Add starting point for figures in Mechanics.MultiBody.

Modelica/Mechanics/MultiBody/Examples/Elementary/DoublePendulum.mo

@@ -56,5 +56,20 @@ object to <strong>false</strong> to switch off animation of all components.
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/DoublePendulum.png\"
 alt=\"model Examples.Elementary.DoublePendulum\">
 </blockquote>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "End point position",
+          identifier = "42aee",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(x = boxBody2.frame_b.r_0[1], y = boxBody2.frame_b.r_0[2], legend = "End point position of pendulum in the x and y plane")
+              }
+            )
+          }
+        )
+      }
+    ));
 end DoublePendulum;

Modelica/Mechanics/MultiBody/Examples/Elementary/DoublePendulumInitTip.mo

@@ -87,5 +87,38 @@ In this example, it is simply done by <code>revolute2.phi.start&nbsp;=&nbsp;Mode
 <blockquote>
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/DoublePendulumInitTip.png\">
 </blockquote>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Initial conditions",
+          identifier = "78253",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = boxBody2.frame_b.r_0[1], legend = "Position of end point of pendulum along the x axis"),
+                Curve(y = boxBody2.frame_b.r_0[2], legend = "Position of end point of pendulum along the y axis")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = der(boxBody2.r_0[1]), legend = "Velocity of end point of pendulum along the x axis"),
+                Curve(y = der(boxBody2.r_0[2]), legend = "Velocity of end point of pendulum along the y axis")
+              }
+            )
+          }
+        ),
+        Figure(
+          title = "End point position",
+          identifier = "dc6f6",
+          plots = {
+            Plot(
+              curves = {
+                Curve(x = boxBody2.frame_b.r_0[1], y = boxBody2.frame_b.r_0[2], legend = "End point position of pendulum in the x and y plane")
+              }
+            )
+          }
+        )
+      }
+    ));
 end DoublePendulumInitTip;

Modelica/Mechanics/MultiBody/Examples/Elementary/FreeBody.mo

@@ -80,5 +80,28 @@ This example demonstrates:
 
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/FreeBody.png\"
 alt=\"model Examples.Elementary.FreeBody\">
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Body position and spring forces",
+          identifier = "a2b4a",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = body.body.frame_a.r_0[1], legend = "Body position along x axis"),
+                Curve(y = body.body.frame_a.r_0[2], legend = "Body position along y axis"),
+                Curve(y = body.body.frame_a.r_0[3], legend = "Body position along z axis")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = spring1.spring.f, legend = "Force from left spring"),
+                Curve(y = spring2.spring.f, legend = "Force from right spring")
+              }
+            )
+          }
+        )
+      }
+    ));
 end FreeBody;

Modelica/Mechanics/MultiBody/Examples/Elementary/HeatLosses.mo

@@ -188,5 +188,36 @@ a convection element to the environment. The total heat flow generated by the
 elements of this multi-body system and transported to the environment
 is present in variable convection.fluid.
 </p>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Heat losses",
+          identifier = "de1ad",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = body1.r_0[2], legend = "Elongation of body1"),
+                Curve(y = body2.r_0[2], legend = "Elongation of body2"),
+                Curve(y = body3.r_0[2], legend = "Elongation of body3")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = damper1.f, legend = "Force from damper1 connected to body1"),
+                Curve(y = springDamper.f, legend = "Force from springDamper connected to body2"),
+                Curve(y = springDamperSeries.f, legend = "Force from springDamperSeries connected to body3")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = damper1.heatPort.Q_flow, legend = "Heat flow from damper1 connected to body1"),
+                Curve(y = springDamper.heatPort.Q_flow, legend = "Heat flow from springDamper connected to body2"),
+                Curve(y = springDamperSeries.heatPort.Q_flow, legend = "Heat flow from springDamperSeries connected to body3")
+              }
+            )
+          }
+        )
+      }
+    ));
 end HeatLosses;

Modelica/Mechanics/MultiBody/Examples/Elementary/InitSpringConstant.mo

@@ -82,5 +82,36 @@ An animation of this simulation is shown in the figure below.
 
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/InitSpringConstant.png\"
 alt=\"model Examples.Elementary.InitSpringConstant\">
-</html>"), experiment(StopTime=1.01));
+</html>",
+      figures = {
+        Figure(
+          title = "Forces and initial conditions",
+          identifier = "83624",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = body.body.frame_a.f[2], legend = "Force from gravity on body")
+              },
+              x = Axis(min = 0, max = 1.2)
+            ),
+            Plot(
+              curves = {
+                Curve(y = spring.c, legend = "Calculated spring constant"),
+                Curve(y = spring.spring.f, legend = "Force from spring on end point of the body")
+              },
+              x = Axis(min = 0, max = 1.2)
+            ),
+            Plot(
+              curves = {
+                Curve(y = rev.phi, legend = "Angle of the revolute joint (set to 0 at initialization)"),
+                Curve(y = rev.w, legend = "Angular velocity of the revolute joint (set to 0 at initialization)"),
+                Curve(y = rev.a, legend = "Angular acceleration of the revolute joint (set to 0 at initialization)")
+              },
+              x = Axis(min = 0, max = 1.2)
+            )
+          }
+        )
+      }
+    ), experiment(StopTime=1.01));
 end InitSpringConstant;

Modelica/Mechanics/MultiBody/Examples/Elementary/LineForceWithTwoMasses.mo

@@ -199,5 +199,29 @@ side in the back is the animation with the JointUPS component.
 <blockquote>
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/LineForceWithTwoMasses2.png\">
 </blockquote>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Difference in cut forces",
+          identifier = "beedd",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = body_f_diff[1], legend = "Difference in cut-forces in bodyBox1 and bodyBox2 along x axis"),
+                Curve(y = body_f_diff[2], legend = "Difference in cut-forces in bodyBox1 and bodyBox2 along y axis"),
+                Curve(y = body_f_diff[3], legend = "Difference in cut-forces in bodyBox1 and bodyBox2 along z axis")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = rod_f_diff[1], legend = "Difference of cut-forces in rod1 and rod3 along x axis"),
+                Curve(y = rod_f_diff[2], legend = "Difference of cut-forces in rod1 and rod3 along y axis"),
+                Curve(y = rod_f_diff[3], legend = "Difference of cut-forces in rod1 and rod3 along z axis")
+              }
+            )
+          }
+        )
+      }
+    ));
 end LineForceWithTwoMasses;

Modelica/Mechanics/MultiBody/Examples/Elementary/Pendulum.mo

@@ -35,5 +35,25 @@ assembled system.
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/Pendulum.png\"
 alt=\"model Examples.Elementary.Pendulum\">
 </blockquote>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Pendulum angle",
+          identifier = "88bdb",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = rev.phi, legend = "Angle of pendulum")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = damper.tau, legend = "Torque applied to revolute joint from damper")
+              }
+            )
+          }
+        )
+      }
+    ));
 end Pendulum;

Modelica/Mechanics/MultiBody/Examples/Elementary/PendulumWithSpringDamper.mo

@@ -84,5 +84,33 @@ and a point fixed in the world frame:
 
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/PendulumWithSpringDamper.png\"
 alt=\"model Examples.Elementary.PendulumWithSpringDamper\">
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "End point position",
+          identifier = "11319",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(x = body1.r_0[1], y = body1.r_0[2], legend = "Pendulum end point position in the x-y plane")
+              }
+            )
+          }
+        ),
+        Figure(
+          title = "Spring and damper",
+          identifier = "3fbed",
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = spring1.spring.f, legend = "Force from spring affecting the elongation of the prismatic joint, depending on displacement"),
+                Curve(y = prismatic.s, legend = "Elongation of the prismatic joint"),
+                Curve(y = damper1.f, legend = "Force from damper affecting the prismatic joint depending on the elongation velocity")
+              }
+            )
+          }
+        )
+      }
+    ));
 end PendulumWithSpringDamper;

Modelica/Mechanics/MultiBody/Examples/Elementary/PointGravity.mo

@@ -43,5 +43,21 @@ point gravity field.
 
 <img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/PointGravity.png\"
 alt=\"model Examples.Elementary.PointGravity\">
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Body positions",
+          identifier = "7bb2a",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(x = body1.r_0[1], y = body1.r_0[2]),
+                Curve(x = body2.r_0[1], y = body2.r_0[2])
+              }
+            )
+          }
+        )
+      }
+    ));
 end PointGravity;

Modelica/Mechanics/MultiBody/Examples/Elementary/PointGravityWithPointMasses.mo

@@ -63,5 +63,27 @@ a default value, when the physical system does not provide the equations.
 </p>
 
 <div><img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Examples/Elementary/PointGravityWithPointMasses.png\"></div>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Body positions",
+          identifier = "681b4",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(x = body1.r_0[1], y = body1.r_0[2], legend = "Position of body1 in the x-y plane"),
+                Curve(x = body2.r_0[1], y = body2.r_0[2], legend = "Position of body2 in the x-y plane")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(x = body3.r_0[1], y = body3.r_0[2], legend = "Position of body3 in the x-y plane"),
+                Curve(x = body4.r_0[1], y = body4.r_0[2], legend = "Position of body4 in the x-y plane")
+              }
+            )
+          }
+        )
+      }
+    ));
 end PointGravityWithPointMasses;

Modelica/Mechanics/MultiBody/Examples/Elementary/RollingWheel.mo

@@ -27,5 +27,37 @@ model RollingWheel
 Demonstrates how a single wheel is rolling on ground
 (starting with an initial velocity).
 </p>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Wheel position from above",
+          identifier = "d1c70",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(x = wheel1.x, y = wheel1.y, legend = "Wheel position from above, in the x-y plane")
+              }
+            )
+          }
+        ),
+        Figure(
+          title = "Wheel forces",
+          identifier = "134a8",
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = wheel1.rollingWheel.f_n, legend = "Normal force acting on wheel")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = wheel1.rollingWheel.f_lat, legend = "Contact force on wheel in lateral direction"),
+                Curve(y = wheel1.rollingWheel.f_long, legend = "Contact force on wheel in longitudinal direction")
+              }
+            )
+          }
+        )
+      }
+    ));
 end RollingWheel;

Modelica/Mechanics/MultiBody/Examples/Elementary/RollingWheelSetDriving.mo

@@ -85,5 +85,34 @@ equation
 Demonstrates how a RollingWheelSet (two wheels rigidly coupled together) is rolling
 on ground when driven by some external torques.
 </p>
-</html>"));
+</html>",
+      figures = {
+        Figure(
+          title = "Torques and forces",
+          identifier = "80032",
+          preferred = true,
+          plots = {
+            Plot(
+              curves = {
+                Curve(y = torque1.tau, legend = "Torque on wheel1"),
+                Curve(y = torque2.tau, legend = "Torque on wheel2"),
+                Curve(y = wheelSet.wheelSetJoint.support.tau, legend = "Total torque on wheels")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = wheelSet.wheelSetJoint.rolling1.f_lat, legend = "Lateral force on wheel1"),
+                Curve(y = wheelSet.wheelSetJoint.rolling1.f_long, legend = "Longitudinal force on wheel1")
+              }
+            ),
+            Plot(
+              curves = {
+                Curve(y = wheelSet.wheelSetJoint.rolling2.f_lat, legend = "Lateral force on wheel2"),
+                Curve(y = wheelSet.wheelSetJoint.rolling2.f_long, legend = "Longitudinal force on wheel2")
+              }
+            )
+          }
+        )
+      }
+    ));
 end RollingWheelSetDriving;