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#include <OpenSim/OpenSim.h>
/**
 * Creates two cat models for flipping. The first is simply two segments
 * connected by a 2-degree-of-freedom (no twist) joint. It exhibits the
 * counter-rotation mechanism of flipping. The second adds actuate-able
 * legs to the first model, as well as unlocking the twist degree of
 * freedom between the model's two halves. This model exhibits the variable-
 * inertia mechanism of flipping.
 * */
int main(int argc, char *argv[])
{
    // First model: exhibiting the counter-rotation mechanism of flipping
    // ========================================================================
    // Properties
    // ------------------------------------------------------------------------


    // Basics
    // ------------------------------------------------------------------------
    // Create the cat model.
    OpenSim::Model cat;
    // Name the cat after the founder of Stanford University.
    // This model will be able to hunch and wag (see the joints below).
    cat.setName("Leland_hunch_wag");
    // 'Turn off' gravity so it's easier to watch an animation of the flip.
    using SimTK::Vec3;
    cat.setGravity(Vec3(0, 0, 0));

    // Define anterior and posterior halves of the cat
    // ------------------------------------------------------------------------

    // Define joints between bodies (ground and two halves)
    // ------------------------------------------------------------------------


    // Add bodies to the model
    // ------------------------------------------------------------------------


    // Display goemetrygeometry
    // ------------------------------------------------------------------------


    // Actuation
    // ------------------------------------------------------------------------
    

    // Print the model
    // ------------------------------------------------------------------------

    
    
    
    // Second model: adding legs for the variable-inertia mechanism of flipping
    // ========================================================================
        
    
    // Leg properties
    // ------------------------------------------------------------------------
    
    
    // Define leg bodies
    // ------------------------------------------------------------------------
    
    
    // Define leg joints (i.e., between legs and two halves of cat)
    // ------------------------------------------------------------------------

    
    
    // Add bodies to the model
    // ------------------------------------------------------------------------
    // ...now that we have connected the bodies via joints.

    
    
    // Display goemetry
    // ------------------------------------------------------------------------

    
    // Actuation
    // ------------------------------------------------------------------------

    
    // Enforce joint limits on the legs
    // ------------------------------------------------------------------------

    
    
    // Print the model
    // ------------------------------------------------------------------------

    return EXIT_SUCCESS;
};