SD/FAST Information File: legs3d.sd Generated 08-Mar-2008 17:09:07 by SD/FAST, Kane's formulation (sdfast B.2.8 #30123) on machine ID unknown ROADMAP (legs3d.sd) Bodies Inb No Name body Joint type Coords q --- --------- ---- ----------- ---------------- -1 $ground 0 Pelvis1 -1 Sliding 0 1 Pelvis2 0 Sliding 1 2 Pelvis3 1 Sliding 2 3 Pelvis4 2 Gimbal 3 4 5 4 RFemur 3 Gimbal 6 7 8 5 RTibia 4 Pin 9 6 RTalus 5 Pin 10 7 RFoot 6 Pin 11 8 LFemur 3 Gimbal 12 13 14 9 LTibia 8 Pin 15 10 LTalus 9 Pin 16 11 LFoot 10 Pin 17 12 bodywob1 3 Sliding 18 13 bodywob2 12 Sliding 19 14 bodywob3 13 Sliding 20 STATE INDEX TO JOINT/AXIS MAP (legs3d.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|21 0 0 Sliding translate 1|22 1 0 Sliding translate 2|23 2 0 Sliding translate 3|24 3 0 Gimbal rotate 4|25 . 1 . rotate 5|26 . 2 . rotate 6|27 4 0 Gimbal rotate 7|28 . 1 . rotate 8|29 . 2 . rotate 9|30 5 0 Pin rotate 10|31 6 0 Pin rotate 11|32 7 0 Pin rotate 12|33 8 0 Gimbal rotate 13|34 . 1 . rotate 14|35 . 2 . rotate 15|36 9 0 Pin rotate 16|37 10 0 Pin rotate 17|38 11 0 Pin rotate 18|39 12 0 Sliding translate 19|40 13 0 Sliding translate 20|41 14 0 Sliding translate SYSTEM PARAMETERS (legs3d.sd) Parameter Value Description nbod 15 no. bodies (also, no. of tree joints) njnt 15 total number of joints (tree+loop) ndof 21 no. degrees of freedom allowed by tree joints nloop 0 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 21 no. position coordinates in state (tree joints) nu 21 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