Dynamik
g_vec=[0;-1;0]
stab_d=0.06
---------------------------------------------
Koerper    
|P0P1 |111111|0.0|0.0|0.0 |0|0|0|1|
|P1P2 |111111|0.0|0.0|0.0 |0|0|0|1|
|P2P3 |111111|0.0|0.0|0.0 |0|0|0|1|
|P3P4 |111111|0.0|0.0|0.0 |0|0|0|1|
|P4P5 |111111|0.0|0.0|0.0 |0|0|0|1|
----------------------------------------------
Gelenke                                               
|P0|P0P1|0   |000010|0|1|0|0.0|0.0 |0.0|
|P1|P0P1|P1P2|000001|0|0|1|1.0|0.0 |0.0|
|P2|P1P2|P2P3|000100|1|0|0|1.0|-1.0|0.0|
|P3|P2P3|P3P4|000010|0|1|0|1.0|-1.0|1.0|
|P4|P3P4|P4P5|000001|0|0|1|0.0|-1.0|1.0|
|P5|P4P5|0   |000100|1|0|0|0.0|0.0 |1.0|
----------------------------------------------
Beobachter
|P2|222000|trajek|
----------------------------------------------
Output  
|P2|222000|
|E|1|          <- Gesamtenergie T+V
|Ekin|1|       <- kinetische Energie T
|Epot|1|       <- potentielle Energie V
|gpos|1|       <- Verletzung Lage-Zwang  ‖g(q)‖
|gvel|1|       <- Verletzung Geschw.-Zwang ‖G q̇‖
----------------------------------------------

