SD/FAST Information File: legs2d.sd Generated 15-Aug-2007 15:39:31 by SD/FAST, Kane's formulation (sdfast B.2.8 #30123) on machine ID unknown ROADMAP (legs2d.sd) Bodies Inb No Name body Joint type Coords q --- ----------- ---- ----------- ---------------- -1 $ground 0 trunk -1 Planar 0 1 2 1 left_thigh 0 Pin 3 2 left_shank 1 Pin 4 3 left_foot 2 Pin 5 4 right_thigh 0 Pin 6 5 right_shank 4 Pin 7 6 right_foot 5 Pin 8 STATE INDEX TO JOINT/AXIS MAP (legs2d.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|9 0 0 Planar translate 1|10 . 1 . translate 2|11 . 2 . rotate 3|12 1 0 Pin rotate 4|13 2 0 Pin rotate 5|14 3 0 Pin rotate 6|15 4 0 Pin rotate 7|16 5 0 Pin rotate 8|17 6 0 Pin rotate SYSTEM PARAMETERS (legs2d.sd) Parameter Value Description nbod 7 no. bodies (also, no. of tree joints) njnt 7 total number of joints (tree+loop) ndof 9 no. degrees of freedom allowed by tree joints nloop 0 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 9 no. position coordinates in state (tree joints) nu 9 no. rate coordinates in state (tree joints) nlq 0 no. position coordinates describing loop joints nlu 0 no. rate coordinates describing loop joints nc 0 total no. constraints defined nlc 0 no. loop joint constraints npresc 0 no. prescribed motion constraints nuserc 0 no. user constraints