SD/FAST Information File: model.sd Generated 07-Dec-2006 07:55:34 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 Bushing 0? 1? 2? | ... 3? 4? 5? | 0p 1p 2p 3p 4p 5p 1 femur_r 0 Gimbal 6? 7? 8? | 6p 7p 8p 2 tibia_r 1 Planar 9 10 11? | 9p 3 patella_r 2 Planar 12 13 14 | 4 talus_r 2 Pin 15? | 10p 5 calcn_r 4 Pin 16? | 11p 6 toes_r 5 Pin 17? | 12p 7 femur_l 0 Gimbal 18? 19? 20? | 13p 14p 15p 8 tibia_l 7 Planar 21 22 23? | 16p 9 patella_l 8 Planar 24 25 26 | 10 talus_l 8 Pin 27? | 17p 11 calcn_l 10 Pin 28? | 18p 12 toes_l 11 Pin 29? | 19p 13 torso 0 Gimbal 30? 31? 32? | 20p 21p 22p User Constraints 0 knee_r_tx_con | 23 1 knee_r_ty_con | 24 2 tib_pat_r_tx_con | 25 3 tib_pat_r_ty_con | 26 4 tib_pat_r_r3_con | 27 5 knee_l_tx_con | 28 6 knee_l_ty_con | 29 7 tib_pat_l_tx_con | 30 8 tib_pat_l_ty_con | 31 9 tib_pat_l_r3_con | 32 STATE INDEX TO JOINT/AXIS MAP (model.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|33 0 0? Bushing translate 1|34 . 1? . translate 2|35 . 2? . translate 3|36 . 3? . rotate 4|37 . 4? . rotate 5|38 . 5? . rotate 6|39 1 0? Gimbal rotate 7|40 . 1? . rotate 8|41 . 2? . rotate 9|42 2 0 Planar translate 10|43 . 1 . translate 11|44 . 2? . rotate 12|45 3 0 Planar translate 13|46 . 1 . translate 14|47 . 2 . rotate 15|48 4 0? Pin rotate 16|49 5 0? Pin rotate 17|50 6 0? Pin rotate 18|51 7 0? Gimbal rotate 19|52 . 1? . rotate 20|53 . 2? . rotate 21|54 8 0 Planar translate 22|55 . 1 . translate 23|56 . 2? . rotate 24|57 9 0 Planar translate 25|58 . 1 . translate 26|59 . 2 . rotate 27|60 10 0? Pin rotate 28|61 11 0? Pin rotate 29|62 12 0? Pin rotate 30|63 13 0? Gimbal rotate 31|64 . 1? . rotate 32|65 . 2? . rotate SYSTEM PARAMETERS (model.sd) Parameter Value Description nbod 14 no. bodies (also, no. of tree joints) njnt 14 total number of joints (tree+loop) ndof 33 no. degrees of freedom allowed by tree joints nloop 0 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 33 no. position coordinates in state (tree joints) nu 33 no. rate coordinates in state (tree joints) nlq 0 no. position coordinates describing loop joints nlu 0 no. rate coordinates describing loop joints nc 33 total no. constraints defined nlc 0 no. loop joint constraints npresc 23 no. prescribed motion constraints nuserc 10 no. user constraints