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CenterOfMassMapping

Set the point to the center of mass of the DOFs it is attached to

Templates:

  • Rigid2d,Vec2d
  • Rigid3d,Vec3d

Target: Sofa.Component.Mapping.Linear

namespace: sofa::component::mapping::linear

parents:

  • CRTPLinearMapping

Data:

Name Description Default value
name object name unnamed
printLog if true, emits extra messages at runtime. 0
tags list of the subsets the objet belongs to
bbox this object bounding box
componentState The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). Undefined
listening if true, handle the events, otherwise ignore the events 0
mapForces Are forces mapped ? 1
mapConstraints Are constraints mapped ? 1
mapMasses Are masses mapped ? 1
mapMatrices Are matrix explicit mapped? 0
applyRestPosition set to true to apply this mapping to restPosition at init 0

Links:

Name Description
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used)
slaves Sub-objects used internally by this object
master nullptr for regular objects, or master object for which this object is one sub-objects
input Input object to map
output Output object to map

Examples

Component/Mapping/Linear/CenterOfMassMapping.scn

<Node name="root" gravity="0 -9.81 0" dt="0.01" time="0" animate="0">
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [CenterOfMassMapping SkinningMapping] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [JointSpringForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <VisualStyle displayFlags="showVisual showForceFields showCollisionModels showMechanicalMappings showWireframe" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse name="default1" />
    <CollisionPipeline name="default2" />
    <MinProximityIntersection name="default3" alarmDistance="1" contactDistance="0.5"/>
    <DefaultAnimationLoop/>

    <Node name="pendulum" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MechanicalObject template="Rigid3" name="DOFs" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1"
                               velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
                               force="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
                               dx="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
                               free_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1"
                               free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
                               rest_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1" />
        <UniformMass template="Rigid3" name="mass" vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
        <FixedProjectiveConstraint template="Rigid3" name="fixOrigin" indices="0" />
        <Node name="segmentsNode" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
            <MechanicalObject template="Rigid3" name="attaches" position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914"
                                   velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
                                   force="-0.204691 0.493087 -1.55393 -15.7823 -4.91695 -0.011207 0.204691 -0.493087 1.55393 15.7823 4.91695 0.011207 -0.817747 -0.565234 -0.504438 15.6267 -1.41904 0.0182122 0.817747 0.565234 0.504438 -15.6267 1.41904 -0.0182122 -0.490036 0.948643 0.849816 10.3784 20.6947 0.014016 0.490036 -0.948643 -0.849816 -10.3784 -20.6947 -0.014016 -1.16244 -0.595626 0.268606 3.22919 22.0184 -0.0357184 1.16244 0.595626 -0.268606 -3.22919 -22.0184 0.0357184 0 0 0 0 0 0"
                                   dx="0 0 0 0 0 0 -2.04691e-005 4.93087e-005 -0.000155393 -7.89115e-005 -2.45853e-005 2.00717e-007 -2.01601e-005 4.95435e-005 -5.1433e-006 -7.89115e-005 -2.45853e-005 2.00717e-007 -0.000101935 -6.97992e-006 -5.55871e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -3.64901e-006 -8.78868e-005 -1.67401e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -5.26526e-005 6.9775e-006 6.82415e-005 5.10966e-005 7.20224e-005 -0.000102151 6.00157e-005 0.000177406 0.000244762 5.10966e-005 7.20224e-005 -0.000102151 -5.62283e-005 0.000117843 0.000271622 6.71189e-005 0.000181679 6.29123e-005 7.75285e-006 1.00596e-005 0.000514622 6.71189e-005 0.000181679 6.29123e-005"
                                   free_position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914"
                                   free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
                                       rest_position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914" />
            <RigidMapping template="Rigid3,Rigid3" name="default55" initialPoints="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914" rigidIndexPerPoint="1 2 2 2 2" />
            <JointSpringForceField template="Rigid3" name="joint springs" spring="BEGIN_SPRING  0 1  FREE_AXIS 0 0 0 0 1 0  KS_R 0 200000  KD 1  R_LIM_X 0 0  R_LIM_Y -1.57 1.57  R_LIM_Z 0 0  END_SPRING&#x0A; BEGIN_SPRING  2 3  FREE_AXIS 0 0 0 0 1 0  KS_R 0 200000  KD 1  R_LIM_X 0 0  R_LIM_Y -1.57 1.57  R_LIM_Z 0 0  END_SPRING&#x0A; BEGIN_SPRING  4 5  FREE_AXIS 0 0 0 0 1 0  KS_R 0 200000  KD 1  R_LIM_X 0 0  R_LIM_Y -1.57 1.57  R_LIM_Z 0 0  END_SPRING&#x0A; BEGIN_SPRING  6 7  FREE_AXIS 0 0 0 0 1 0  KS_R 0 200000  KD 1  R_LIM_X 0 0  R_LIM_Y -1.57 1.57  R_LIM_Z 0 0  END_SPRING&#x0A;" />
        </Node>
        <Node name="default65" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
            <OglModel name="Visual" position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5"
                    normals="-0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248"
                    triangles="3 1 0  3 2 1  3 6 2  3 7 6  7 5 6  7 4 5  4 1 5  4 0 1  5 1 2  2 6 5  4 7 3  4 3 0  11 9 8  11 10 9  11 14 10  11 15 14  15 13 14  15 12 13  12 9 13  12 8 9  13 9 10  10 14 13  12 15 11  12 11 8  19 17 16  19 18 17  19 22 18  19 23 22  23 21 22  23 20 21  20 17 21  20 16 17  21 17 18  18 22 21  20 23 19  20 19 16  27 25 24  27 26 25  27 30 26  27 31 30  31 29 30  31 28 29  28 25 29  28 24 25  29 25 26  26 30 29  28 31 27  28 27 24" />
            <SkinningMapping template="Rigid3,Vec3" name="map" input="@.." output="@Visual" />
        </Node>
        <Node name="CenterOfMass" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="0">
            <MechanicalObject template="Vec3" name="default88" listening="0" printLog="0" restScale="1" position="3.2 0 0" velocity="0 0 0" force="0 0 0" dx="-1.87325e-005 3.16272e-005 8.66385e-005" free_position="3.2 0 0" free_velocity="0 0 0" rest_position="0 0 0"/>
            <SphereCollisionModel name="default88Sphere" active="1" moving="1" simulated="1" selfCollision="0" proximity="0" contactStiffness="10" contactFriction="0.01" color="1 0.5 0 1" radius="0.2"/>
            <CenterOfMassMapping template="Rigid3,Vec3" name="default105" />
        </Node>
    </Node>
</Node>

```python def createScene(rootNode):

root = rootNode.addChild('root', gravity="0 -9.81 0", dt="0.01", time="0", animate="0")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showVisual showForceFields showCollisionModels showMechanicalMappings showWireframe")
root.addObject('BruteForceBroadPhase')
root.addObject('BVHNarrowPhase')
root.addObject('CollisionResponse', name="default1")
root.addObject('CollisionPipeline', name="default2")
root.addObject('MinProximityIntersection', name="default3", alarmDistance="1", contactDistance="0.5")
root.addObject('DefaultAnimationLoop')

pendulum = root.addChild('pendulum', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
pendulum.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
pendulum.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
pendulum.addObject('MechanicalObject', template="Rigid3", name="DOFs", position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1", velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", force="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", dx="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", free_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1", free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", rest_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1")
pendulum.addObject('UniformMass', template="Rigid3", name="mass", vertexMass="1 1 [1 0 0,0 1 0,0 0 1]")
pendulum.addObject('FixedProjectiveConstraint', template="Rigid3", name="fixOrigin", indices="0")

segmentsNode = pendulum.addChild('segmentsNode', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
segmentsNode.addObject('MechanicalObject', template="Rigid3", name="attaches", position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914", velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", force="-0.204691 0.493087 -1.55393 -15.7823 -4.91695 -0.011207 0.204691 -0.493087 1.55393 15.7823 4.91695 0.011207 -0.817747 -0.565234 -0.504438 15.6267 -1.41904 0.0182122 0.817747 0.565234 0.504438 -15.6267 1.41904 -0.0182122 -0.490036 0.948643 0.849816 10.3784 20.6947 0.014016 0.490036 -0.948643 -0.849816 -10.3784 -20.6947 -0.014016 -1.16244 -0.595626 0.268606 3.22919 22.0184 -0.0357184 1.16244 0.595626 -0.268606 -3.22919 -22.0184 0.0357184 0 0 0 0 0 0", dx="0 0 0 0 0 0 -2.04691e-005 4.93087e-005 -0.000155393 -7.89115e-005 -2.45853e-005 2.00717e-007 -2.01601e-005 4.95435e-005 -5.1433e-006 -7.89115e-005 -2.45853e-005 2.00717e-007 -0.000101935 -6.97992e-006 -5.55871e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -3.64901e-006 -8.78868e-005 -1.67401e-005 -8.0336e-007 -3.15395e-005 -6.3655e-005 -5.26526e-005 6.9775e-006 6.82415e-005 5.10966e-005 7.20224e-005 -0.000102151 6.00157e-005 0.000177406 0.000244762 5.10966e-005 7.20224e-005 -0.000102151 -5.62283e-005 0.000117843 0.000271622 6.71189e-005 0.000181679 6.29123e-005 7.75285e-006 1.00596e-005 0.000514622 6.71189e-005 0.000181679 6.29123e-005", free_position="0 0 0 0.707914 0 0 0.707914 0 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 2 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 4 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 6 0 0 0.707914 0 0 0.707914 8 0 0 0.707914 0 0 0.707914", free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0", rest_position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914")
segmentsNode.addObject('RigidMapping', template="Rigid3,Rigid3", name="default55", initialPoints="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914", rigidIndexPerPoint="1 2 2 2 2")
segmentsNode.addObject('JointSpringForceField', template="Rigid3", name="joint springs", spring="BEGIN_SPRING  0 1  FREE_AXIS 0 0 0 0 1 0  KS_R 0 200000  KD 1  R_LIM_X 0 0  R_LIM_Y -1.57 1.57  R_LIM_Z 0 0  END_SPRING

BEGIN_SPRING 2 3 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 4 5 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 6 7 FREE_AXIS 0 0 0 0 1 0 KS_R 0 200000 KD 1 R_LIM_X 0 0 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING ")

    default65 = pendulum.addChild('default65', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
    default65.addObject('OglModel', name="Visual", position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5", normals="-0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248 -0.57735 -0.57735 -0.57735 -0.666667 0.333333 -0.666667 -0.408248 0.816497 0.408248 -0.57735 -0.57735 0.57735 0.333333 -0.666667 -0.666667 0.666667 0.666667 -0.333333 0.408248 0.408248 0.816497 0.816497 -0.408248 0.408248", triangles="3 1 0  3 2 1  3 6 2  3 7 6  7 5 6  7 4 5  4 1 5  4 0 1  5 1 2  2 6 5  4 7 3  4 3 0  11 9 8  11 10 9  11 14 10  11 15 14  15 13 14  15 12 13  12 9 13  12 8 9  13 9 10  10 14 13  12 15 11  12 11 8  19 17 16  19 18 17  19 22 18  19 23 22  23 21 22  23 20 21  20 17 21  20 16 17  21 17 18  18 22 21  20 23 19  20 19 16  27 25 24  27 26 25  27 30 26  27 31 30  31 29 30  31 28 29  28 25 29  28 24 25  29 25 26  26 30 29  28 31 27  28 27 24")
    default65.addObject('SkinningMapping', template="Rigid3,Vec3", name="map", input="@..", output="@Visual")

    CenterOfMass = pendulum.addChild('CenterOfMass', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="0")
    CenterOfMass.addObject('MechanicalObject', template="Vec3", name="default88", listening="0", printLog="0", restScale="1", position="3.2 0 0", velocity="0 0 0", force="0 0 0", dx="-1.87325e-005 3.16272e-005 8.66385e-005", free_position="3.2 0 0", free_velocity="0 0 0", rest_position="0 0 0")
    CenterOfMass.addObject('SphereCollisionModel', name="default88Sphere", active="1", moving="1", simulated="1", selfCollision="0", proximity="0", contactStiffness="10", contactFriction="0.01", color="1 0.5 0 1", radius="0.2")
    CenterOfMass.addObject('CenterOfMassMapping', template="Rigid3,Vec3", name="default105")
```