.Visual") root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D") root.addObject('VisualStyle', displayFlags="showVisual showForceFields showCollisionModels showMechanicalMappings showWireframe") root.addObject('BruteForceBroadPhase', ) root.addObject('BVHNarrowPhase', ) root.addObject('CollisionResponse', name="default1") root.addObject('CollisionPipeline', name="default2") root.addObject('MinProximityIntersection', name="default3", alarmDistance="1", contactDistance="0.5") root.addObject('DefaultAnimationLoop', )
pendulum = root.addChild('pendulum', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
pendulum.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1") pendulum.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9") pendulum.addObject('MechanicalObject', template="Rigid3", name="DOFs", position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1", velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", force="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", dx="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", free_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1", free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", rest_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1") pendulum.addObject('UniformMass', template="Rigid3", name="mass", vertexMass="1 1 [1 0 0,0 1 0,0 0 1]") pendulum.addObject('FixedProjectiveConstraint', template="Rigid3", name="fixOrigin", indices="0")
segments_node = pendulum.addChild('segmentsNode', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
segments_node.addObject('MechanicalObject', template="Rigid3", name="attaches", position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914", velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", force="-0.204691 0.493087 -1.55393 -15.7823 -4.91695 -0.011207 0.204691 -0.493087 1.55393 15.7823 4.91695 0.011207 -0.817747 -0.565234 -0.504438 15.6267 -1.41904 0.0182122 0.817747 0.565234 0.504438 -15.6267 1.41904 -0.0182122 -0.490036 0.948643 0.849816 10.3784 20.6947 0.014016 0.490036 -0.948643 -0.849816 -10.3784 -20.6947 -0.014016 -1.16244 -0.595626 0.268606 3.22919 22.0184 -0.0357184 1.16244 0.595626 -0.268606 -3.22919 -22.0184 0.0357184 0 0 0 0 0 0", dx="0 0 0 0 0 0 -2.04691e-005 4.93087e-005 -0.000155393 -7.89115e-005 -2.45853e-005 2.00717e-007 -2.01601e-005 4.95435e-005 -5.1433e-006 -7.89115e-005 -2.45853e-005 2.00717e-007 -0.000101935 -6.97992e-006 -5.55871e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -3.64901e-006 -8.78868e-005 -1.67401e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -5.26526e-005 6.9775e-006 6.82415e-005 5.10966e-005 7.20224e-005 -0.000102151 6.00157e-005 0.000177406 0.000244762 5.10966e-005 7.20224e-005 -0.000102151 -5.62283e-005 0.000117843 0.000271622 6.71189e-005 0.000181679 6.29123e-005 7.75285e-006 1.00596e-005 0.000514622 6.71189e-005 0.000181679 6.29123e-005", free_position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914", free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", rest_position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914") segments_node.addObject('RigidMapping', template="Rigid3,Rigid3", name="default55", initialPoints="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914", rigidIndexPerPoint="1 2 2 2 2") segments_node.addObject('JointSpringForceField', template="Rigid3", name="joint springs", spring="BEGIN_SPRING 0 1 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
BEGIN_SPRING 2 3 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 4 5 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 6 7 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING ")
default65 = pendulum.addChild('default65', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
default65.addObject('OglModel', name="Visual", position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5", normals="-0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248", triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24")
default65.addObject('SkinningMapping', template="Rigid3,Vec3", name="map", input="@..", output="@Visual")
center_of_mass = pendulum.addChild('CenterOfMass', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
center_of_mass.addObject('MechanicalObject', template="Vec3", name="default88", listening="0", printLog="0", restScale="1", position="3.2 0 0", velocity="0 0 0", force="0 0 0", dx="-1.87325e-005 3.16272e-005 8.66385e-005", free_position="3.2 0 0", free_velocity="0 0 0", rest_position="0 0 0")
center_of_mass.addObject('SphereCollisionModel', name="default88Sphere", active="1", moving="1", simulated="1", selfCollision="0", proximity="0", contactStiffness="10", contactFriction="0.01", color="1 0.5 0 1", radius="0.2")
center_of_mass.addObject('CenterOfMassMapping', template="Rigid3,Vec3", name="default105")
```