SD/FAST Information File: model.sd Generated 02-May-2008 16:18:25 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 Pin 0? | 0p 1 femur_r 0 Gimbal 1? 2? 3? | 1p 2p 3p 2 tibia_r 1 Bushing 4 5 6 | ... 7? 8 9 | 4p 3 patella_r 2 Planar 10 11 12 | 4 talus_r 2 Pin 13? | 5p 5 foot_r 4 Pin 14? | 6p 6 toes_r 5 Pin 15? | 7p 7 femur_l 0 Gimbal 16? 17? 18? | 8p 9p 10p 8 tibia_l 7 Bushing 19 20 21 | ... 22? 23 24 | 11p 9 patella_l 8 Planar 25 26 27 | 10 talus_l 8 Pin 28? | 12p 11 foot_l 10 Pin 29? | 13p 12 toes_l 11 Pin 30? | 14p User Constraints 0 knee_r_tz_con | 15 1 knee_r_tx_con | 16 2 knee_r_ty_con | 17 3 knee_r_r1_con | 18 4 knee_r_r2_con | 19 5 tib_pat_r_tx_con | 20 6 tib_pat_r_ty_con | 21 7 tib_pat_r_r3_con | 22 8 knee_l_tz_con | 23 9 knee_l_tx_con | 24 10 knee_l_ty_con | 25 11 knee_l_r1_con | 26 12 knee_l_r2_con | 27 13 tib_pat_l_tx_con | 28 14 tib_pat_l_ty_con | 29 15 tib_pat_l_r3_con | 30 STATE INDEX TO JOINT/AXIS MAP (model.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|31 0 0? Pin rotate 1|32 1 0? Gimbal rotate 2|33 . 1? . rotate 3|34 . 2? . rotate 4|35 2 0 Bushing translate 5|36 . 1 . translate 6|37 . 2 . translate 7|38 . 3? . rotate 8|39 . 4 . rotate 9|40 . 5 . rotate 10|41 3 0 Planar translate 11|42 . 1 . translate 12|43 . 2 . rotate 13|44 4 0? Pin rotate 14|45 5 0? Pin rotate 15|46 6 0? Pin rotate 16|47 7 0? Gimbal rotate 17|48 . 1? . rotate 18|49 . 2? . rotate 19|50 8 0 Bushing translate 20|51 . 1 . translate 21|52 . 2 . translate 22|53 . 3? . rotate 23|54 . 4 . rotate 24|55 . 5 . rotate 25|56 9 0 Planar translate 26|57 . 1 . translate 27|58 . 2 . rotate 28|59 10 0? Pin rotate 29|60 11 0? Pin rotate 30|61 12 0? Pin rotate SYSTEM PARAMETERS (model.sd) Parameter Value Description nbod 13 no. bodies (also, no. of tree joints) njnt 13 total number of joints (tree+loop) ndof 31 no. degrees of freedom allowed by tree joints nloop 0 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 31 no. position coordinates in state (tree joints) nu 31 no. rate coordinates in state (tree joints) nlq 0 no. position coordinates describing loop joints nlu 0 no. rate coordinates describing loop joints nc 31 total no. constraints defined nlc 0 no. loop joint constraints npresc 15 no. prescribed motion constraints nuserc 16 no. user constraints