merge branch 'dev';

# Conflicts: # examples/robots/jixiebi.jl # src/control/control.jl # src/get.jl # src/mechanics/contact.jl # src/mechanics/dynamics.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_sliding_cable_FB.jl # src/members/apparatus.jl # src/postprocess/vis.jl # src/structures/constraints.jl # src/structures/linearization.jl # src/structures/mutate.jl # src/structures/structure.jl # test/vis.jl # yard/jixiebi/Group2_1.jl
Rible-Sim · May 21, 2024 · 7432a13 · 7432a13
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diff --git a/yard/EWei/STL/截面形状-1.STL → assets/EWei_STL/截面形状-1.STL b/yard/EWei/STL/截面形状-1.STL → assets/EWei_STL/截面形状-1.STL
diff --git a/yard/EWei/STL/截面形状-10-随动段.STL → assets/EWei_STL/截面形状-10-随动段.STL b/yard/EWei/STL/截面形状-10-随动段.STL → assets/EWei_STL/截面形状-10-随动段.STL
diff --git a/assets/EWei_STL/截面形状-2.STL b/assets/EWei_STL/截面形状-2.STL
diff --git a/yard/EWei/STL/截面形状-3.STL → assets/EWei_STL/截面形状-3.STL b/yard/EWei/STL/截面形状-3.STL → assets/EWei_STL/截面形状-3.STL
diff --git a/yard/EWei/STL/截面形状-4-随动段.STL → assets/EWei_STL/截面形状-4-随动段.STL b/yard/EWei/STL/截面形状-4-随动段.STL → assets/EWei_STL/截面形状-4-随动段.STL
diff --git a/assets/EWei_STL/截面形状-5-随动段.STL b/assets/EWei_STL/截面形状-5-随动段.STL
diff --git a/yard/EWei/STL/截面形状-6-随动段.STL → assets/EWei_STL/截面形状-6-随动段.STL b/yard/EWei/STL/截面形状-6-随动段.STL → assets/EWei_STL/截面形状-6-随动段.STL
diff --git a/yard/EWei/STL/截面形状-7-随动段.STL → assets/EWei_STL/截面形状-7-随动段.STL b/yard/EWei/STL/截面形状-7-随动段.STL → assets/EWei_STL/截面形状-7-随动段.STL
diff --git a/yard/EWei/STL/截面形状-8-随动段.STL → assets/EWei_STL/截面形状-8-随动段.STL b/yard/EWei/STL/截面形状-8-随动段.STL → assets/EWei_STL/截面形状-8-随动段.STL
diff --git a/assets/EWei_STL/截面形状-9-随动段.STL b/assets/EWei_STL/截面形状-9-随动段.STL
diff --git a/assets/EWei_STL/装配体-中间梁6.0-32.STL b/assets/EWei_STL/装配体-中间梁6.0-32.STL
diff --git a/assets/EWei_STL/装配体-中间梁6.0-40.STL b/assets/EWei_STL/装配体-中间梁6.0-40.STL
diff --git a/yard/EWei/STL/装配体-中间部分.STL → assets/EWei_STL/装配体-中间部分.STL b/yard/EWei/STL/装配体-中间部分.STL → assets/EWei_STL/装配体-中间部分.STL
diff --git a/yard/EWei/STL/装配体-主动-随动.STL → assets/EWei_STL/装配体-主动-随动.STL b/yard/EWei/STL/装配体-主动-随动.STL → assets/EWei_STL/装配体-主动-随动.STL
diff --git a/assets/EWei_STL/装配体-电机.STL b/assets/EWei_STL/装配体-电机.STL
diff --git a/yard/tail/尾鳍-v1 - 硬.STL → assets/tail/尾鳍-v1 - 硬.STL b/yard/tail/尾鳍-v1 - 硬.STL → assets/tail/尾鳍-v1 - 硬.STL
diff --git a/yard/tail/尾鳍-v1-软.STL → assets/tail/尾鳍-v1-软.STL b/yard/tail/尾鳍-v1-软.STL → assets/tail/尾鳍-v1-软.STL
diff --git a/yard/tail/摆杆-v1.2.2.STL → assets/tail/摆杆-v1.2.2.STL b/yard/tail/摆杆-v1.2.2.STL → assets/tail/摆杆-v1.2.2.STL
diff --git a/yard/tail/新建文本文档.txt → assets/tail/新建文本文档.txt b/yard/tail/新建文本文档.txt → assets/tail/新建文本文档.txt
diff --git a/yard/tail/肋片-3.STL → assets/tail/肋片-3.STL b/yard/tail/肋片-3.STL → assets/tail/肋片-3.STL
diff --git a/yard/tail/肋片-4.STL → assets/tail/肋片-4.STL b/yard/tail/肋片-4.STL → assets/tail/肋片-4.STL
diff --git a/yard/tail/肋片-5 - 副本.STL → assets/tail/肋片-5 - 副本.STL b/yard/tail/肋片-5 - 副本.STL → assets/tail/肋片-5 - 副本.STL
diff --git a/yard/tail/肋片-7 - 副本.STL → assets/tail/肋片-7 - 副本.STL b/yard/tail/肋片-7 - 副本.STL → assets/tail/肋片-7 - 副本.STL
diff --git a/yard/tail/肋片-7 - 硬连接.STL → assets/tail/肋片-7 - 硬连接.STL b/yard/tail/肋片-7 - 硬连接.STL → assets/tail/肋片-7 - 硬连接.STL
diff --git a/yard/tail/装配体头部-1.2.3.STL → assets/tail/装配体头部-1.2.3.STL b/yard/tail/装配体头部-1.2.3.STL → assets/tail/装配体头部-1.2.3.STL
diff --git a/examples/bodies/build_2d_tri.jl b/examples/bodies/build_2d_tri.jl
@@ -70,9 +70,9 @@ state = RB.RigidBodyState(prop,ro,α,ṙo,ω)
 coords = RB.NonminimalCoordinates(nmcs,ci,cstr_idx)
 trimesh = begin
     if id == 1
-        load(RB.assetpath("零件1 - 副本.STL")) |> make_patch(;scale=1/1000,color=:mediumpurple4)
+        load(RB.assetpath("零件1 - 副本.STL")) |> RB.make_patch(;scale=1/1000,color=:mediumpurple4)
     else
-        load(RB.assetpath("零件1.STL")) |> make_patch(;scale=1/1000,color=:slategray4)
+        load(RB.assetpath("零件1.STL")) |> RB.make_patch(;scale=1/1000,color=:slategray4)
     end
 end
 body = RB.RigidBody(prop,state,coords,trimesh)

diff --git a/examples/bodies/make_3d_tri.jl b/examples/bodies/make_3d_tri.jl
@@ -92,7 +92,7 @@ if loadmesh
 else
     trimesh = GB.merge(
         [
-            endpoints2mesh(loci_positions[i],loci_positions[j];
+            RB.endpoints2mesh(loci_positions[i],loci_positions[j];
             radius,color)
             for (i,j) in [
                 [1,2],[1,3],[1,4],

diff --git a/yard/EWei/define.jl → examples/robots/EWei.jl b/yard/EWei/define.jl → examples/robots/EWei.jl
@@ -40,7 +40,7 @@ function BuildTail()
     function Get_apsAB(r̄, mass_locus)
         ri = r̄
         rj = r̄ + 2* [mass_locus[2], mass_locus[1]]
-        aps = [[0.0, 0.0], 2r̄g, [15.1, 0.0]]
+        aps = [[0.0, 0.0], 2r̄, [15.1, 0.0]]
         return ri, rj, aps
     end
 
@@ -161,51 +161,38 @@ function BuildTail()
         α = atan(u[2], u[1])
         mass_locus = rdsi.mass_locus
         m = rdsi.m*1e-3
-        I = rdsi.i
+        ## I = rdsi.i
+        @show m
         nrp = length(aps)
         ṙo = zeros(2); ω = 0.0
         prop = RB.RigidBodyProperty(
             i,
             contactable,
             m,
             SMatrix{2, 2}([
-                I 0
-                0 0
+                m 0
+                0 m
             ]),
             SVector{2}(mass_locus),
             [SVector{2}(aps[i]) for i in 1:nrp],
             visible=visible
         )
         ro = SVector{2}(ri)
         if i in rigidIndex
-            nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, α)
+            @show i, "NC2P1V", ri, rj
+            nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α))
         else
-            nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, α)
+            @show i, "NC2D2P"
+            nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α))
         end
-        state = RB.RigidBodyState(prop, nmcs, ri, α, ṙo, ω, ci, cstr_idx)
-        body = RB.RigidBody(prop, state)
+        state = RB.RigidBodyState(prop, ri, α, ṙo, ω, )
+        coords = RB.NonminimalCoordinates(nmcs, ci, cstr_idx)
+        body = RB.RigidBody(prop, state,coords)
     end
 
     rbs = [rigidbody(i, rds[i], r̄s[i]) for i in 1:nb]
     rigdibodies = TypeSortedCollection(rbs)
-    numbered = RB.number(rigdibodies)
-    matrix_sharing_raw = Vector{Matrix{Int}}()
-    for i in 1:nb-1
-        s = zeros(2, nb)
-        if i == 1
-            s[1:2, 1] = 3:4
-            s[1:2, 2] = 1:2
-        elseif i in 2:2:16
-            s[1:2, i] = 1:2
-            s[1:2, i+1] = 1:2
-        else
-            s[1:2, i] = 3:4
-            s[1:2, i+1] = 1:2
-        end
-        push!(matrix_sharing_raw, s)
-    end
-    matrix_sharing = reduce(vcat, matrix_sharing_raw)
-    indexed = RB.index(rigdibodies, matrix_sharing)
+
     nstrings = 8 * 4 + 8 * 2
     ks = zeros(nstrings); restlens = zeros(nstrings)
     for i in 1:4*8
@@ -217,8 +204,7 @@ function BuildTail()
         restlens[i] = 25
         ks[i] = 0.3
     end
-    cables = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings]
-    apparatuses = (cables=cables,)
+    spring_dampers = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings]
 
     matrix_cnt_raw = Vector{Matrix{Int}}()
     s = zeros(4, nb)
@@ -245,11 +231,45 @@ function BuildTail()
         s[2, i] = 2; s[2, i+1] = -2
         push!(matrix_cnt_raw, s)
     end
-    matrix_cnt = reduce(vcat, matrix_cnt_raw)
-    tensiled = (connected=RB.connect(rigdibodies, matrix_cnt),)
-    cnt = RB.Connectivity(numbered, indexed, tensiled)
+    connecting_matrix = reduce(vcat, matrix_cnt_raw)
+    spring_dampers = RB.connect(rigdibodies, spring_dampers;connecting_matrix)
+    apparatuses = TypeSortedCollection(
+        spring_dampers
+    )
+
+    numbered = RB.number(rigdibodies, apparatuses)
+
+    matrix_sharing_raw = Vector{Matrix{Int}}()
+    for i in 1:nb-1
+        s = zeros(2, nb)
+        if i == 1
+            s[1:2, 1] = 3:4
+            s[1:2, 2] = 1:2
+        elseif i in 2:2:16
+            s[1:2, i] = 1:2
+            s[1:2, i+1] = 1:2
+        else
+            s[1:2, i] = 3:4
+            s[1:2, i+1] = 1:2
+        end
+        push!(matrix_sharing_raw, s)
+    end
+    sharing_matrix = reduce(vcat, matrix_sharing_raw)
+    indexed = RB.index(rigdibodies, apparatuses; sharing_matrix)
+    cnt = RB.Connectivity(
+        numbered, 
+        indexed,
+    )
     st = RB.Structure(rigdibodies, apparatuses, cnt)
-    bot = RB.Robot(st,)
+    gauges = Int[]
+    actuators = Int[]
+    hub = RB.ControlHub(
+        st,
+        gauges,
+        actuators,
+        RB.Coalition(st,gauges,actuators)
+    )
+    bot = RB.Robot(st,hub)
 end
 
 """
@@ -291,7 +311,7 @@ function BuildTail(type; β=1.0, μ=0.02)
     function Get_apsAB(r̄, mass_locus)
         ri = r̄
         rj = r̄ + 2* [mass_locus[2], mass_locus[1]]
-        aps = [[0.0, 0.0], 2r̄g, [15.1, 0.0]]
+        aps = [[0.0, 0.0], 2r̄, [15.1, 0.0]]
         return ri, rj, aps
     end
 
@@ -325,23 +345,23 @@ function BuildTail(type; β=1.0, μ=0.02)
             4 => Get_apsC()
         end
     end
-    asbMid = load("STL/装配体-中间部分.STL") |> make_patch(;trans=[0.0,0,0],rot=RotZ(deg2rad(-77)))
-    crSec1 = load("STL/截面形状-1.STL") |> make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid])
-    crSec2 = load("STL/截面形状-2.STL") |> make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid])
-    crSec3 = load("STL/截面形状-3.STL") |> make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid])
-    crSec4f = load("STL/截面形状-4-随动段.STL") |> make_patch(;trans=[40,0,0.],rot=RotZ(-π/2))
-    crSec5f = load("STL/截面形状-5-随动段.STL") |> make_patch(;trans=[40,0,0.],rot=RotZ(-π/2))
-    crSec6f = load("STL/截面形状-6-随动段.STL") |> make_patch(;trans=[30,0,0.],rot=RotZ(-π/2))
-    crSec7f = load("STL/截面形状-7-随动段.STL") |> make_patch(;trans=[25,0,0.],rot=RotZ(-π/2))
-    crSec8f = load("STL/截面形状-8-随动段.STL") |> make_patch(;trans=[25,0,0.],rot=RotZ(-π/2))
-    crSec9f = load("STL/截面形状-9-随动段.STL") |> make_patch(;trans=[25,0,0.],rot=RotZ(-π/2))
-    crSec10f = load("STL/截面形状-10-随动段.STL") |> make_patch(;trans=[30,0,0.],rot=RotZ(-π/2))
-
-    asbMot = load("STL/装配体-电机.STL") |> make_patch(;trans=[45.0,0,0],rot=RotZ(π))
-
-    asbB32 = load("STL/装配体-中间梁6.0-32.STL") |> make_patch(;trans=[25.0,0,0])
-    asbB40 = load("STL/装配体-中间梁6.0-40.STL") |> make_patch(;trans=[25.0,0,0])
-    asbLF = load("STL/装配体-主动-随动.STL") |> make_patch(;trans=[55,0,0.],rot=RotZ( π/2))
+    asbMid = load(RB.assetpath("EWei_STL/装配体-中间部分.STL")) |> RB.make_patch(;trans=[0.0,0,0],rot=RotZ(deg2rad(-77)))
+    crSec1 = load(RB.assetpath("EWei_STL/截面形状-1.STL")) |> RB.make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid])
+    crSec2 = load(RB.assetpath("EWei_STL/截面形状-2.STL")) |> RB.make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid])
+    crSec3 = load(RB.assetpath("EWei_STL/截面形状-3.STL")) |> RB.make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid])
+    crSec4f = load(RB.assetpath("EWei_STL/截面形状-4-随动段.STL")) |> RB.make_patch(;trans=[40,0,0.],rot=RotZ(-π/2))
+    crSec5f = load(RB.assetpath("EWei_STL/截面形状-5-随动段.STL")) |> RB.make_patch(;trans=[40,0,0.],rot=RotZ(-π/2))
+    crSec6f = load(RB.assetpath("EWei_STL/截面形状-6-随动段.STL")) |> RB.make_patch(;trans=[30,0,0.],rot=RotZ(-π/2))
+    crSec7f = load(RB.assetpath("EWei_STL/截面形状-7-随动段.STL")) |> RB.make_patch(;trans=[25,0,0.],rot=RotZ(-π/2))
+    crSec8f = load(RB.assetpath("EWei_STL/截面形状-8-随动段.STL")) |> RB.make_patch(;trans=[25,0,0.],rot=RotZ(-π/2))
+    crSec9f = load(RB.assetpath("EWei_STL/截面形状-9-随动段.STL")) |> RB.make_patch(;trans=[25,0,0.],rot=RotZ(-π/2))
+    crSec10f = load(RB.assetpath("EWei_STL/截面形状-10-随动段.STL")) |> RB.make_patch(;trans=[30,0,0.],rot=RotZ(-π/2))
+
+    asbMot = load(RB.assetpath("EWei_STL/装配体-电机.STL")) |> RB.make_patch(;trans=[45.0,0,0],rot=RotZ(π))
+
+    asbB32 = load(RB.assetpath("EWei_STL/装配体-中间梁6.0-32.STL")) |> RB.make_patch(;trans=[25.0,0,0])
+    asbB40 = load(RB.assetpath("EWei_STL/装配体-中间梁6.0-40.STL")) |> RB.make_patch(;trans=[25.0,0,0])
+    asbLF = load(RB.assetpath("EWei_STL/装配体-主动-随动.STL")) |> RB.make_patch(;trans=[55,0,0.],rot=RotZ( π/2))
 
     rds = [
         RigidData(r̄gC, mC, iC, r̄lC, asbMot), #1
@@ -447,34 +467,18 @@ function BuildTail(type; β=1.0, μ=0.02)
         )
         ro = SVector{2}(ri)
         if i in rigidIndex
-            nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, α)
+            nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α))
         else
-            nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, α)
+            nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α))
         end
-        state = RB.RigidBodyState(prop, nmcs, ri, α, ṙo, ω, ci, cstr_idx)
-        body = RB.RigidBody(prop, state, rdsi.mesh)
+        state = RB.RigidBodyState(prop, ri, α, ṙo, ω, )
+        coords = RB.NonminimalCoordinates(nmcs, ci, cstr_idx)
+        body = RB.RigidBody(prop, state, coords, rdsi.mesh)
     end
 
     rbs = [rigidbody(i, rds[i], r̄s[i]) for i in 1:nb]
     rigdibodies = TypeSortedCollection(rbs)
-    numbered = RB.number(rigdibodies)
-    matrix_sharing_raw = Vector{Matrix{Int}}()
-    for i in 1:nb-1
-        s = zeros(2, nb)
-        if i == 1
-            s[1:2, 1] = 3:4
-            s[1:2, 2] = 1:2
-        elseif i in 2:2:16
-            s[1:2, i] = 1:2
-            s[1:2, i+1] = 1:2
-        else
-            s[1:2, i] = 3:4
-            s[1:2, i+1] = 1:2
-        end
-        push!(matrix_sharing_raw, s)
-    end
-    matrix_sharing = reduce(vcat, matrix_sharing_raw)
-    indexed = RB.index(rigdibodies, matrix_sharing)
+
     nstrings = 8 * 4 + 8 * 2
     ks = zeros(nstrings); restlens = zeros(nstrings)
     for i in 1:4*8
@@ -486,15 +490,15 @@ function BuildTail(type; β=1.0, μ=0.02)
         restlens[i] = 25
         ks[i] = 0.3
     end
-    cables = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings]
+    spring_dampers = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings]
     @match type begin
         1 => begin
             lens = [44.71, 50, 50]
             @show pre = [lens[i]*(1-β)*0.2 for i in 1:3]
             c_section = StructArray([RB.DistanceSpringDamperSegment(i, lens[i], 0.2, prestress=pre[i]) for i in 1:3])
             cs1 = RB.ClusterDistanceSpringDampers(1, 2, deepcopy(c_section); μ=μ)
             cs2 = RB.ClusterDistanceSpringDampers(2, 2, deepcopy(c_section); μ=μ)
-            apparatuses = (cables=cables, clustercables=[cs1, cs2])
+            apparatuses = (spring_dampers=spring_dampers, clustercables=[cs1, cs2])
             s = zeros(Int, 2, nb)
             s[1, 1] = 3; s[1, 2] = 2; s[1, 4] = 2; s[1, 6] = 2
             s[2, 1] = 2; s[2, 2] = 1; s[2, 4] = 1; s[2, 6] = 1
@@ -506,7 +510,7 @@ function BuildTail(type; β=1.0, μ=0.02)
             c_section = StructArray([RB.DistanceSpringDamperSegment(i, lens[i], 0.2, prestress=pre[i]) for i in 1:8])
             cs1 = RB.ClusterDistanceSpringDampers(1, 7, deepcopy(c_section); μ=μ)
             cs2 = RB.ClusterDistanceSpringDampers(2, 7, deepcopy(c_section); μ=μ)
-            apparatuses = (cables=cables, clustercables=[cs1, cs2])
+            apparatuses = (spring_dampers=spring_dampers, clustercables=[cs1, cs2])
             s = zeros(Int, 2, nb)
             s[1, 1] = 3; s[2, 1] = 2
             for i in 1:8
@@ -523,7 +527,7 @@ function BuildTail(type; β=1.0, μ=0.02)
             c_section2 = StructArray([RB.DistanceSpringDamperSegment(i, lens2[i], 0.2, prestress=pre2[i]) for i in 1:2])
             cs1 = [RB.ClusterDistanceSpringDampers(i, 1, deepcopy(c_section1); μ=μ) for i in 1:2]
             cs2 = [RB.ClusterDistanceSpringDampers(i, 1, deepcopy(c_section2); μ=μ) for i in 3:8]
-            apparatuses = (cables=cables, clustercables=vcat(cs1, cs2))
+            apparatuses = (spring_dampers=spring_dampers, clustercables=vcat(cs1, cs2))
             s = zeros(Int, 8, nb)
             s[1, 1] = 3; s[1, 2] = 2; s[1, 4] = 2;
             s[2, 1] = 2; s[2, 2] = 1; s[2, 4] = 1;
@@ -543,7 +547,7 @@ function BuildTail(type; β=1.0, μ=0.02)
             c_section2 = StructArray([RB.DistanceSpringDamperSegment(i, lens2[i], 0.2, prestress=pre2[i]) for i in 1:3])
             cs1 = [RB.ClusterDistanceSpringDampers(i, 2, deepcopy(c_section1); μ=μ) for i in 1:2]
             cs2 = [RB.ClusterDistanceSpringDampers(i, 2, deepcopy(c_section2); μ=μ) for i in 3:6]
-            apparatuses = (cables=cables, clustercables=vcat(cs1, cs2))
+            apparatuses = (spring_dampers=spring_dampers, clustercables=vcat(cs1, cs2))
             s = zeros(Int, 6, nb)
             s[1, 1] = 3; s[1, 2] = 2; s[1, 4] = 2; s[1, 6] = 2
             s[2, 1] = 2; s[2, 2] = 1; s[2, 4] = 1; s[2, 6] = 1
@@ -584,9 +588,42 @@ function BuildTail(type; β=1.0, μ=0.02)
         s[2, i] = 2; s[2, i+1] = -2
         push!(matrix_cnt_raw, s)
     end
-    matrix_cnt = reduce(vcat, matrix_cnt_raw)
-    cc = RB.connect_and_cluster(rigdibodies, matrix_cnt, matrix_cnt2)
-    cnt = RB.Connectivity(numbered, indexed, cc)
+    connecting_matrix = reduce(vcat, matrix_cnt_raw)
+
+    cc = RB.connect_and_cluster(rigdibodies, connecting_matrix, matrix_cnt2)
+
+    matrix_sharing_raw = Vector{Matrix{Int}}()
+    for i in 1:nb-1
+        s = zeros(2, nb)
+        if i == 1
+            s[1:2, 1] = 3:4
+            s[1:2, 2] = 1:2
+        elseif i in 2:2:16
+            s[1:2, i] = 1:2
+            s[1:2, i+1] = 1:2
+        else
+            s[1:2, i] = 3:4
+            s[1:2, i+1] = 1:2
+        end
+        push!(matrix_sharing_raw, s)
+    end
+    matrix_sharing = reduce(vcat, matrix_sharing_raw)
+
+    numbered = RB.number(rigdibodies, apparatuses;)
+    indexed = RB.index(rigdibodies, apparatuses; matrix_sharing)
+
+    cnt = RB.Connectivity(numbered, indexed)
+
     st = RB.Structure(rigdibodies, apparatuses, cnt)
-    bot = RB.Robot(st,)
+
+    gauges = Int[]
+    actuators = Int[]
+    hub = RB.ControlHub(
+        st,
+        gauges,
+        actuators,
+        RB.Coalition(st,gauges,actuators)
+    )
+
+    bot = RB.Robot(st,hub)
 end
diff --git a/examples/robots/Tbars.jl b/examples/robots/Tbars.jl
@@ -132,14 +132,6 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
     rbs = [base,slider1,slider2,bar]
     rigdibodies = TypeSortedCollection(rbs)
 
-    j1 = RB.PrismaticJoint(1,RB.Hen2Egg(RB.Signifier(base,5,1),RB.Signifier(slider1,1,1)))
-    j2 = RB.PrismaticJoint(2,RB.Hen2Egg(RB.Signifier(base,5,2),RB.Signifier(slider2,1,1)))
-
-    j3 = RB.PinJoint(3,RB.Hen2Egg(RB.Signifier(bar,1,1),RB.Signifier(slider1,2,1)))
-    j4 = RB.PinJoint(4,RB.Hen2Egg(RB.Signifier(bar,2,1),RB.Signifier(slider2,2,1)))
-
-    js = [j1,j2,j3,j4]
-
     ncables = 4
     original_restlens = zeros(ncables)
     original_restlens = zeros(ncables)
@@ -148,7 +140,7 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
     cs = zeros(ncables)
     spring_dampers = [RB.DistanceSpringDamper3D(original_restlens[i],ks[i],cs[i];slack=false) for i = 1:ncables]
 
-    cm = [
+    connecting_matrix = [
         1 -1  0  0;
         2 -1  0  0;
         # 3  0 -1  0;
@@ -157,10 +149,19 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
         7 -1  0  0;
     ]
 
-    cables = RB.connect(rigdibodies, spring_dampers, cm, 4)
+    cables = RB.connect(rigdibodies, spring_dampers; connecting_matrix,)
+
+
+    j1 = RB.PrismaticJoint(ncables+1,RB.Hen2Egg(RB.Signifier(base,5,1),RB.Signifier(slider1,1,1)))
+    j2 = RB.PrismaticJoint(ncables+2,RB.Hen2Egg(RB.Signifier(base,5,2),RB.Signifier(slider2,1,1)))
+
+    j3 = RB.PinJoint(ncables+3,RB.Hen2Egg(RB.Signifier(bar,1,1),RB.Signifier(slider1,2,1)))
+    j4 = RB.PinJoint(ncables+4,RB.Hen2Egg(RB.Signifier(bar,2,1),RB.Signifier(slider2,2,1)))
+
+    js = [j1,j2,j3,j4]
 
     apparatuses = TypeSortedCollection(
-        vcat(js,cables)
+        vcat(cables,js)
     )
 
     # sm = [
@@ -173,5 +174,14 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC)
     # ]
     # indexed = RB.index(rigdibodies,sm)
     st = RB.Structure(rigdibodies,apparatuses,)
-    RB.Robot(st,)
+    gauges = Int[]
+    actuators = Int[]
+    hub = RB.ControlHub(
+        st,
+        gauges,
+        actuators,
+        RB.Coalition(st,gauges,actuators)
+    )
+
+    RB.Robot(st,hub)
 end