diff --git a/exploration_modeling_toolkit.ipynb b/exploration_modeling_toolkit.ipynb
index bac329f8eefd055b40d8b825ce89a84ceda366e1..036ca3b2c2969f940a6a35fa44901bde540c3efe 100644
--- a/exploration_modeling_toolkit.ipynb
+++ b/exploration_modeling_toolkit.ipynb
@@ -281,99 +281,99 @@
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      "execution_count": 8,
diff --git a/mtk_1d_springmass.ipynb b/mtk_1d_springmass.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..b9ed3c1e00c93f731c0c26819c75319f61181bec
--- /dev/null
+++ b/mtk_1d_springmass.ipynb
@@ -0,0 +1,725 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "508cad07-a3bf-4dec-a4d0-883d5559354a",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "using ModelingToolkit\n",
+    "using Plots\n",
+    "using DifferentialEquations\n",
+    "using ModelingToolkitStandardLibrary: Blocks.RealInput, Blocks.RealOutput, Blocks.Constant\n",
+    "@variables t\n",
+    "\n",
+    "D = Differential(t)\n",
+    "const g = 9.82;"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 51,
+   "id": "0161b749-e859-4cb4-809e-6c0c0829af57",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "Weld"
+      ]
+     },
+     "execution_count": 51,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "\"\"\"\n",
+    "Basic link component for connecting bodies to eachother\n",
+    "\n",
+    "# Variables:\n",
+    "    fx: Force in x-direction\n",
+    "    x: Position x\n",
+    "\"\"\"\n",
+    "@connector function Weld(;name, x0 = 0.0)\n",
+    "    sts = @variables f(t)=0. x(t)=x0 [connect = Flow]\n",
+    "    ODESystem(Equation[], t, sts, []; name=name)\n",
+    "end"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 78,
+   "id": "da25b859-c790-4543-9844-b0db2df103ff",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "Body1Port"
+      ]
+     },
+     "execution_count": 78,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "\"\"\"\n",
+    "    Body1Port(m = 1.0, J = 1.0, cmx = 0., cmy = 0., x1 = 0., y1 = 0., θ0 = 0.0)\n",
+    "\n",
+    "Body with one connection point and one center of mass\n",
+    "\"\"\"\n",
+    "function Body1Port(;name, m = 1.0, x0 = 0.)\n",
+    "    @named c = Weld(x0=x0)\n",
+    "    sts = @variables f(t)=-g x(t)=x0 v(t)=0.\n",
+    "    ps = @parameters m=m\n",
+    "    eqs = [\n",
+    "        m*D(v) ~ f   # Acceleration in x proportional to force\n",
+    "        D(x) ~ v\n",
+    "        f ~ c.f - m*g   # Sum up all forces in x (only forces from connection c)\n",
+    "        x ~ c.x\n",
+    "        ]\n",
+    "    compose(ODESystem(eqs, t, sts, ps; name=name),c)\n",
+    "end"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 79,
+   "id": "7f8c4a29-0828-491a-912b-ffadaa26cc96",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "Anchor"
+      ]
+     },
+     "execution_count": 79,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "\"\"\"\n",
+    "    Anchor(x = 0.0, y=0.0, θ = 0.0)\n",
+    "\n",
+    "Create a stationary anchor at positon `x`,`y`,`θ`, with one connection point `c`.\n",
+    "\"\"\"\n",
+    "function Anchor(;name, x = 0.0)\n",
+    "    @named c = Weld(x0=x)\n",
+    "    ps = @parameters x=x\n",
+    "    eqs = [\n",
+    "        c.x~x\n",
+    "        ]\n",
+    "    compose(ODESystem(eqs, t, [], ps; name=name),c)\n",
+    "end"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 87,
+   "id": "cc27a608-0177-41f6-945e-e6170bdf1f92",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "Spring"
+      ]
+     },
+     "execution_count": 87,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "\"\"\"\n",
+    "    Spring(x = 0.0, y=0.0, θ = 0.0)\n",
+    "\n",
+    "\"\"\"\n",
+    "function Spring(;name, x10 = 0.0, x20 = -1.0, l0 = 1.0,k=1.0)\n",
+    "    @named c1 = Weld(x0=x10)\n",
+    "    @named c2 = Weld(x0=x20)\n",
+    "    ps = @parameters l0=l0 k=k\n",
+    "    sts = @variables f(t)=(x20-x10-l0)*k x1(t)=x10 x2(t)=x20\n",
+    "    eqs = [\n",
+    "        c1.f ~ -f\n",
+    "        c2.f ~ f\n",
+    "        x1 ~ c1.x\n",
+    "        x2 ~ c2.x\n",
+    "        f ~ (x2-x1-l0)*k\n",
+    "        ]\n",
+    "    compose(ODESystem(eqs, t, sts, ps; name=name),c1,c2)\n",
+    "end"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 88,
+   "id": "4e69f101-6447-43b5-becd-bf1c0be996fc",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/latex": [
+       "\\begin{align}\n",
+       "\\mathrm{c1_{+}f}\\left( t \\right) =&  - f\\left( t \\right) \\\\\n",
+       "\\mathrm{c2_{+}f}\\left( t \\right) =& f\\left( t \\right) \\\\\n",
+       "\\mathrm{x1}\\left( t \\right) =& \\mathrm{c1_{+}x}\\left( t \\right) \\\\\n",
+       "\\mathrm{x2}\\left( t \\right) =& \\mathrm{c2_{+}x}\\left( t \\right) \\\\\n",
+       "f\\left( t \\right) =& k \\left(  - l0 - \\mathrm{x1}\\left( t \\right) + \\mathrm{x2}\\left( t \\right) \\right)\n",
+       "\\end{align}\n"
+      ],
+      "text/plain": [
+       "\u001b[0m\u001b[1mModel spring with 5 equations\u001b[22m\n",
+       "\u001b[0m\u001b[1mStates (7):\u001b[22m\n",
+       "  f(t) [defaults to k*(-1.0 - l0)]\n",
+       "  x1(t) [defaults to 0.0]\n",
+       "  x2(t) [defaults to -1.0]\n",
+       "  c1₊f(t) [defaults to 0.0]\n",
+       "  c1₊x(t) [defaults to 0.0]\n",
+       "  c2₊f(t) [defaults to 0.0]\n",
+       "⋮\n",
+       "\u001b[0m\u001b[1mParameters (2):\u001b[22m\n",
+       "  l0 [defaults to 1.0]\n",
+       "  k [defaults to 1.0]"
+      ]
+     },
+     "execution_count": 88,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "@named mass = Body1Port(x0=-1.0)\n",
+    "@named support = Anchor()\n",
+    "@named spring = Spring()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 89,
+   "id": "55e46cc5-2a19-4fd6-9c26-cf1c7389d975",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "\u001b[0m\u001b[1mModel spr_model with 12 equations\u001b[22m\n",
+       "\u001b[0m\u001b[1mStates (14):\u001b[22m\n",
+       "  mass₊f(t) [defaults to -9.82]\n",
+       "  mass₊x(t) [defaults to -1.0]\n",
+       "  mass₊v(t) [defaults to 0.0]\n",
+       "  mass₊c₊f(t) [defaults to 0.0]\n",
+       "  mass₊c₊x(t) [defaults to -1.0]\n",
+       "  support₊c₊f(t) [defaults to 0.0]\n",
+       "⋮\n",
+       "\u001b[0m\u001b[1mParameters (4):\u001b[22m\n",
+       "  mass₊m [defaults to 1.0]\n",
+       "  support₊x [defaults to 0.0]\n",
+       "  spring₊l0 [defaults to 1.0]\n",
+       "  spring₊k [defaults to 1.0]"
+      ]
+     },
+     "execution_count": 89,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "spr_eqs = [\n",
+    "        connect(support.c, spring.c1)\n",
+    "        connect(spring.c2,mass.c)\n",
+    "         ]\n",
+    "\n",
+    "@named _spr_model = ODESystem(spr_eqs, t)\n",
+    "@named spr_model = compose(_spr_model,\n",
+    "                          [mass,support,spring])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 90,
+   "id": "f85d6502-be89-4b7b-a3bc-3d2b0dbe14e8",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/latex": [
+       "\\begin{align}\n",
+       "\\frac{dmass_{+}x(t)}{dt} =& \\mathrm{mass_{+}v}\\left( t \\right) \\\\\n",
+       "\\frac{dmass_{+}v(t)}{dt} =& \\frac{\\mathrm{mass_{+}f}\\left( t \\right)}{mass_{+}m}\n",
+       "\\end{align}\n"
+      ],
+      "text/plain": [
+       "\u001b[0m\u001b[1mModel spr_model with 2 equations\u001b[22m\n",
+       "\u001b[0m\u001b[1mStates (2):\u001b[22m\n",
+       "  mass₊x(t) [defaults to -1.0]\n",
+       "  mass₊v(t) [defaults to 0.0]\n",
+       "\u001b[0m\u001b[1mParameters (4):\u001b[22m\n",
+       "  mass₊m [defaults to 1.0]\n",
+       "  support₊x [defaults to 0.0]\n",
+       "  spring₊l0 [defaults to 1.0]\n",
+       "  spring₊k [defaults to 1.0]\n",
+       "\u001b[35mIncidence matrix:\u001b[39msparse([1, 2, 2, 1], [1, 2, 3, 4], Num[×, ×, ×, ×], 2, 4)"
+      ]
+     },
+     "execution_count": 90,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "sys = structural_simplify(spr_model)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 91,
+   "id": "7ad0dfc5-6afe-4426-a7d3-c4b88bc44ec7",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "\u001b[36mODEProblem\u001b[0m with uType \u001b[36mVector{Float64}\u001b[0m and tType \u001b[36mFloat64\u001b[0m. In-place: \u001b[36mtrue\u001b[0m\n",
+       "timespan: (0.0, 10.0)\n",
+       "u0: 2-element Vector{Float64}:\n",
+       " -1.0\n",
+       "  0.0"
+      ]
+     },
+     "execution_count": 91,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "u0=[]\n",
+    "prob = ODAEProblem(sys, u0, (0, 10.0))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 92,
+   "id": "778a9ff8-d617-4457-b6e9-8a97826cc3ef",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "retcode: Success\n",
+       "Interpolation: specialized 4th order \"free\" interpolation\n",
+       "t: 22-element Vector{Float64}:\n",
+       "  0.0\n",
+       "  0.00010173126262739298\n",
+       "  0.0011190438889013227\n",
+       "  0.01129217015164062\n",
+       "  0.08004595182168153\n",
+       "  0.24029341740857643\n",
+       "  0.4808693495759493\n",
+       "  0.7844787914831862\n",
+       "  1.1663801662872162\n",
+       "  1.6208992115113288\n",
+       "  2.155428184619858\n",
+       "  2.7761510471612345\n",
+       "  3.4464786310017317\n",
+       "  4.053168663814441\n",
+       "  4.787219838504733\n",
+       "  5.535721767974483\n",
+       "  6.313242430190462\n",
+       "  7.015870417663902\n",
+       "  7.807856131018299\n",
+       "  8.620661192027338\n",
+       "  9.503870283299351\n",
+       " 10.0\n",
+       "u: 22-element Vector{Vector{Float64}}:\n",
+       " [-1.0, 0.0]\n",
+       " [-1.0000000508148164, -0.0009990009972778468]\n",
+       " [-1.0000061485921545, -0.010989008695496062]\n",
+       " [-1.0006260827012075, -0.1108867542682972]\n",
+       " [-1.0314433157451617, -0.7852120976310483]\n",
+       " [-1.2821464118941286, -2.3370384690520782]\n",
+       " [-2.1136554770623315, -4.5422421469452114]\n",
+       " [-3.869831074035066, -6.937402014950895]\n",
+       " [-6.956009277038737, -9.027843669044605]\n",
+       " [-11.311816603948293, -9.807675319987299]\n",
+       " [-16.23961670655592, -8.189028059188475]\n",
+       " [-19.991602621152296, -3.5091940698644515]\n",
+       " [-20.187092804603587, 2.948050335630719]\n",
+       " [-16.834561708452835, 7.762648930775973]\n",
+       " [-10.085316454277237, 9.792628088941365]\n",
+       " [-3.617150751903611, 6.675048257010278]\n",
+       " [-1.004076126787277, -0.2962270444910492]\n",
+       " [-3.5205114828010546, -6.569526083237355]\n",
+       " [-10.368811035959851, -9.810247029924861]\n",
+       " [-17.634665571832205, -7.0717061469395475]\n",
+       " [-20.61034428333177, 0.7787734201686647]\n",
+       " [-19.05921279974757, 5.345344797674345]"
+      ]
+     },
+     "execution_count": 92,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "sol = solve(prob, Tsit5())"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 93,
+   "id": "122c1032-0bd1-4218-948a-820047010413",
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+       "  1332.18,157.603 1334.36,159.962 1336.53,162.356 1338.71,164.784 1340.89,167.247 1343.06,169.743 1345.24,172.273 1347.41,174.836 1349.59,177.432 1351.77,180.061 \n",
+       "  1353.94,182.723 1356.12,185.417 1358.29,188.142 1360.47,190.9 1362.65,193.689 1364.82,196.509 1367,199.359 1369.17,202.241 1371.35,205.152 1373.53,208.094 \n",
+       "  1375.7,211.065 1377.88,214.065 1380.05,217.094 1382.23,220.152 1384.41,223.238 1386.58,226.352 1388.76,229.494 1390.94,232.664 1393.11,235.861 1395.29,239.085 \n",
+       "  1397.46,242.335 1399.64,245.612 1401.82,248.915 1403.99,252.243 1406.17,255.596 1408.34,258.975 1410.52,262.378 1412.7,265.805 1414.87,269.256 1417.05,272.731 \n",
+       "  1419.22,276.228 1421.4,279.749 1423.58,283.292 1425.75,286.857 1427.93,290.444 1430.1,294.053 1432.28,297.682 1434.46,301.332 1436.63,305.003 1438.81,308.694 \n",
+       "  1440.98,312.404 1443.16,316.133 1445.34,319.881 1447.51,323.648 1449.69,327.433 1451.86,331.236 1454.04,335.056 1456.22,338.893 1458.39,342.747 1460.57,346.617 \n",
+       "  1462.75,350.503 1464.92,354.405 1467.1,358.322 1469.27,362.253 1471.45,366.199 1473.63,370.158 1475.8,374.131 1477.98,378.118 1480.15,382.117 1482.33,386.128 \n",
+       "  1484.51,390.152 1486.68,394.187 1488.86,398.233 1491.03,402.29 1493.21,406.358 1495.39,410.435 1497.56,414.522 1499.74,418.618 1501.91,422.722 1504.09,426.835 \n",
+       "  1506.27,430.956 1508.44,435.085 1510.62,439.22 1512.79,443.362 1514.97,447.51 1517.15,451.664 1519.32,455.824 1521.5,459.988 1523.68,464.157 1525.85,468.33 \n",
+       "  1528.03,472.506 1530.2,476.686 1532.38,480.868 1534.56,485.053 1536.73,489.24 1538.91,493.428 1541.08,497.617 1543.26,501.807 1545.44,505.996 1547.61,510.186 \n",
+       "  1549.79,514.374 1551.96,518.562 1554.14,522.748 1556.32,526.932 1558.49,531.114 1560.67,535.294 1562.84,539.47 1565.02,543.643 1567.2,547.812 1569.37,551.977 \n",
+       "  1571.55,556.137 1573.72,560.292 1575.9,564.442 1578.08,568.585 1580.25,572.722 1582.43,576.852 1584.6,580.975 1586.78,585.09 1588.96,589.197 1591.13,593.296 \n",
+       "  1593.31,597.386 1595.49,601.466 1597.66,605.536 1599.84,609.597 1602.01,613.647 1604.19,617.685 1606.37,621.713 1608.54,625.729 1610.72,629.732 1612.89,633.723 \n",
+       "  1615.07,637.701 1617.25,641.666 1619.42,645.617 1621.6,649.553 1623.77,653.475 1625.95,657.383 1628.13,661.275 1630.3,665.151 1632.48,669.011 1634.65,672.855 \n",
+       "  1636.83,676.682 1639.01,680.492 1641.18,684.284 1643.36,688.058 1645.53,691.813 1647.71,695.55 1649.89,699.268 1652.06,702.967 1654.24,706.646 1656.41,710.304 \n",
+       "  1658.59,713.942 1660.77,717.559 1662.94,721.154 1665.12,724.728 1667.3,728.28 1669.47,731.81 1671.65,735.317 1673.82,738.801 1676,742.261 1678.18,745.698 \n",
+       "  1680.35,749.11 1682.53,752.498 1684.7,755.862 1686.88,759.2 1689.06,762.512 1691.23,765.799 1693.41,769.059 1695.58,772.293 1697.76,775.5 1699.94,778.68 \n",
+       "  1702.11,781.832 1704.29,784.957 1706.46,788.053 1708.64,791.122 1710.82,794.161 1712.99,797.172 1715.17,800.154 1717.34,803.106 1719.52,806.029 1721.7,808.921 \n",
+       "  1723.87,811.783 1726.05,814.614 1728.23,817.414 1730.4,820.183 1732.58,822.921 1734.75,825.626 1736.93,828.299 1739.11,830.94 1741.28,833.548 1743.46,836.123 \n",
+       "  1745.63,838.665 1747.81,841.174 1749.99,843.648 1752.16,846.089 1754.34,848.495 1756.51,850.867 1758.69,853.204 1760.87,855.506 1763.04,857.773 1765.22,860.004 \n",
+       "  1767.39,862.2 1769.57,864.36 1771.75,866.484 1773.92,868.571 1776.1,870.622 1778.27,872.636 1780.45,874.613 1782.63,876.553 1784.8,878.456 1786.98,880.321 \n",
+       "  1789.15,882.148 1791.33,883.938 1793.51,885.689 1795.68,887.402 1797.86,889.077 1800.04,890.713 1802.21,892.311 1804.39,893.869 1806.56,895.389 1808.74,896.869 \n",
+       "  1810.92,898.31 1813.09,899.712 1815.27,901.074 1817.44,902.396 1819.62,903.678 1821.8,904.921 1823.97,906.123 1826.15,907.285 1828.32,908.406 1830.5,909.488 \n",
+       "  1832.68,910.528 1834.85,911.528 1837.03,912.487 1839.2,913.406 1841.38,914.283 1843.56,915.119 1845.73,915.915 1847.91,916.669 1850.08,917.381 1852.26,918.053 \n",
+       "  1854.44,918.683 1856.61,919.272 1858.79,919.819 1860.97,920.324 1863.14,920.788 1865.32,921.211 1867.49,921.591 1869.67,921.93 1871.85,922.228 1874.02,922.483 \n",
+       "  1876.2,922.696 1878.37,922.868 1880.55,922.998 1882.73,923.087 1884.9,923.133 1887.08,923.138 1889.25,923.101 1891.43,923.022 1893.61,922.901 1895.78,922.739 \n",
+       "  1897.96,922.534 1900.13,922.288 1902.31,922.001 1904.49,921.671 1906.66,921.3 1908.84,920.887 1911.01,920.432 1913.19,919.936 1915.37,919.398 1917.54,918.818 \n",
+       "  1919.72,918.197 1921.89,917.535 1924.07,916.831 1926.25,916.086 1928.42,915.3 1930.6,914.472 1932.78,913.604 1934.95,912.694 1937.13,911.743 1939.3,910.752 \n",
+       "  1941.48,909.72 1943.66,908.647 1945.83,907.534 1948.01,906.38 1950.18,905.186 1952.36,903.951 1954.54,902.677 1956.71,901.362 1958.89,900.008 1961.06,898.614 \n",
+       "  1963.24,897.18 1965.42,895.707 1967.59,894.195 1969.77,892.643 1971.94,891.053 1974.12,889.424 1976.3,887.756 1978.47,886.049 1980.65,884.304 1982.82,882.521 \n",
+       "  1985,880.7 1987.18,878.842 1989.35,876.945 1991.53,875.011 1993.71,873.04 1995.88,871.032 1998.06,868.988 2000.23,866.906 2002.41,864.788 2004.59,862.634 \n",
+       "  2006.76,860.444 2008.94,858.219 2011.11,855.958 2013.29,853.661 2015.47,851.33 2017.64,848.964 2019.82,846.563 2021.99,844.128 2024.17,841.659 2026.35,839.156 \n",
+       "  2028.52,836.62 2030.7,834.051 2032.87,831.448 2035.05,828.813 2037.23,826.146 2039.4,823.446 2041.58,820.715 2043.75,817.952 2045.93,815.158 2048.11,812.333 \n",
+       "  2050.28,809.478 2052.46,806.592 2054.63,803.677 2056.81,800.731 2058.99,797.756 2061.16,794.751 2063.34,791.717 2065.52,788.655 2067.69,785.564 2069.87,782.445 \n",
+       "  2072.04,779.299 2074.22,776.125 2076.4,772.924 2078.57,769.696 2080.75,766.442 2082.92,763.161 2085.1,759.855 2087.28,756.523 2089.45,753.166 2091.63,749.784 \n",
+       "  2093.8,746.378 2095.98,742.947 2098.16,739.493 2100.33,736.015 2102.51,732.515 2104.68,728.991 2106.86,725.445 2109.04,721.877 2111.21,718.287 2113.39,714.675 \n",
+       "  2115.56,711.043 2117.74,707.39 2119.92,703.717 2122.09,700.024 2124.27,696.311 2126.45,692.579 2128.62,688.828 2130.8,685.058 2132.97,681.271 2135.15,677.465 \n",
+       "  2137.33,673.643 2139.5,669.803 2141.68,665.946 2143.85,662.074 2146.03,658.185 2148.21,654.281 2150.38,650.362 2152.56,646.428 2154.73,642.48 2156.91,638.518 \n",
+       "  2159.09,634.542 2161.26,630.553 2163.44,626.551 2165.61,622.537 2167.79,618.511 2169.97,614.474 2172.14,610.425 2174.32,606.365 2176.49,602.295 2178.67,598.215 \n",
+       "  2180.85,594.126 2183.02,590.028 2185.2,585.92 2187.37,581.805 2189.55,577.681 2191.73,573.55 2193.9,569.412 2196.08,565.268 2198.26,561.117 2200.43,556.96 \n",
+       "  2202.61,552.798 2204.78,548.632 2206.96,544.46 2209.14,540.285 2211.31,536.106 2213.49,531.924 2215.66,527.739 2217.84,523.552 2220.02,519.363 2222.19,515.172 \n",
+       "  2224.37,510.981 2226.54,506.789 2228.72,502.597 2230.9,498.406 2233.07,494.215 2235.25,490.026 2237.42,485.838 2239.6,481.653 2241.78,477.47 2243.95,473.291 \n",
+       "  2246.13,469.115 2248.3,464.942 2250.48,460.774 2252.66,456.61 2254.83,452.451 2257.01,448.297 2259.19,444.148 2261.36,440.006 2263.54,435.87 2265.71,431.741 \n",
+       "  2267.89,427.619 2270.07,423.505 2272.24,419.399 2274.42,415.302 2276.59,411.214 2278.77,407.135 2280.95,403.066 2283.12,399.007 2285.3,394.959 2287.47,390.922 \n",
+       "  2289.65,386.896 2291.83,382.882 2294,378.88 2296.18,374.891 2298.35,370.914 2300.53,366.952 2302.71,363.003 2304.88,359.068 2307.06,355.148 2309.23,351.242 \n",
+       "  2311.41,347.352 2313.59,343.478 2315.76,339.62 2317.94,335.779 2320.11,331.954 2322.29,328.147 2324.47,324.357 2326.64,320.586 2328.82,316.833 2331,313.098 \n",
+       "  2333.17,309.383 2335.35,305.688 2337.52,302.012 2339.7,298.357 2341.88,294.722 2344.05,291.108 2346.23,287.516 2348.4,283.946 2350.58,280.397 2352.76,276.871 \n",
+       "  \n",
+       "  \"/>\n",
+       "<path clip-path=\"url(#clip490)\" d=\"\n",
+       "M2013.56 248.629 L2280.29 248.629 L2280.29 93.1086 L2013.56 93.1086  Z\n",
+       "  \" fill=\"#ffffff\" fill-rule=\"evenodd\" fill-opacity=\"1\"/>\n",
+       "<polyline clip-path=\"url(#clip490)\" style=\"stroke:#000000; stroke-linecap:butt; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"\n",
+       "  2013.56,248.629 2280.29,248.629 2280.29,93.1086 2013.56,93.1086 2013.56,248.629 \n",
+       "  \"/>\n",
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+       "  2037.72,144.949 2182.64,144.949 \n",
+       "  \"/>\n",
+       "<path clip-path=\"url(#clip490)\" d=\"M2222.42 143.594 Q2225.78 144.312 2227.66 146.581 Q2229.55 148.849 2229.55 152.182 Q2229.55 157.298 2226.04 160.099 Q2222.52 162.9 2216.04 162.9 Q2213.86 162.9 2211.54 162.46 Q2209.25 162.043 2206.8 161.187 L2206.8 156.673 Q2208.74 157.807 2211.06 158.386 Q2213.37 158.965 2215.9 158.965 Q2220.29 158.965 2222.59 157.229 Q2224.9 155.493 2224.9 152.182 Q2224.9 149.127 2222.75 147.414 Q2220.62 145.678 2216.8 145.678 L2212.77 145.678 L2212.77 141.835 L2216.98 141.835 Q2220.43 141.835 2222.26 140.469 Q2224.09 139.081 2224.09 136.488 Q2224.09 133.826 2222.19 132.414 Q2220.32 130.979 2216.8 130.979 Q2214.88 130.979 2212.68 131.395 Q2210.48 131.812 2207.84 132.692 L2207.84 128.525 Q2210.5 127.784 2212.82 127.414 Q2215.16 127.044 2217.22 127.044 Q2222.54 127.044 2225.64 129.474 Q2228.74 131.882 2228.74 136.002 Q2228.74 138.872 2227.1 140.863 Q2225.46 142.831 2222.42 143.594 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><polyline clip-path=\"url(#clip490)\" style=\"stroke:#e26f46; stroke-linecap:butt; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"\n",
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+       "  \"/>\n",
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+      ]
+     },
+     "execution_count": 93,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "plot(sol)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "bdc5489e-a089-4c8c-b1b0-680e438dbb2f",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Julia 1.7.2",
+   "language": "julia",
+   "name": "julia-1.7"
+  },
+  "language_info": {
+   "file_extension": ".jl",
+   "mimetype": "application/julia",
+   "name": "julia",
+   "version": "1.7.2"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/mtk_2d_pendulumcart.ipynb b/mtk_2d_pendulumcart.ipynb
index b99b9f878b251906dce49bd748c1e02a4cbf912d..de797623749b34e967284a9f5c4b634d0fd14d3f 100644
--- a/mtk_2d_pendulumcart.ipynb
+++ b/mtk_2d_pendulumcart.ipynb
@@ -9,7 +9,7 @@
     {
      "data": {
       "text/plain": [
-       "rotmat (generic function with 1 method)"
+       "9.82"
       ]
      },
      "execution_count": 1,
@@ -54,7 +54,7 @@
     {
      "data": {
       "text/plain": [
-       "Weld (generic function with 1 method)"
+       "Weld"
       ]
      },
      "execution_count": 2,
@@ -63,6 +63,17 @@
     }
    ],
    "source": [
+    "\"\"\"\n",
+    "Basic link component for connecting bodies to eachother\n",
+    "\n",
+    "# Variables:\n",
+    "    fx: Force in x-direction\n",
+    "    fy: Force in y-direction\n",
+    "    M: Moment\n",
+    "    x: Position x\n",
+    "    y: Position y\n",
+    "    rotation: Angle\n",
+    "\"\"\"\n",
     "@connector function Weld(;name, x0 = 0.0, y0 = 0.0,  θ0 = 0.0)\n",
     "    sts = @variables fx(t)=0. fy(t)=0. x(t)=x0 y(t)=y0 M(t)=0.0 θ(t)=θ0 [connect = Flow]\n",
     "    ODESystem(Equation[], t, sts, []; name=name)\n",
@@ -78,7 +89,7 @@
     {
      "data": {
       "text/plain": [
-       "Body1Port (generic function with 1 method)"
+       "Body1Port"
       ]
      },
      "execution_count": 3,
@@ -87,19 +98,24 @@
     }
    ],
    "source": [
+    "\"\"\"\n",
+    "    Body1Port(m = 1.0, J = 1.0, cmx = 0., cmy = 0., x1 = 0., y1 = 0., θ0 = 0.0)\n",
+    "\n",
+    "Body with one connection point and one center of mass\n",
+    "\"\"\"\n",
     "function Body1Port(;name, m = 1.0, J = 1.0, cmx = 0., cmy = 0., x1 = 0., y1 = 0., θ0 = 0.0)\n",
     "    @named c = Weld(x0=x1,y0=y1,θ0=θ0)\n",
     "    sts = @variables fx(t)=0. fy(t)=0. x(t)=cmx y(t)=cmy M(t)=0.0 θ(t)=θ0\n",
     "    ps = @parameters m=m J=J θ0=θ0 dx=x1-cmx dy=y1-cmy\n",
     "    eqs = [\n",
-    "        m*D(D(x)) ~ fx\n",
-    "        m*D(D(y)) ~ fy\n",
-    "        J*D(D(θ)) ~ M\n",
-    "        fx ~ c.fx\n",
-    "        fy ~ c.fy-m*g\n",
-    "        M ~ c.M + c.fy*(c.x-x) - c.fx*(c.y-y)\n",
-    "        c.x ~ x + cos(θ-θ0)*dx - sin(θ-θ0)*dy\n",
-    "        c.y ~ y + sin(θ-θ0)*dx + cos(θ-θ0)*dy\n",
+    "        m*D(D(x)) ~ fx   # Acceleration in x proportional to force\n",
+    "        m*D(D(y)) ~ fy   # Acceleration in y proportional to force\n",
+    "        J*D(D(θ)) ~ M    # Angular acceleration proportional to moment\n",
+    "        fx ~ c.fx        # Sum up all forces in x (only forces from connection c)\n",
+    "        fy ~ c.fy-m*g    # Sum up all forces in y (connecting force and gravity)\n",
+    "        M ~ c.M + c.fy*(c.x-x) - c.fx*(c.y-y) # Calculate moment around center of mass\n",
+    "        c.x ~ x + cos(θ-θ0)*dx - sin(θ-θ0)*dy # Set up relation between center of mass and connection point\n",
+    "        c.y ~ y + sin(θ-θ0)*dx + cos(θ-θ0)*dy # Set up relation between center of mass and connection point\n",
     "        ]\n",
     "    compose(ODESystem(eqs, t, sts, ps; name=name),c)\n",
     "end"
@@ -107,22 +123,27 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": 4,
    "id": "c80c42a1-a706-4fda-b760-c50241984935",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "PoweredJoint (generic function with 1 method)"
+       "PoweredJoint"
       ]
      },
-     "execution_count": 23,
+     "execution_count": 4,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
+    "\"\"\"\n",
+    "    PoweredJoint(x0 = 0.0, y0 = 0.0, θ0=0.0)\n",
+    "\n",
+    "A joint with position x,y,θ connecting welding points i and o such that they experience the input moment Mu.\n",
+    "\"\"\"\n",
     "function PoweredJoint(;name, x0 = 0.0, y0 = 0.0, θ0=0.0)\n",
     "    @named i = Weld(x0=x0,y0=y0,θ0=θ0)\n",
     "    @named o = Weld(x0=x0,y0=y0,θ0=θ0)\n",
@@ -147,22 +168,27 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 5,
    "id": "2198049f-c53c-42d0-8af7-2c734f805cc5",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "Anchor (generic function with 1 method)"
+       "Anchor"
       ]
      },
-     "execution_count": 15,
+     "execution_count": 5,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
+    "\"\"\"\n",
+    "    Anchor(x = 0.0, y=0.0, θ = 0.0)\n",
+    "\n",
+    "Create a stationary anchor at positon `x`,`y`,`θ`, with one connection point `c`.\n",
+    "\"\"\"\n",
     "function Anchor(;name, x = 0.0, y=0.0, θ = 0.0)\n",
     "    @named c = Weld(x0=x,y0=y,θ0=θ)\n",
     "    ps = @parameters x=x y=y θ=θ\n",
@@ -177,22 +203,30 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 26,
+   "execution_count": 6,
    "id": "60c141ec-76eb-4789-90e2-d07c3cde0cf2",
    "metadata": {},
    "outputs": [],
    "source": [
     "θ0 = π/3\n",
     "l = 1.0\n",
+    "\n",
+    "# Create a pendulum\n",
     "@named pendulum1 = Body1Port(cmx = l*cos(θ0), cmy = l*sin(θ0), θ0=θ0)\n",
+    "\n",
+    "# Create an anchor \"in the wall\"\n",
     "@named lock = Anchor()\n",
+    "\n",
+    "# Create a joint\n",
     "@named joint = PoweredJoint()\n",
+    "\n",
+    "# Create an inpuyt to the powered joint with constant moment\n",
     "@named drive = Constant(k=0.0);"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 35,
+   "execution_count": 7,
    "id": "0d532d7b-29e9-4c35-b2c6-e6d4d8385a59",
    "metadata": {},
    "outputs": [
@@ -205,22 +239,22 @@
        " Connection(nothing, nothing) ~ Connection((ODESystem(Equation[], t, Term{Real, Base.ImmutableDict{DataType, Any}}[u(t)], Any[], Dict{Any, Any}(:u => u(t)), Any[], Equation[], Base.RefValue{Vector{Num}}(Num[]), Base.RefValue{Any}(Matrix{Num}(undef, 0, 0)), Base.RefValue{Any}(Matrix{Num}(undef, 0, 0)), Base.RefValue{Matrix{Num}}(Matrix{Num}(undef, 0, 0)), Base.RefValue{Matrix{Num}}(Matrix{Num}(undef, 0, 0)), :drive₊output, ODESystem[], Dict{Any, Any}(u(t) => [0.0]), nothing, ModelingToolkit.RegularConnector(), nothing, nothing, ModelingToolkit.SymbolicContinuousCallback[ModelingToolkit.SymbolicContinuousCallback(Equation[], Equation[])], nothing, nothing), ODESystem(Equation[], t, Term{Real, Base.ImmutableDict{DataType, Any}}[u(t)], Any[], Dict{Any, Any}(:u => u(t)), Any[], Equation[], Base.RefValue{Vector{Num}}(Num[]), Base.RefValue{Any}(Matrix{Num}(undef, 0, 0)), Base.RefValue{Any}(Matrix{Num}(undef, 0, 0)), Base.RefValue{Matrix{Num}}(Matrix{Num}(undef, 0, 0)), Base.RefValue{Matrix{Num}}(Matrix{Num}(undef, 0, 0)), :joint₊Mu, ODESystem[], Dict{Any, Any}(u(t) => [0.0]), nothing, ModelingToolkit.RegularConnector(), nothing, nothing, ModelingToolkit.SymbolicContinuousCallback[ModelingToolkit.SymbolicContinuousCallback(Equation[], Equation[])], nothing, nothing)), nothing)"
       ]
      },
-     "execution_count": 35,
+     "execution_count": 7,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
     "pendulum_eqs = [\n",
-    "    connect(lock.c,joint.i)\n",
-    "    connect(joint.o,pendulum1.c)\n",
-    "    connect(drive.output,joint.Mu)\n",
+    "    connect(lock.c,joint.i)           # Connect anchor to joint\n",
+    "    connect(joint.o,pendulum1.c)      # Connect joint to pendulum\n",
+    "    connect(drive.output,joint.Mu)    # Connect input to joint\n",
     "    ]"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 36,
+   "execution_count": 8,
    "id": "f4cebf14-322c-437e-a73f-46786bd7f541",
    "metadata": {},
    "outputs": [
@@ -232,7 +266,7 @@
        "\u001b[0m\u001b[1mParameters (0):\u001b[22m"
       ]
      },
-     "execution_count": 36,
+     "execution_count": 8,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -243,7 +277,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 37,
+   "execution_count": 9,
    "id": "30f79cf7-e9a9-4ff3-a797-01c4b48c6995",
    "metadata": {},
    "outputs": [
@@ -269,7 +303,7 @@
        "⋮"
       ]
      },
-     "execution_count": 37,
+     "execution_count": 9,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -281,7 +315,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 38,
+   "execution_count": 17,
    "id": "2f834a9e-cd3c-42da-9914-94c9198b4e0d",
    "metadata": {},
    "outputs": [
@@ -324,7 +358,7 @@
        "\u001b[35mIncidence matrix:\u001b[39msparse([1, 8, 7, 2, 11, 10, 3, 8, 11, 7  …  4, 5, 4, 6, 1, 4, 3, 4, 2, 4], [1, 1, 2, 3, 3, 4, 5, 5, 5, 6  …  14, 14, 15, 15, 16, 16, 17, 17, 18, 18], Num[×, ×, ×, ×, ×, ×, ×, ×, ×, ×  …  ×, ×, ×, ×, ×, ×, ×, ×, ×, ×], 12, 18)"
       ]
      },
-     "execution_count": 38,
+     "execution_count": 17,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -335,94 +369,70 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 42,
-   "id": "3a758a26-80cc-4271-8009-e7f1b1d751c9",
+   "execution_count": 13,
+   "id": "bb49a98e-a6a3-4382-87a6-c5e40f24711f",
    "metadata": {},
    "outputs": [
     {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "search: \u001b[0m\u001b[1mO\u001b[22m\u001b[0m\u001b[1mD\u001b[22m\u001b[0m\u001b[1mA\u001b[22m\u001b[0m\u001b[1mE\u001b[22m\u001b[0m\u001b[1mP\u001b[22m\u001b[0m\u001b[1mr\u001b[22m\u001b[0m\u001b[1mo\u001b[22m\u001b[0m\u001b[1mb\u001b[22m\u001b[0m\u001b[1ml\u001b[22m\u001b[0m\u001b[1me\u001b[22m\u001b[0m\u001b[1mm\u001b[22m\n",
-      "\n"
+     "ename": "LoadError",
+     "evalue": "KeyError: key 18 not found",
+     "output_type": "error",
+     "traceback": [
+      "KeyError: key 18 not found",
+      "",
+      "Stacktrace:",
+      "  [1] getindex",
+      "    @ ./dict.jl:481 [inlined]",
+      "  [2] torn_system_with_nlsolve_jacobian_sparsity(state::TearingState{ODESystem}, var_eq_matching::ModelingToolkit.BipartiteGraphs.Matching{ModelingToolkit.BipartiteGraphs.Unassigned, Vector{Union{ModelingToolkit.BipartiteGraphs.Unassigned, Int64}}}, var_sccs::Vector{Vector{Int64}}, nlsolve_scc_idxs::Vector{Int64}, eqs_idxs::Vector{Int64}, states_idxs::Vector{Int64})",
+      "    @ ModelingToolkit.StructuralTransformations ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:84",
+      "  [3] build_torn_function(sys::ODESystem; expression::Bool, jacobian_sparsity::Bool, checkbounds::Bool, max_inlining_size::Nothing, kw::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})",
+      "    @ ModelingToolkit.StructuralTransformations ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:346",
+      "  [4] build_torn_function",
+      "    @ ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:238 [inlined]",
+      "  [5] ODAEProblem{true}(sys::ODESystem, u0map::Vector{Any}, tspan::Tuple{Int64, Float64}, parammap::SciMLBase.NullParameters; callback::Nothing, use_union::Bool, kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})",
+      "    @ ModelingToolkit.StructuralTransformations ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:529",
+      "  [6] ODAEProblem (repeats 2 times)",
+      "    @ ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:529 [inlined]",
+      "  [7] ODAEProblem(::ODESystem, ::Vararg{Any}; kw::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})",
+      "    @ ModelingToolkit.StructuralTransformations ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:506",
+      "  [8] ODAEProblem(::ODESystem, ::Vararg{Any})",
+      "    @ ModelingToolkit.StructuralTransformations ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:506",
+      "  [9] top-level scope",
+      "    @ In[13]:1",
+      " [10] eval",
+      "    @ ./boot.jl:373 [inlined]",
+      " [11] include_string(mapexpr::typeof(REPL.softscope), mod::Module, code::String, filename::String)",
+      "    @ Base ./loading.jl:1196"
      ]
-    },
-    {
-     "data": {
-      "text/latex": [
-       "\\begin{verbatim}\n",
-       "ODAEProblem{iip}(sys, u0map, tspan, parammap = DiffEqBase.NullParameters(); kw...)\n",
-       "\\end{verbatim}\n",
-       "This constructor acts similar to the one for \\href{@ref}{\\texttt{ODEProblem}} with the following changes: \\texttt{ODESystem}s can sometimes be further reduced if \\texttt{structural\\_simplify} has already been applied to them. This is done this constructor. In these cases, the constructor uses the knowledge of the strongly connected components calculated during the process of simplification as the basis for building pre-simplified nonlinear systems in the implicit solving. In summary: these problems are structurally modified, but could be more efficient and more stable. Note, the returned object is still of type \\href{@ref}{\\texttt{ODEProblem}}.\n",
-       "\n"
-      ],
-      "text/markdown": [
-       "```\n",
-       "ODAEProblem{iip}(sys, u0map, tspan, parammap = DiffEqBase.NullParameters(); kw...)\n",
-       "```\n",
-       "\n",
-       "This constructor acts similar to the one for [`ODEProblem`](@ref) with the following changes: `ODESystem`s can sometimes be further reduced if `structural_simplify` has already been applied to them. This is done this constructor. In these cases, the constructor uses the knowledge of the strongly connected components calculated during the process of simplification as the basis for building pre-simplified nonlinear systems in the implicit solving. In summary: these problems are structurally modified, but could be more efficient and more stable. Note, the returned object is still of type [`ODEProblem`](@ref).\n"
-      ],
-      "text/plain": [
-       "\u001b[36m  ODAEProblem{iip}(sys, u0map, tspan, parammap = DiffEqBase.NullParameters(); kw...)\u001b[39m\n",
-       "\n",
-       "  This constructor acts similar to the one for \u001b[36mODEProblem\u001b[39m with the following\n",
-       "  changes: \u001b[36mODESystem\u001b[39ms can sometimes be further reduced if \u001b[36mstructural_simplify\u001b[39m\n",
-       "  has already been applied to them. This is done this constructor. In these\n",
-       "  cases, the constructor uses the knowledge of the strongly connected\n",
-       "  components calculated during the process of simplification as the basis for\n",
-       "  building pre-simplified nonlinear systems in the implicit solving. In\n",
-       "  summary: these problems are structurally modified, but could be more\n",
-       "  efficient and more stable. Note, the returned object is still of type\n",
-       "  \u001b[36mODEProblem\u001b[39m."
-      ]
-     },
-     "execution_count": 42,
-     "metadata": {},
-     "output_type": "execute_result"
     }
    ],
    "source": [
-    "? ODAEProblem"
+    "prob = ODAEProblem(sys, [],(0, 0.1))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 40,
-   "id": "bb49a98e-a6a3-4382-87a6-c5e40f24711f",
+   "execution_count": 12,
+   "id": "beec0bee-b5b5-4ea6-8e3e-4d32f63776e2",
    "metadata": {},
    "outputs": [
     {
      "ename": "LoadError",
-     "evalue": "MethodError: no method matching ODAEProblem{true}(::ODESystem, ::Tuple{Int64, Float64})\n\u001b[0mClosest candidates are:\n\u001b[0m  ODAEProblem{iip}(::Any, ::Any, \u001b[91m::Any\u001b[39m) where iip at ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:520\n\u001b[0m  ODAEProblem{iip}(::Any, ::Any, \u001b[91m::Any\u001b[39m, \u001b[91m::Any\u001b[39m; callback, use_union, kwargs...) where iip at ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:520",
+     "evalue": "UndefVarError: prob not defined",
      "output_type": "error",
      "traceback": [
-      "MethodError: no method matching ODAEProblem{true}(::ODESystem, ::Tuple{Int64, Float64})\n\u001b[0mClosest candidates are:\n\u001b[0m  ODAEProblem{iip}(::Any, ::Any, \u001b[91m::Any\u001b[39m) where iip at ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:520\n\u001b[0m  ODAEProblem{iip}(::Any, ::Any, \u001b[91m::Any\u001b[39m, \u001b[91m::Any\u001b[39m; callback, use_union, kwargs...) where iip at ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:520",
+      "UndefVarError: prob not defined",
       "",
       "Stacktrace:",
-      " [1] ODAEProblem(::ODESystem, ::Vararg{Any}; kw::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})",
-      "   @ ModelingToolkit.StructuralTransformations ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:506",
-      " [2] ODAEProblem(::ODESystem, ::Vararg{Any})",
-      "   @ ModelingToolkit.StructuralTransformations ~/.julia/packages/ModelingToolkit/gG7nj/src/structural_transformation/codegen.jl:506",
-      " [3] top-level scope",
-      "   @ In[40]:1",
-      " [4] eval",
+      " [1] top-level scope",
+      "   @ In[12]:1",
+      " [2] eval",
       "   @ ./boot.jl:373 [inlined]",
-      " [5] include_string(mapexpr::typeof(REPL.softscope), mod::Module, code::String, filename::String)",
+      " [3] include_string(mapexpr::typeof(REPL.softscope), mod::Module, code::String, filename::String)",
       "   @ Base ./loading.jl:1196"
      ]
     }
    ],
-   "source": [
-    "prob = ODAEProblem(sys, (0, 3.0))"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "beec0bee-b5b5-4ea6-8e3e-4d32f63776e2",
-   "metadata": {},
-   "outputs": [],
    "source": [
     "sol = solve(prob, Tsit5())"
    ]