###################begin declarations##########
set: integer grnd=0; #node
set: integer uphng=2; #node
set: integer lowhng=5; #node
set: integer upoleo=7; #node
set: integer lowoleo=9; #node
set: integer rw=11; #node
set: integer lw=14; #node
set: integer grndclamp=1; #joint
set: integer oleoprismat=2; #joint
set: integer lwhlhng=3; #joint
set: integer rwhlhng=4; #joint
set: integer lwhl2=5; #joint
set: integer rwhl2=6; #joint
set: integer uphngrh=7; #joint
set: integer lowhngrh=8; #joint
set: integer oleohngsph=9; #joint
set: integer upoleopris=10; #joint
set: integer oleoinplane=11; #joint
set: integer inplane=12; #joint
set: integer DefJnt1=13; #deformable joint
set: integer grndplnrempty=1; #empty
set: integer grndempty=2; #empty
set: integer Empty001=3; #empty
set: integer Empty=4; #empty
set: integer Empty002=5; #empty
set: integer upoleoempty=6; #empty
set: integer loleoempty=7; #empty
set: integer rwhlempty=8; #empty
set: integer lwhlempty=9; #empty
###################end declarations############
begin: data;
    integrator: multistep;
end: data;

begin: multistep;
    initial time: 0.0;
    final time: 0.5;
    time step: 1.e-4;
    max iterations: 10;
    tolerance: 1.e-6;
    derivatives tolerance : 2.0;
    derivatives coefficient: 0.01;
    min time step: 1e-7;
end: multistep;
##################begin reference frames##########
reference: grndplnrempty,
   reference, global, 1.0, 0.0, 0.0,  #location
    reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, -1.000000, 0.000000, 1.000000, 0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: grndempty,
   reference, global, 0.0, 0.0, 0.0,  #location
    reference, global, matr, 0.000000, -1.000000, -0.000000, 1.000000, 0.000000, -0.000000, 0.000000, -0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: Empty001,
   reference, global, -0.018308155238628387, 0.055112559348344803, 1.6980786323547363,  #location
    reference, global, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: Empty,
   reference, global, 0.0024440640117973089, 0.34244516491889954, 1.5447750091552734,  #location
    reference, global, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: Empty002,
   reference, global, -0.018308155238628387, 0.055112548172473907, 1.3645061254501343,  #location
    reference, global, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: upoleoempty,
   reference, global, 0.0, 0.0, 2.1500000953674316,  #location
    reference, global, matr, 1.000000, -0.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000, -1.000000, -0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: loleoempty,
   reference, global, 0.0, 0.0, 1.3999998569488525,  #location
    reference, global, matr, 1.000000, -0.000000, 0.000000, 0.000000, 1.000000, 0.000000, -0.000000, -0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: rwhlempty,
   reference, global, -0.24999998509883881, -5.7604982795552567e-15, 0.99999994039535522,  #location
    reference, global, matr, 0.000000, 0.000000, -1.000000, -1.000000, 0.000000, -0.000000, 0.000000, 1.000000, 0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: lwhlempty,
   reference, global, 0.24999995529651642, -8.510943114177071e-16, 1.0,  #location
    reference, global, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
##################end reference frames#########
begin: control data;
    skip initial joint assembly;
    structural nodes: 
        +1#for node:grnd
        +1#for node:uphng
        +1#for node:lowhng
        +1#for node:upoleo
        +1#for node:lowoleo
        +1#for node:rw
        +1#for node:lw
    ;
    rigid bodies:
        +1#for body:grnd
        +1#for body:uphng
        +1#for body:lowhng
        +1#for body:upoleo
        +1#for body:lowoleo
        +1#for body:rw
        +1#for body:lw
    ;
    joints:
        +1 #for joint:grndclamp
        +1 #for joint:oleoprismat
        +1 #for joint:lwhlhng
        +1 #for joint:rwhlhng
        +1 #for joint:lwhl2
        +1 #for joint:rwhl2
        +1 #for joint:uphngrh
        +1 #for joint:lowhngrh
        +1 #for joint:oleohngsph
        +1 #for joint:upoleopris
        +1 #for joint:oleoinplane
        +1 #for joint:inplane
        +1 #for deformable joint:DefJnt1
    ;
    beams:
    ;
    forces:
    ;
    gravity;
end: control data;

begin: nodes;
    structural: grnd, dynamic,
     #position
     reference, global, 0.0, 0.0, 0.0,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, -1.000000, 0.000000, 0.000000, 0.000000, -1.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: uphng, dynamic,
     #position
     reference, global, 0.00051750428974628448, 0.17990259826183319, 1.575247049331665,
     #orientation matrix
     reference, global, matr, 1.000000, -0.000000, 0.000000, 0.000000, 0.925657, 0.378365, -0.000000, -0.378365, 0.925657,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: lowhng, dynamic,
     #position
     reference, global, -0.0040373541414737701, 0.20597730576992035, 1.3856639862060547,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 0.865104, -0.501593, 0.000000, 0.501593, 0.865104,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: upoleo, dynamic,
     #position
     reference, global, 0.0, 0.0, 2.1500000953674316,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: lowoleo, dynamic,
     #position
     reference, global, 0.0, 0.0, 1.3999999761581421,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: rw, dynamic,
     #position
     reference, global, -0.25, 0.0, 1.0,
     #orientation matrix
     reference, global, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, -50,0,0;
    structural: lw, dynamic,
     #position
     reference, global, 0.25, 0.0, 1.0,
     #orientation matrix
     reference, global, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, -50,0,0;
end: nodes;
begin: elements;
    body: 1000+grnd,grnd,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+uphng,uphng,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+lowhng,lowhng,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+upoleo,upoleo,
     200, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+lowoleo,lowoleo,
     20, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+rw,rw,
     20, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+lw,lw,
     20, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    joint: grndclamp, clamp, #joint type
     grnd,  #node 1
     node, node;
    joint: oleoprismat, prismatic, #joint type
     upoleo,  #node 1
      hinge, matr, 1.000000, 0.000000, 0.000000, 0.000000, -0.000000, 1.000000, 0.000000, -1.000000, -0.000000,  #local orientation
     lowoleo,  #node 2
      hinge, matr, 1.000000, 0.000000, 0.000000, 0.000000, -0.000000, 1.000000, 0.000000, -1.000000, -0.000000;  #local orientation
    joint: lwhlhng, revolute hinge, #joint type
     lw,  #node 1
      1.81344121238e-15,-2.6645352591e-15,-4.47034835815e-08, #relative Offset
      hinge, matr, 1.000000, -0.000000, -0.000000, -0.000000, 1.000000, -0.000000, -0.000000, -0.000000, 1.000000,  #local orientation
     lowoleo,  #node 2
      0.249999955297,-8.51094311418e-16,-0.399999976158, #relative Offset
      hinge, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000;  #local orientation
    joint: rwhlhng, revolute hinge, #joint type
     rw,  #node 1
      4.56750552467e-16,-5.96046447754e-08,1.49011647466e-08, #relative Offset
      hinge, matr, -1.000000, 0.000000, -0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, -1.000000,  #local orientation
     lowoleo,  #node 2
      -0.249999985099,-5.76049827956e-15,-0.400000035763, #relative Offset
      hinge, matr, 0.000000, 0.000000, -1.000000, -1.000000, 0.000000, -0.000000, 0.000000, 1.000000, 0.000000;  #local orientation
    joint: lwhl2, wheel2, #joint type
     lw,  #node 1
       #node 1 above defines the tire
      reference, lwhlempty, 0.,0,1.,
      grnd,#ground body
      reference, grndempty, null,
      reference, grndempty, 0.,0,1.,#up vector
      0.49, #tire radius
      2.97*in2m, #torus radius
      0.98, #volume coefficient
      115.*lb2kg/in2m^2*9.81, #tire pressure
      .9, #polytropic exponent
      30, #reference velocity
       slip,
       piecewise linear, 5,
        -1,-.25,
        -.2,-.8,
        0,0,
        .2,.8,
        1,.25,
        string,".2*tanh(Var/.26)",
        linear, 0., 0.2,
        threshold, 5.,5.;
    joint: rwhl2, wheel2, #joint type
     rw,  #node 1
       #node 1 above defines the tire
      reference, rwhlempty, 0.,0,1.,
      grnd,#ground body
      reference, grndempty, null,
      reference, grndempty, 0.,0,1.,#up vector
      0.49, #tire radius
      2.97*in2m, #torus radius
      0.98, #volume coefficient
      115.*lb2kg/in2m^2*9.81, #tire pressure
      .9, #polytropic exponent
      30, #reference velocity
       slip,
       piecewise linear, 5,
        -1,-.25,
        -.2,-.8,
        0,0,
        .2,.8,
        1,.25,
        string,".2*tanh(Var/.26)",
        linear, 0., 0.2,
        threshold, 5.,5.;
    joint: uphngrh, revolute hinge, #joint type
     uphng,  #node 1
      -0.0188256595284,-0.16198785603,0.0664837062359, #relative Offset
      hinge, matr, -0.000000, 0.000000, 1.000000, 0.925657, -0.378364, 0.000000, 0.378364, 0.925657, -0.000000,  #local orientation
     upoleo,  #node 2
      -0.0183081552386,0.0551125593483,-0.451921463013, #relative Offset
      hinge, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000;  #local orientation
    joint: lowhngrh, revolute hinge, #joint type
     lowhng,  #node 1
      -0.0142708010972,-0.141126304865,0.0573689378798, #relative Offset
      hinge, matr, -0.000000, 0.000000, 1.000000, 0.865104, 0.501593, 0.000000, -0.501593, 0.865104, -0.000000,  #local orientation
     lowoleo,  #node 2
      -0.0183081552386,0.0551125481725,-0.035493850708, #relative Offset
      hinge, matr, -0.000000, 0.000000, 1.000000, 1.000000, 0.000000, 0.000000, -0.000000, 1.000000, -0.000000;  #local orientation
    joint: oleohngsph, spherical hinge, #joint type
     uphng,  #node 1
      0.00192655972205,0.161988139153,0.0332937315106, #relative Offset
      hinge, matr, -0.000000, 0.000000, 1.000000, 0.925657, -0.378364, 0.000000, 0.378364, 0.925657, -0.000000,  #local orientation
     lowhng,  #node 2
      0.0064814183861,0.197867810726,0.0691962391138, #relative Offset
      hinge, matr, -0.000000, 0.000000, 1.000000, 0.865103, 0.501593, 0.000000, -0.501593, 0.865103, -0.000001;  #local orientation
    joint: upoleopris, prismatic, #joint type
     upoleo,  #node 1
      hinge, matr, 1.000000, 0.000000, 0.000000, 0.000000, -0.000000, 1.000000, 0.000000, -1.000000, -0.000000,  #local orientation
     grnd,  #node 2
      hinge, matr, 1.000000, 0.000000, 0.000000, 0.000000, 0.000000, -1.000000, 0.000000, 1.000000, 0.000000;  #local orientation
    joint: oleoinplane, In plane, #joint type
     upoleo,  #node 1
      0.0,0.0,0.0,  #relative Offset
      #relative normal direction below
      0.000000, 1.000000, -0.000000,  #z axis
     lowoleo,  #node 2
      offset,      0.0,0.0,0.750000119209;  #relative Offset
    joint: inplane, In plane, #joint type
     grnd,  #node 1
      1.0,0.0,0.0,  #relative Offset
      #relative normal direction below
      0.000000, 1.000000, -0.000000,  #z axis
     upoleo,  #node 2
      offset,      1.0,0.0,-2.15000009537;  #relative Offset
    joint: DefJnt1, rod, #joint type
     upoleo,  #node 1
     lowoleo,  #node 2
      0.75000,#rod length
      offset, 0.0,0.0,0.0,
               0.0,0.0,-1.19209289551e-07,  #relative Offset
      shock absorber,
          prestrain, 0.0,
          987285.,    #reference pressure
          15.27e-4,    #reference area for force computation
          .9069*(.718/.1669),    #interation coefficient
          1.37,    #polytropic exponent
          epsilon max,0,
          epsilon min,-.157/.718,
          penalty,1.e7, 0.e0,
          orifice,
              step, 0., 9.818e-6, 17.63e-6,
          1.01788e-3,    #fluid area
          843,    #fluid density
          .8/.718;    #drag coefficient/ reference length (scales ..
gravity: 0., 0., -1., const, 9.81;
end: elements;