```
# Note that "channels" is BVH terminology for "degrees of freedom"
HIERARCHY
UNITS METRES  # default is inches,   ie the format created by BioVision
# Engine - piston & cylinder motion.
ROOT BLOCK                               # everything is measured from
{                                        # the cylinder block
OFFSET	0.000	0.00	0.00     # so its x, y &z offsets = 0l
CHANNELS 0                           # it has no freedom to move
ROOT CRANKS                          # CRANKS is the first object
{                                    # Its x & y offsets  are .2 &
OFFSET	0.2000	0.1500	0.00  # .5; 0 in z
CHANNELS 1 Zrotation     # it has one degree of freedom
JOINT CRANKSHA           # this is the third object
{                        # at radius = 0.1m
OFFSET	0.00	0.1	0.00
CHANNELS 0
JOINT BIGEND
{  # offset to the centre of piston
OFFSET	0.00	0	0
CHANNELS 1 Zrotation
JOINT CONROD
{  # crank length = 0.25m
OFFSET	0.00	0.25	0.00
CHANNELS 1 Zrotation
End Site
{  # piston itself c  4 inches, =0.09m
OFFSET	0.0	 0.09	 0.000000
}
}
}
}
}
}
MOTION
Frames:     48          # i.e.no of time steps, which may be bigger or
Frame Time: 0.001       # smaller than those of PHOENICS, but are all
# equal in size
# the following table shows columns as follows

# 1st DOF movement
# crank rotation
#              2nd DOF movement
#              conn.rod rotation
#                                       3rd DOF movement                #                                       big-end rotation
#
0		0		        0             # the start
9		-12.58755762		3.587557617   # = - con rod
18		-25.10030723		7.100307227   #   rotation
27		-37.46274775		10.46274775   #   + crank
36		-49.59834873		13.59834873   #   rotation
45		-61.42994019		16.42994019
54		-72.8811896		18.8811896
63		-83.8794316		20.8794316
72		-94.35986233		22.35986233
81		-104.2706727		23.27067267
90		-113.5781785		23.57817848
99		-122.2706727		23.27067267
108		-130.3598623		22.35986233
117		-137.8794316		20.8794316
126		-144.8811896		18.8811896
135		-151.4299402		16.42994019
144		-157.5983487		13.59834873
153		-163.4627478		10.46274775
162		-169.1003072		7.100307227
171		-174.5875576		3.587557617
180		-180		        0             # end of expansion
# stroke
189		-185.4124424		-3.587557617
198		-190.8996928		-7.100307227
207		-196.5372522		-10.46274775
216		-202.4016513		-13.59834873
225		-208.5700598		-16.42994019
234		-215.1188104		-18.8811896
243		-222.1205684		-20.8794316
252		-229.6401377		-22.35986233
261		-237.7293273		-23.27067267
270		-246.4218215		-23.57817848
279		-255.7293273		-23.27067267
288		-265.6401377		-22.35986233
297		-276.1205684		-20.8794316
306		-287.1188104		-18.8811896
315		-298.5700598		-16.42994019
324		-310.4016513		-13.59834873
333		-322.5372522		-10.46274775
342		-334.8996928		-7.100307227
351		-347.4124424		-3.587557617
360		-360		        0            # end of first                                                          # cycle
369		-372.5875576		3.587557617
378		-385.1003072		7.100307227
387		-397.4627478		10.46274775
396		-409.5983487		13.59834873
405		-421.4299402		16.42994019
414		-432.8811896		18.8811896
423		-443.8794316		20.8794316
```