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## Closed loop dynamics on fixed base

Example of simple closed loop dynamics in codyn. The model on the left shows how to close a system on the fixed base (i.e. world inertial frame) by connecting the `p3` node to the closing joint. The resulting system has only one degree of freedom left.

 ```1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 ``` ```include "physics/physics.cdn" include "physics/cjoints.cdn" integrator { method = "runge-kutta" } defines { offset = "0.2 * pi" } node "system" : physics.system { node "p{1:3}" : physics.joints.revoluteY { tr = "[0; 0; -1]" com = "[0; 0; -0.5]" I = "Inertia.Box(m, 0.05, 0.05, 1)" } node "p1" { tr = "[0; 0; 0]" q = "-@offset" } node "p{2:3}" { q = ["0.5 * pi + @offset", "0.5 * pi - @offset"] } edge from "p{1:3}" to "p\$(@1 + 1)" : physics.joint {} # Create a closing joint node node "pcl" : physics.cjoints.revoluteY { tr = "[0; 0; -1]" } # Connect the last body (p3) to the closing # loop joint edge from "p3" to "pcl" : physics.cjoint {} include "physics/model.cdn" include "physics/dynamics.cdn" } ```

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