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model_i
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SD/FAST Information File: model.sd
Generated 22-Jun-2007 09:35:40 by SD/FAST, Kane's formulation
(sdfast B.2.8 #30123) on machine ID unknown
ROADMAP (model.sd)
Bodies Inb
No Name body Joint type Coords q Multipliers
--- --------- ---- ----------- ---------------- -----------------------
-1 $ground |
0 pelvis -1 Planar 0 1 2 |
1 femur_r 0 Pin 3 |
2 tibia_r 1 Planar 4 5 6 |
3 patella_r 2 Planar 7 8 9 |
4 talus_r 2 Pin 10 |
5 calcn_r 4 Pin 11p | 0p
6 midfoot_r 5 Pin 12 |
7 toes_r 6 Pin 13 |
8 femur_l 0 Pin 14 |
9 tibia_l 8 Planar 15 16 17 |
10 patella_l 9 Planar 18 19 20 |
11 talus_l 9 Pin 21 |
12 calcn_l 11 Pin 22p | 1p
13 midfoot_l 12 Pin 23 |
14 toes_l 13 Pin 24 |
User Constraints
0 user_0 | 2
1 user_1 | 3
2 user_2 | 4
3 user_3 | 5
4 user_4 | 6
5 user_5 | 7
6 user_6 | 8
7 user_7 | 9
8 user_8 | 10
9 user_9 | 11
STATE INDEX TO JOINT/AXIS MAP (model.sd)
Index
q|u Joint Axis Joint type Axis type Joint Name
----- ----- ---- ----------- ---------- ----------
0|25 0 0 Planar translate
1|26 . 1 . translate
2|27 . 2 . rotate
3|28 1 0 Pin rotate
4|29 2 0 Planar translate
5|30 . 1 . translate
6|31 . 2 . rotate
7|32 3 0 Planar translate
8|33 . 1 . translate
9|34 . 2 . rotate
10|35 4 0 Pin rotate
11|36 5 0p Pin rotate
12|37 6 0 Pin rotate
13|38 7 0 Pin rotate
14|39 8 0 Pin rotate
15|40 9 0 Planar translate
16|41 . 1 . translate
17|42 . 2 . rotate
18|43 10 0 Planar translate
19|44 . 1 . translate
20|45 . 2 . rotate
21|46 11 0 Pin rotate
22|47 12 0p Pin rotate
23|48 13 0 Pin rotate
24|49 14 0 Pin rotate
SYSTEM PARAMETERS (model.sd)
Parameter Value Description
nbod 15 no. bodies (also, no. of tree joints)
njnt 15 total number of joints (tree+loop)
ndof 25 no. degrees of freedom allowed by tree joints
nloop 0 no. loop joints
nldof 0 no. degrees of freedom allowed by loop joints
nq 25 no. position coordinates in state (tree joints)
nu 25 no. rate coordinates in state (tree joints)
nlq 0 no. position coordinates describing loop joints
nlu 0 no. rate coordinates describing loop joints
nc 12 total no. constraints defined
nlc 0 no. loop joint constraints
npresc 2 no. prescribed motion constraints
nuserc 10 no. user constraints