LIBRARY

`PlanarMechanics.CutTorqueTest`

Test for CutTorque sensor: a damped pendulum with a CutTorque sensor, a WorldForce applying sinusoidal forces and torque to the body.

Topology: Fixed → CutTorque → FixedTranslation1(r=[0.5,0]) → Revolute → FixedTranslation(r=[1,0]) → Body ← WorldForce A rotational damper stabilizes the revolute joint via its flange.

Translated from PlanarMechanicsTest.Sensors.CutTorques.

Usage

MultibodyComponents.PlanarMechanics.CutTorqueTest()

Behavior

[\begin{matrix} connect (f i x e d_{f r a m e_{+} f r a m e_b}, c u t_{t o r q u e_{+} f r a m e_a}) \\ connect (c u t_{t o r q u e_{+} f r a m e_b}, r o d 1_{+} f r a m e_{a}) \\ connect (r o d 1_{+} f r a m e_{b}, r e v o l u t e_{+} f r a m e_{a}) \\ connect (r e v o l u t e_{+} f r a m e_{b}, r o d_{+} f r a m e_{a}) \\ connect (r o d_{+} f r a m e_{b}, b o d y_{+} f r a m e_{a}) \\ connect (w o r l d_{f o r c e_{+} f r a m e_b}, b o d y_{+} f r a m e_{a}) \\ connect (s i n e_{f x_{+} y}, w o r l d_{f o r c e_{+} f o r c e_x}) \\ connect (s i n e_{f y_{+} y}, w o r l d_{f o r c e_{+} f o r c e_y}) \\ connect (s i n e_{t a u_{+} y}, w o r l d_{f o r c e_{+} t o r q u e}) \\ connect (d a m p e r_{+} s p l i n e_{b}, r e v o l u t e_{+} f l a n g e_{a}) \\ connect (r o t_{f i x e d_{+} s p l i n e}, d a m p e r_{+} s p l i n e_{a}) \\ {world . frame}_{b . x} (t) = 0 \\ {world . frame}_{b . y} (t) = 0 \\ {world . frame}_{b . phi} (t) = 0 \\ connect (f r a m e_{b}, f r a m e_{v i s_{+} f r a m e_a}) \\ {world . frame}_{vis . phi} (t) = {world . frame}_{vis . frame_a . phi} (t) \\ {world . frame}_{vis . x_shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world . frame}_{vis . frame_a . x} (t), {world . frame}_{vis . frame_a . y} (t), world . {frame}_{vis . z_position}) \\ {world . frame}_{vis . x_shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {world . frame}_{vis . phi} (t)), \sin (- {world . frame}_{vis . phi} (t)), 0, - \sin (- {world . frame}_{vis . phi} (t)), \cos (- {world . frame}_{vis . phi} (t)), 0, 0, 0, 1) \\ {world . frame}_{vis . x_shape . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . x_shape . length_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . x_shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {world . frame}_{vis . x_shape . length} (t) = world . {frame}_{vis . axis_length} \\ {world . frame}_{vis . x_shape . width} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . x_shape . height} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . y_shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world . frame}_{vis . frame_a . x} (t), {world . frame}_{vis . frame_a . y} (t), world . {frame}_{vis . z_position}) \\ {world . frame}_{vis . y_shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {world . frame}_{vis . phi} (t)), \sin (- {world . frame}_{vis . phi} (t)), 0, - \sin (- {world . frame}_{vis . phi} (t)), \cos (- {world . frame}_{vis . phi} (t)), 0, 0, 0, 1) \\ {world . frame}_{vis . y_shape . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . y_shape . length_direction} (t) = [\begin{matrix} 0 \\ 1 \\ 0 \end{matrix}] \\ {world . frame}_{vis . y_shape . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {world . frame}_{vis . y_shape . length} (t) = world . {frame}_{vis . axis_length} \\ {world . frame}_{vis . y_shape . width} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . y_shape . height} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . z_shape . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world . frame}_{vis . frame_a . x} (t), {world . frame}_{vis . frame_a . y} (t), world . {frame}_{vis . z_position}) \\ {world . frame}_{vis . z_shape . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {world . frame}_{vis . phi} (t)), \sin (- {world . frame}_{vis . phi} (t)), 0, - \sin (- {world . frame}_{vis . phi} (t)), \cos (- {world . frame}_{vis . phi} (t)), 0, 0, 0, 1) \\ {world . frame}_{vis . z_shape . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . z_shape . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {world . frame}_{vis . z_shape . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {world . frame}_{vis . z_shape . length} (t) = world . {frame}_{vis . axis_length} \\ {world . frame}_{vis . z_shape . width} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {world . frame}_{vis . z_shape . height} (t) = 2 \cdot world . {frame}_{vis . axis_radius} \\ {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {fixed}_{frame . frame_b . x} (t), {fixed}_{frame . frame_b . y} (t)) = {fixed}_{frame . r} \\ {fixed}_{frame . frame_b . phi} (t) = {fixed}_{frame . phi} \\ {cut}_{torque . frame_a . x} (t) = {cut}_{torque . frame_b . x} (t) \\ {cut}_{torque . frame_a . y} (t) = {cut}_{torque . frame_b . y} (t) \\ {cut}_{torque . frame_a . phi} (t) = {cut}_{torque . frame_b . phi} (t) \\ {cut}_{torque . frame_b . fx} (t) + {cut}_{torque . frame_a . fx} (t) = 0 \\ {cut}_{torque . frame_b . fy} (t) + {cut}_{torque . frame_a . fy} (t) = 0 \\ {cut}_{torque . frame_a . tau} (t) + {cut}_{torque . frame_b . tau} (t) = 0 \\ {cut}_{torque . tau_signed} (t) = ifelse ({cut}_{torque . positive_sign}, {cut}_{torque . frame_a . tau} (t), - {cut}_{torque . frame_a . tau} (t)) \\ {cut}_{torque . torque_out} (t) = {cut}_{torque . tau_signed} (t) \\ {cut}_{torque . torque_arrow . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {cut}_{torque . frame_b . x} (t), {cut}_{torque . frame_b . y} (t), {cut}_{torque . z_position}) \\ {cut}_{torque . torque_arrow . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {cut}_{torque . torque_arrow . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {cut}_{torque . torque_arrow . length_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {cut}_{torque . torque_arrow . width_direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ {cut}_{torque . torque_arrow . length} (t) = {cut}_{torque . scale} \cdot {cut}_{torque . tau_signed} (t) \\ {cut}_{torque . torque_arrow . width} (t) = {cut}_{torque . arrow_diameter} \\ {cut}_{torque . torque_arrow . height} (t) = {cut}_{torque . arrow_diameter} \\ rod 1. phi (t) = {rod 1. frame}_{a . phi} (t) \\ rod 1. w (t) = \frac{d \cdot rod 1. phi (t)}{d t} \\ rod 1. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (rod 1. phi (t)), \sin (rod 1. phi (t)), - \sin (rod 1. phi (t)), \cos (rod 1. phi (t))) \cdot rod 1. r \\ rod 1. r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], - {rod 1. frame}_{a . x} (t) + {rod 1. frame}_{b . x} (t), {rod 1. frame}_{b . y} (t) - {rod 1. frame}_{a . y} (t)) \\ {rod 1. frame}_{a . phi} (t) = {rod 1. frame}_{b . phi} (t) \\ {rod 1. frame}_{b . fx} (t) + {rod 1. frame}_{a . fx} (t) = 0 \\ {rod 1. frame}_{a . fy} (t) + {rod 1. frame}_{b . fy} (t) = 0 \\ {rod 1. frame}_{b . tau} (t) + {rod 1. frame}_{a . tau} (t) + {rod 1. r 0}_{1} (t) \cdot {rod 1. frame}_{b . fy} (t) - {rod 1. r 0}_{2} (t) \cdot {rod 1. frame}_{b . fx} (t) = 0 \\ rod 1. shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rod 1. frame}_{a . x} (t), {rod 1. frame}_{a . y} (t), rod 1. z_{position}) \\ rod 1. shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {rod 1. shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {rod 1. shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{rod 1. r 0}_{1} (t)}{rod 1. l}, \frac{{rod 1. r 0}_{2} (t)}{rod 1. l}, 0) \\ {rod 1. shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ rod 1. shape . length (t) = rod 1. l \\ rod 1. shape . width (t) = 2 \cdot rod 1. radius \\ rod 1. shape . height (t) = 2 \cdot rod 1. radius \\ revolute . w (t) = \frac{d \cdot revolute . phi (t)}{d t} \\ revolute . alpha (t) = \frac{d \cdot revolute . w (t)}{d t} \\ {revolute . frame}_{a . x} (t) = {revolute . frame}_{b . x} (t) \\ {revolute . frame}_{a . y} (t) = {revolute . frame}_{b . y} (t) \\ {revolute . frame}_{a . phi} (t) + revolute . phi (t) = {revolute . frame}_{b . phi} (t) \\ {revolute . frame}_{b . fx} (t) + {revolute . frame}_{a . fx} (t) = 0 \\ {revolute . frame}_{a . fy} (t) + {revolute . frame}_{b . fy} (t) = 0 \\ {revolute . frame}_{b . tau} (t) + {revolute . frame}_{a . tau} (t) = 0 \\ {revolute . frame}_{a . tau} (t) = revolute . tau (t) \\ {revolute . flange}_{a . phi} (t) = revolute . phi (t) \\ {revolute . flange}_{a . tau} (t) = revolute . tau (t) \\ revolute . shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {revolute . frame}_{a . x} (t), {revolute . frame}_{a . y} (t), revolute . z_{position}) \\ revolute . shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {revolute . frame}_{a . phi} (t)), \sin (- {revolute . frame}_{a . phi} (t)), 0, - \sin (- {revolute . frame}_{a . phi} (t)), \cos (- {revolute . frame}_{a . phi} (t)), 0, 0, 0, 1) \\ {revolute . shape . r}_{shape} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], 0, 0, - \frac{1}{2} \cdot revolute . {cylinder}_{length}) \\ {revolute . shape . length}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {revolute . shape . width}_{direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ revolute . shape . length (t) = revolute . {cylinder}_{length} \\ revolute . shape . width (t) = 2 \cdot revolute . radius \\ revolute . shape . height (t) = 2 \cdot revolute . radius \\ rod . phi (t) = {rod . frame}_{a . phi} (t) \\ rod . w (t) = \frac{d \cdot rod . phi (t)}{d t} \\ rod . r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \\ 2 \end{matrix}], \cos (rod . phi (t)), \sin (rod . phi (t)), - \sin (rod . phi (t)), \cos (rod . phi (t))) \cdot rod . r \\ rod . r 0 (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], - {rod . frame}_{a . x} (t) + {rod . frame}_{b . x} (t), {rod . frame}_{b . y} (t) - {rod . frame}_{a . y} (t)) \\ {rod . frame}_{a . phi} (t) = {rod . frame}_{b . phi} (t) \\ {rod . frame}_{a . fx} (t) + {rod . frame}_{b . fx} (t) = 0 \\ {rod . frame}_{b . fy} (t) + {rod . frame}_{a . fy} (t) = 0 \\ {rod . frame}_{a . tau} (t) + {rod . frame}_{b . tau} (t) + {rod . r 0}_{1} (t) \cdot {rod . frame}_{b . fy} (t) - {rod . r 0}_{2} (t) \cdot {rod . frame}_{b . fx} (t) = 0 \\ rod . shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {rod . frame}_{a . x} (t), {rod . frame}_{a . y} (t), rod . z_{position}) \\ rod . shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0) \\ {rod . shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {rod . shape . length}_{direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], \frac{{rod . r 0}_{1} (t)}{rod . l}, \frac{{rod . r 0}_{2} (t)}{rod . l}, 0) \\ {rod . shape . width}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ rod . shape . length (t) = rod . l \\ rod . shape . width (t) = 2 \cdot rod . radius \\ rod . shape . height (t) = 2 \cdot rod . radius \\ body . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body . frame}_{a . x} (t), {body . frame}_{a . y} (t)) \\ body . v (t) = \frac{d \cdot body . r (t)}{d t} \\ body . phi (t) = {body . frame}_{a . phi} (t) \\ body . w (t) = \frac{d \cdot body . phi (t)}{d t} \\ body . a (t) = \frac{d \cdot body . v (t)}{d t} \\ body . alpha (t) = \frac{d \cdot body . w (t)}{d t} \\ body . f (t) = {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], {body . frame}_{a . fx} (t), {body . frame}_{a . fy} (t)) \\ body . f (t) + {array}_{l i t e r a l} ([\begin{matrix} 2 \end{matrix}], body . m \cdot g \cdot {n_{2 d}}_{1}, body . m \cdot g \cdot {n_{2 d}}_{2}) = body . m \cdot body . a (t) \\ body . I \cdot body . alpha (t) = {body . frame}_{a . tau} (t) \\ body . shape . r (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {body . frame}_{a . x} (t), {body . frame}_{a . y} (t), body . z_{position}) \\ body . shape . R (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- body . phi (t)), \sin (- body . phi (t)), 0, - \sin (- body . phi (t)), \cos (- body . phi (t)), 0, 0, 0, 1) \\ {body . shape . r}_{shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {body . shape . length}_{direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {body . shape . width}_{direction} (t) = [\begin{matrix} 1 \\ 0 \\ 0 \end{matrix}] \\ body . shape . length (t) = 2 \cdot body . radius \\ body . shape . width (t) = 2 \cdot body . radius \\ body . shape . height (t) = 2 \cdot body . radius \\ {damper . phi}_{rel} (t) = - {damper . spline}_{a . phi} (t) + {damper . spline}_{b . phi} (t) \\ {damper . spline}_{b . tau} (t) = damper . tau (t) \\ {damper . spline}_{a . tau} (t) = - damper . tau (t) \\ \frac{d \cdot {damper . phi}_{rel} (t)}{d t} = {damper . w}_{rel} (t) \\ \frac{d \cdot {damper . w}_{rel} (t)}{d t} = {damper . a}_{rel} (t) \\ damper . tau (t) = damper . d \cdot {damper . w}_{rel} (t) \\ {rot}_{fixed . spline . phi} (t) = {rot}_{fixed . phi 0} \\ {world}_{force . frame_b . fx} (t) - {world}_{force . force_y} (t) \cdot \sin ({world}_{force . phi} (t)) + {world}_{force . force_x} (t) \cdot \cos ({world}_{force . phi} (t)) = 0 \\ {world}_{force . frame_b . fy} (t) + {world}_{force . force_y} (t) \cdot \cos ({world}_{force . phi} (t)) + {world}_{force . force_x} (t) \cdot \sin ({world}_{force . phi} (t)) = 0 \\ {world}_{force . frame_b . tau} (t) + {world}_{force . torque} (t) = 0 \\ {world}_{force . force_arrow . r} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world}_{force . frame_b . x} (t), {world}_{force . frame_b . y} (t), {world}_{force . z_position}) \\ {world}_{force . force_arrow . R} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \\ 3 \end{matrix}], \cos (- {world}_{force . phi} (t)), \sin (- {world}_{force . phi} (t)), 0, - \sin (- {world}_{force . phi} (t)), \cos (- {world}_{force . phi} (t)), 0, 0, 0, 1) \\ {world}_{force . force_arrow . r_shape} (t) = [\begin{matrix} 0 \\ 0 \\ 0 \end{matrix}] \\ {world}_{force . force_arrow . length_direction} (t) = {array}_{l i t e r a l} ([\begin{matrix} 3 \end{matrix}], {world}_{force . force_x} (t), {world}_{force . force_y} (t), 0) \\ {world}_{force . force_arrow . width_direction} (t) = [\begin{matrix} 0 \\ 0 \\ 1 \end{matrix}] \\ {world}_{force . force_arrow . length} (t) = {world}_{force . scale} \cdot \sqrt{{({world}_{force . force_y} (t))}^{2} + {({world}_{force . force_x} (t))}^{2}} \\ {world}_{force . force_arrow . width} (t) = {world}_{force . arrow_diameter} \\ {world}_{force . force_arrow . height} (t) = {world}_{force . arrow_diameter} \\ {world}_{force . phi} (t) = {world}_{force . frame_b . phi} (t) \\ {sine}_{fx . y} (t) = {sine}_{fx . offset} + {sine}_{fx . amplitude} \cdot ifelse (t \geq {sine}_{fx . start_time}, \sin ({sine}_{fx . phase} + 6.283185307179586 \cdot {sine}_{fx . frequency} \cdot (- {sine}_{fx . start_time} + t)), \sin ({sine}_{fx . phase})) \\ {sine}_{fy . y} (t) = {sine}_{fy . offset} + {sine}_{fy . amplitude} \cdot ifelse (t \geq {sine}_{fy . start_time}, \sin ({sine}_{fy . phase} + 6.283185307179586 \cdot {sine}_{fy . frequency} \cdot (- {sine}_{fy . start_time} + t)), \sin ({sine}_{fy . phase})) \\ {sine}_{tau . y} (t) = {sine}_{tau . offset} + {sine}_{tau . amplitude} \cdot ifelse (t \geq {sine}_{tau . start_time}, \sin ({sine}_{tau . phase} + 6.283185307179586 \cdot {sine}_{tau . frequency} \cdot (- {sine}_{tau . start_time} + t)), \sin ({sine}_{tau . phase})) \end{matrix}]

Source

dyad

"""
Test for CutTorque sensor: a damped pendulum with a CutTorque sensor, a WorldForce
applying sinusoidal forces and torque to the body.

Topology: Fixed → CutTorque → FixedTranslation1(r=[0.5,0]) → Revolute → FixedTranslation(r=[1,0]) → Body ← WorldForce
A rotational damper stabilizes the revolute joint via its flange.

Translated from PlanarMechanicsTest.Sensors.CutTorques.
"""
test component CutTorqueTest
  world = World() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  fixed_frame = MultibodyComponents.PlanarMechanics.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 40, "y1": 380, "x2": 140, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  cut_torque = CutTorque(scale = 3) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 155, "y1": 380, "x2": 255, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  rod1 = FixedTranslation(r = [0.5, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 280, "y1": 380, "x2": 380, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  revolute = Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 380, "x2": 510, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  rod = FixedTranslation(r = [1, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 542.5,
          "y1": 380,
          "x2": 642.5,
          "y2": 480,
          "rot": 0
        }
      },
      "tags": []
    }
  }
  body = Body(m = 1, I = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 670, "y1": 140, "x2": 770, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  damper = RotationalComponents.Components.Damper(d = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 560, "x2": 510, "y2": 660, "rot": 270}
      },
      "tags": []
    }
  }
  rot_fixed = RotationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 720, "x2": 510, "y2": 820, "rot": 0}
      },
      "tags": []
    }
  }
  "WorldForce applying sinusoidal force and torque to body"
  world_force = WorldForceTorque(resolve_in_frame = MultibodyComponents.ResolveInFrame.FrameB()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 540, "y1": 140, "x2": 640, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  "Sine signals: force in y direction and torque"
  sine_fx = BlockComponents.Sources.Sine(amplitude = 0, frequency = 1, start_time = 1.8) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 405, "y1": 20, "x2": 505, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  sine_fy = BlockComponents.Sources.Sine(amplitude = -5, frequency = 1, start_time = 1.8) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 405, "y1": 140, "x2": 505, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  sine_tau = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1, start_time = 1.8) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 405, "y1": 260, "x2": 505, "y2": 360, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial revolute.phi = 0
  initial revolute.w = 0
  # Main chain: Fixed → CutTorque → Rod1 → Revolute → Rod → Body
  connect(fixed_frame.frame_b, cut_torque.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(cut_torque.frame_b, rod1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rod1.frame_b, revolute.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(revolute.frame_b, rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rod.frame_b, body.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 660, "y": 430}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 660, "y": 190}],
      "renderStyle": "standard"
    }
  }
  # WorldForce on body
  connect(world_force.frame_b, body.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sine_fx.y, world_force.force_x) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 525, "y": 70}, {"x": 525, "y": 155}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(sine_fy.y, world_force.force_y) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sine_tau.y, world_force.torque) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 525, "y": 310}, {"x": 525, "y": 223}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  # Rotational damper on revolute flange
  connect(damper.spline_b, revolute.flange_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rot_fixed.spline, damper.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end

Flattened Source

dyad

"""
Test for CutTorque sensor: a damped pendulum with a CutTorque sensor, a WorldForce
applying sinusoidal forces and torque to the body.

Topology: Fixed → CutTorque → FixedTranslation1(r=[0.5,0]) → Revolute → FixedTranslation(r=[1,0]) → Body ← WorldForce
A rotational damper stabilizes the revolute joint via its flange.

Translated from PlanarMechanicsTest.Sensors.CutTorques.
"""
test component CutTorqueTest
  world = World() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  fixed_frame = MultibodyComponents.PlanarMechanics.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 40, "y1": 380, "x2": 140, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  cut_torque = CutTorque(scale = 3) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 155, "y1": 380, "x2": 255, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  rod1 = FixedTranslation(r = [0.5, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 280, "y1": 380, "x2": 380, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  revolute = Revolute() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 380, "x2": 510, "y2": 480, "rot": 0}
      },
      "tags": []
    }
  }
  rod = FixedTranslation(r = [1, 0]) {
    "Dyad": {
      "placement": {
        "diagram": {
          "iconName": "default",
          "x1": 542.5,
          "y1": 380,
          "x2": 642.5,
          "y2": 480,
          "rot": 0
        }
      },
      "tags": []
    }
  }
  body = Body(m = 1, I = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 670, "y1": 140, "x2": 770, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  damper = RotationalComponents.Components.Damper(d = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 560, "x2": 510, "y2": 660, "rot": 270}
      },
      "tags": []
    }
  }
  rot_fixed = RotationalComponents.Components.Fixed() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 410, "y1": 720, "x2": 510, "y2": 820, "rot": 0}
      },
      "tags": []
    }
  }
  "WorldForce applying sinusoidal force and torque to body"
  world_force = WorldForceTorque(resolve_in_frame = MultibodyComponents.ResolveInFrame.FrameB()) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 540, "y1": 140, "x2": 640, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  "Sine signals: force in y direction and torque"
  sine_fx = BlockComponents.Sources.Sine(amplitude = 0, frequency = 1, start_time = 1.8) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 405, "y1": 20, "x2": 505, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  sine_fy = BlockComponents.Sources.Sine(amplitude = -5, frequency = 1, start_time = 1.8) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 405, "y1": 140, "x2": 505, "y2": 240, "rot": 0}
      },
      "tags": []
    }
  }
  sine_tau = BlockComponents.Sources.Sine(amplitude = 1, frequency = 1, start_time = 1.8) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 405, "y1": 260, "x2": 505, "y2": 360, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial revolute.phi = 0
  initial revolute.w = 0
  # Main chain: Fixed → CutTorque → Rod1 → Revolute → Rod → Body
  connect(fixed_frame.frame_b, cut_torque.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(cut_torque.frame_b, rod1.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rod1.frame_b, revolute.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(revolute.frame_b, rod.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rod.frame_b, body.frame_a) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 660, "y": 430}], "E": -1}, {"S": -1, "M": [], "E": 2}],
      "junctions": [{"x": 660, "y": 190}],
      "renderStyle": "standard"
    }
  }
  # WorldForce on body
  connect(world_force.frame_b, body.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sine_fx.y, world_force.force_x) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 525, "y": 70}, {"x": 525, "y": 155}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(sine_fy.y, world_force.force_y) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(sine_tau.y, world_force.torque) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 525, "y": 310}, {"x": 525, "y": 223}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  # Rotational damper on revolute flange
  connect(damper.spline_b, revolute.flange_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rot_fixed.spline, damper.spline_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 3}}}}
end

Scalar Types

Partial Types

Enumerated Types

Function Types

Partial Types

Enumerated Types

Partial Types

Partial Types

Partial Types

Scalar Types

Partial Types

Partial Types

Partial Types

Enumerated Types

PlanarMechanics.CutTorqueTest ​

Usage ​

Behavior ​

Source ​

Test Cases ​

Test Case case1 ​

Related ​

`PlanarMechanics.CutTorqueTest`

Usage

Behavior

Source

Test Cases

Test Case `case1`

Related