change initial conditions for equil 2 which should lead to better reference results.

ExampleProjects/TutorialProjects/analysisModules/equilibrium_CI/dataR/equilibrium_CI.mbs

 <?xml version="1.0" encoding="UTF-8"?>
 <mbsDescR7>
   <mbsname>equilibrium_CI</mbsname>
-  <mbsyspad_version>1.10.0</mbsyspad_version>
+  <mbsyspad_version>1.11.0</mbsyspad_version>
   <base>
     <!--this is the base body-->
     <gravity>
@@ -635,8 +635,8 @@
         <graphics>
           <x2D>
             <position>
-              <x>499.0</x>
-              <y>456.0</y>
+              <x>496.0</x>
+              <y>481.0</y>
             </position>
           </x2D>
           <x3D>
@@ -666,8 +666,8 @@
         <graphics>
           <x2D>
             <position>
-              <x>610.0</x>
-              <y>456.0</y>
+              <x>607.0</x>
+              <y>481.0</y>
             </position>
           </x2D>
           <x3D />

ExampleProjects/TutorialProjects/analysisModules/equilibrium_CI/resultsR/equil2_q_ref.res

-  0.000000e+00  0.000000e+00  1.000000e+00  2.000000e-01  1.111135e+00  3.412312e-01
-  1.000000e+00  0.000000e+00  3.531925e-01  3.127931e-01  2.114508e+01  -3.903751e+01
-  2.000000e+00  0.000000e+00  1.917613e-01  2.950447e-01  2.131006e+01  -3.926274e+01
-  3.000000e+00  0.000000e+00  1.918178e-01  2.926016e-01  2.131000e+01  -3.926266e+01
-  4.000000e+00  0.000000e+00  1.918181e-01  2.926015e-01  2.131000e+01  -3.926266e+01
+  0.000000e+00  0.000000e+00  2.000000e-01  2.000000e-01  2.451635e+00  -1.552017e+00
+  1.000000e+00  0.000000e+00  1.914093e-01  2.926239e-01  2.460887e+00  -1.564126e+00
+  2.000000e+00  0.000000e+00  1.918181e-01  2.926016e-01  2.460445e+00  -1.563549e+00
+  3.000000e+00  0.000000e+00  1.918181e-01  2.926015e-01  2.460445e+00  -1.563549e+00

ExampleProjects/TutorialProjects/analysisModules/equilibrium_CI/resultsR/equil2_x_ref.res

-  0.000000e+00  0.000000e+00  1.000000e+00  2.000000e-01
-  1.000000e+00  0.000000e+00  3.531925e-01  3.127931e-01
-  2.000000e+00  0.000000e+00  1.917613e-01  2.950447e-01
-  3.000000e+00  0.000000e+00  1.918178e-01  2.926016e-01
-  4.000000e+00  0.000000e+00  1.918181e-01  2.926015e-01
+  0.000000e+00  0.000000e+00  2.000000e-01  2.000000e-01
+  1.000000e+00  0.000000e+00  1.914093e-01  2.926239e-01
+  2.000000e+00  0.000000e+00  1.918181e-01  2.926016e-01
+  3.000000e+00  0.000000e+00  1.918181e-01  2.926015e-01

ExampleProjects/TutorialProjects/analysisModules/equilibrium_CI/workR/src/main.c

@@ -86,7 +86,8 @@ int main(int argc, char const *argv[])
     /*					 STATIC EQUILIBRIUM	 2                   *
     /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
     mbs_reset_data(mbs_data);
-    mbs_data->q[R2_pendulum_id] = 1.0;
+    mbs_data->q[R2_crank_id] = 2.4;
+    mbs_data->q[R2_rod_id] = -1.5;
     mbs_equil = mbs_new_equil(mbs_data);
     // equil options (see documentations for additional options)
     mbs_equil->options->senstol = 1e-06;

ExampleProjects/TutorialProjects/analysisModules/modal_CI/dataR/modal_CI.mbs

 <?xml version="1.0" encoding="UTF-8"?>
 <mbsDescR7>
   <mbsname>modal_CI</mbsname>
-  <mbsyspad_version>1.9.7</mbsyspad_version>
+  <mbsyspad_version>1.11.0</mbsyspad_version>
   <base>
     <!--this is the base body-->
     <gravity>
@@ -111,6 +111,33 @@
               <z>0.2</z>
             </size>
           </box>
+          <box>
+            <name>New_Shape</name>
+            <position>
+              <x>0.0</x>
+              <y>-0.25</y>
+              <z>-0.1</z>
+            </position>
+            <scale>
+              <x>1.0</x>
+              <y>1.0</y>
+              <z>1.0</z>
+            </scale>
+            <rotation>
+              <x>0.0</x>
+              <y>0.0</y>
+              <z>0.0</z>
+            </rotation>
+            <color R="51" G="51" B="51" />
+            <specularColor R="255" G="255" B="255" />
+            <shininess>250.0</shininess>
+            <transparency>0.0</transparency>
+            <size>
+              <x>0.05</x>
+              <y>0.1</y>
+              <z>0.5</z>
+            </size>
+          </box>
         </x3D_shapes>
       </x3D>
     </graphics>
@@ -822,10 +849,10 @@
       <!--This is the viewpoint list-->
       <viewpoint>
         <name>following</name>
-        <joint>T1_cart</joint>
+        <joint>base</joint>
         <position>
-          <x>1.0</x>
-          <y>2.0</y>
+          <x>1.5</x>
+          <y>2.7</y>
           <z>-1.0</z>
         </position>
         <target>

ExampleProjects/TutorialProjects/analysisModules/modal_CI/workR/src/main.c

@@ -93,7 +93,7 @@ int main(int argc, char const *argv[])
     mbs_modal->options->save_evec = 1;
     mbs_modal->options->save_result = 1;
     mbs_modal->options->save_anim = 1;
-    //mbs_modal->options->mode_ampl = 0.2;
+    mbs_modal->options->mode_ampl = 0.5;
     mbs_modal->options->verbose = 1;
     mbs_run_modal(mbs_modal, mbs_data);
     mbs_modal_finish(mbs_modal, mbs_data);

MBsysC/mbs_common/mbs_module/mbs_modal.c

@@ -229,7 +229,7 @@ void mbs_modal_loop(MbsModal *mo, MbsData *s)
 
     if (mo->options->verbose)
     {
-        mbs_msg(">>MODAL(LPK)>> Computation of the 1st order matrix A\n");
+        mbs_msg(">>MODAL(SS) >> Computation of the 1st order matrix A\n");
     }
     mbs_compute_statespace(mo->ss, s, mo->Mr, mo->Gr, mo->Kr, mo->aux->Bvuc);
 
@@ -238,7 +238,7 @@ void mbs_modal_loop(MbsModal *mo, MbsData *s)
 
     if (mo->options->verbose)
     {
-        mbs_msg(">>MODAL     >> Eigenvalue Problem Solving\n");
+        mbs_msg(">>MODAL(LPK)>> Eigenvalue Problem Solving\n");
     }
     mbs_eig_0(mo->ss->A, 2 * mo->nx, mo->eval_a, mo->eval_b, mo->evec_a, mo->evec_b);