pyomeca/pyorerun

version 4

segment ground
endsegment

segment Seg1
    rotations    x
    ranges
        -10*pi 10*pi
    mass 1
    inertia
        0.0391  0.0000    0.0000
        0.0000    0.0335    -0.0032
        0.0000    -0.0032    0.0090
    com  -0.0005 0.0688 -0.9542
    meshfile mesh/pendulum.STL
endsegment

    // Marker 1
    marker marker_1
        parent Seg1
        position 0 0 0
    endmarker

    // Marker 2
    marker marker_2
        parent Seg1
        position 0 0 -1
    endmarker

segment Seg2
    parent Seg1
    rotations    x
    rtinmatrix 0
    rt -0.1 0 0 xyz 0 0 -1
    ranges
        -pi/2 pi/2
    mass 1
    inertia
        0.0391  0.0000    0.0000
        0.0000    0.0335    -0.0032
        0.0000    -0.0032    0.0090
    com  -0.0005 0.0688 -0.9542
    meshfile mesh/pendulum.STL
    meshrt 0.1 0 0 xyz 0 0 0
endsegment

    // Marker 3
    marker marker_3
        parent Seg2
        position 0 0 0
    endmarker

    // Marker 4
    marker marker_4
        parent Seg2
        position 0 0 -1
    endmarker


ligament    linear_spring
    Type    linearspring
    stiffness    6380
    origin    Seg1
    insertion    Seg2
    OriginPosition    0 0.3 -1
    InsertionPosition    0 0 -0.5
    ligamentslacklength    0.125
endligament