i noticed that various blocks in Simscape have a Port corresponding to a Coordinate Frame - like all the Solid Blocks. For my task, i want to implement a custom component which also has Frame Ports. I struggle to write this Frame Ports in Simscape language - both the foundation.mechanical.translational.translational / .rotational.rotational domains won't work for obvious reasons. Changing the whole model to either of the domains is not feasible.
Could someone give me a hint on how to code Frame Ports in Simscape?