#--------------------------------------------------------------#
#                      create bodies                           #
#--------------------------------------------------------------#
body create  name = ground     type = ground
body create  name = lowerBody  type = rigid   domain = pre_lower
body create  name = convBody   type = rigid   domain = pre_conv

#--------------------------------------------------------------#
#                      create joints                           #
#--------------------------------------------------------------#
joint create  name = groundJnt   type = weld  position = [ 0 0 0 ]
joint groundJnt bodies = { ground lowerBody }
joint groundJnt color = [ 1 1 1 ] msize = 0.1 shading = color show = true

joint create  name = headConvJnt  type = hinge  domain = pre_conv  res = C[695] \
              use = CA   axis = [ -0.936852 0.347609 0.038413 ]
joint headConvJnt bodies = { lowerBody convBody }
joint headConvJnt color = [ 0 0 1 ] msize = 0.1 shading = color show = true

#--------------------------------------------------------------#
#                 create a rigid simulation                    #
#--------------------------------------------------------------#
simulation create name = rsim  type = rigid
simulation rsim solver = ode

# add bodies
#-----------
simulation rsim add bodies = { ground lowerBody convBody }

# add joints
#-----------
simulation rsim add joints = { groundJnt headConvJnt }