###################begin declarations##########
set: integer Tube=0; #node
set: integer Cylinder=2; #node
set: integer Cube=4; #node
set: integer Suzanne=5; #node
set: integer grndclmp=1; #joint
set: integer monkeyrev=2; #joint
set: integer monkeycube=3; #joint
set: integer cylcube=4; #joint
set: integer grndcyl=5; #joint
set: integer jnt6=6; #joint
set: integer Empty001=1; #empty
set: integer Empty=2; #empty
set: integer monkeytop=3; #empty
set: integer monkeycenter=4; #empty
###################end declarations############
begin: data;
    integrator: multistep;
end: data;

begin: multistep;
    initial time: 0.0;
    final time: 1.0;
    time step: 1.e-3;
    max iterations: 10;
    tolerance: 1.e-6;
    derivatives tolerance : 2.0;
    derivatives coefficient: 0.1;
    min time step: 1e-7;
end: multistep;
##################begin reference frames##########
reference: Empty001,
   reference, global, 5.0, 0.0, 2.4091491468425374e-08,  #location
    reference, global, matr, -0.000000, 1.000000, -0.000000, 0.000000, -0.000000, -1.000000, -1.000000, -0.000000, -0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: Empty,
   reference, global, 4.0, 8.9469671138431295e-07, 1.4450529306486715e-06,  #location
    reference, global, matr, 0.000000, 0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: monkeytop,
   reference, global, 2.1773798835056368e-06, 1.0, 2.4928399398049805e-06,  #location
    reference, global, matr, 1.000000, -0.000004, 0.000000, 0.000004, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: monkeycenter,
   reference, global, 6.1988839661353268e-06, 0.0, 2.4928399398049805e-06,  #location
    reference, global, matr, 1.000000, -0.000004, 0.000000, 0.000004, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
##################end reference frames#########
begin: control data;
    structural nodes: 
        +1#for node:Tube
        +1#for node:Cylinder
        +1#for node:Cube
        +1#for node:Suzanne
    ;
    rigid bodies:
        +1#for body:Tube
        +1#for body:Cylinder
        +1#for body:Cube
        +1#for body:Suzanne
    ;
    joints:
        +1 #for joint:grndclmp
        +1 #for joint:monkeyrev
        +1 #for joint:monkeycube
        +1 #for joint:cylcube
        +1 #for joint:grndcyl
        +1 #for joint:jnt6
    ;
    beams:
    ;
    forces:
    ;
    gravity;
end: control data;

begin: nodes;
    structural: Tube, dynamic,
     #position
     reference, global, 5.2020940780639648, 0.0, 0.0,
     #orientation matrix
     reference, global, matr, 0.000000, -0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: Cylinder, dynamic,
     #position
     reference, global, 4.0, 8.9469671138431295e-07, 1.4450530443355092e-06,
     #orientation matrix
     reference, global, matr, 0.000000, -0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: Cube, dynamic,
     #position
     reference, global, 2.177381020374014e-06, 1.0, 2.4928399398049805e-06,
     #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: Suzanne, dynamic,
     #position
     reference, global, 6.1988839661353268e-06, 0.0, 2.4928399398049805e-06,
     #orientation matrix
     reference, global, matr, 1.000000, -0.000004, 0.000000, 0.000004, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,30;
end: nodes;
begin: elements;
    body: 1000+Tube,Tube,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+Cylinder,Cylinder,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+Cube,Cube,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+Suzanne,Suzanne,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    joint: grndclmp, clamp, #joint type
     Tube,  #node 1
     node, node;
    joint: monkeyrev, revolute hinge, #joint type
     Suzanne,  #node 1
      0.0,0.0,0.0, #relative Offset
      hinge, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,  #local orientation
     Tube,  #node 2
      -2.67089967565e-06,0.0,-5.20208740234, #relative Offset
      hinge, matr, 0.000000, -0.000000, -1.000000, 0.000004, 1.000000, 0.000000, 1.000000, -0.000004, 0.000000;  #local orientation
    joint: monkeycube, revolute hinge, #joint type
     Suzanne,  #node 1
      0.0,1.0,0.0, #relative Offset
      hinge, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,  #local orientation
     Cube,  #node 2
      -1.13686837722e-12,-1.67623401308e-20,-7.52316815005e-36, #relative Offset
      hinge, matr, 1.000000, -0.000004, -0.000000, 0.000004, 1.000000, -0.000000, 0.000000, 0.000000, 1.000000;  #local orientation
    joint: cylcube, spherical hinge, #joint type
     Cylinder,  #node 1
      1.13686830945e-13,0.0,-3.89133467464e-21, #relative Offset
      hinge, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,  #local orientation
     Cube,  #node 2
      3.99999785423,-0.999999046326,-1.04778700916e-06, #relative Offset
      hinge, matr, 0.000000, -0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000;  #local orientation
    joint: grndcyl, prismatic, #joint type
     Tube,  #node 1
      hinge, matr, 1.000000, 0.000000, -0.000000, 0.000000, -0.000000, -1.000000, -0.000000, 1.000000, -0.000000,  #local orientation
     Cylinder,  #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: jnt6, In plane, #joint type
     Tube,  #node 1
      -3.10088772437e-08,0.0,-0.202094063163,  #relative Offset
      #relative normal direction below
      -0.000000, -1.000000, -0.000000,  #z axis
     Cylinder,  #node 2
      offset,      1.45519004491e-06,-8.94696711384e-07,0.999999940395;  #relative Offset
gravity: 0., 0., -1., const, 9.81;
end: elements;