Directly Build a Mechanism

The following code builds a pendulum Mechanism, consisting of an Origin, a Body, and a JointConstraint. Most Mechanisms consist of these three components, sometimes supplemented by ContactConstraints.

# ### Setup
using Dojo

# ### Parameters
radius = 0.1
length = 1
mass = 1
rotation_axis = [1;0;0] 
connection = [0;0;length/2]

# ### Mechanism components
origin = Origin()
body = Cylinder(radius, length, mass)
joint = JointConstraint(Revolute(origin, body, rotation_axis; child_vertex=connection))

# ### Construct Mechanism
mechanism = Mechanism(origin, [body], [joint])