# Includes the codyn physics templates for systems,
# bodies and joint models
include "physics/physics.cdn"

integrator {
  method = "runge-kutta"
}

defines {
  n = 5
}

# All models start by defining a node derived from the
# physics.system template
node "system" : physics.system {
  # Inside the system, joints are defined by inheriting
  # from any of the physics.joints.* templates. codyn
  # provides a large number of general purpose joints.
  node "p{1:@n}" : physics.joints.revoluteY {
    # The center of mass
    com = "[0; 0; -0.5]"

    # The translation from the parent frame to the frame
    # of this joint
    tr = "[0; 0; -1]"

    # The inertia tensor of the physical body on this
    # joint
    I = "Inertia.Box(m, 0.05, 0.05, 1)"

    # Add some damping in the system on the generalized
    # force
    τ = "-20 * dq"
  }

  # Override certain variables on the root joint.
  node "p1" {
    tr = "[0; 0; 0]"
     q = "0.2 * pi"
  }

  # Create edges between successive nodes inheriting
  # from the physics.joint template. This chains
  # joints together to form the articulated rigid
  # body.
  edge from "p{1:@n}" to "p$(@1 + 1)" : physics.joint {}

  # The physics/model.cdn file should be included at the
  # end of the model definition and constructs a "model"
  # node containing global system quantities such as the
  # center of mass and total mass. It is also responsible
  # for constructing the required Jacobians if requested.
  include "physics/model.cdn"

  # The physics/dynamics.cdn file should be included last
  # and constructs the equations necessary for forward
  # simulation of the dynamics. It uses RNEA to construct
  # C and CRBA to construct H in a new node called
  # "dynamics". It then derives generalized accelerations
  # in dynamics.ddq which project back to the individual
  # joints.
  include "physics/dynamics.cdn"
}