SD/FAST Information File: model.sd Generated 05-May-2008 14:52:50 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 crank -1 Bushing 6? 7? 8? | ... 9? 10? 11? | 6p 7p 8p 9p 10p 11p 2 pedal_r 1 Bushing 12? 13? 14? | ... 15? 16? 17? | 12p 13p 14p 15p 16p 17p 3 pedal_l 1 Bushing 18? 19? 20? | ... 21? 22? 23? | 18p 19p 20p 21p 22p 23p 4 femur_r 0 Gimbal 24? 25? 26? | 24p 25p 26p 5 tibia_r 4 Bushing 27 28 29 | ... 30? 31 32 | 27p 6 patella_r 5 Planar 33 34 35 | 7 talus_r 5 Pin 36? | 28p 8 foot_r 7 Pin 37? | 29p 9 toes_r 8 Pin 38? | 30p 10 femur_l 0 Gimbal 39? 40? 41? | 31p 32p 33p 11 tibia_l 10 Bushing 42 43 44 | ... 45? 46 47 | 34p 12 patella_l 11 Planar 48 49 50 | 13 talus_l 11 Pin 51? | 35p 14 foot_l 13 Pin 52? | 36p 15 toes_l 14 Pin 53? | 37p 16 foot_rp 2 Pin 54p | 38p 17 foot_lp 3 Pin 55p | 39p Loop Joints Pseudo Coords lq 18 foot_r 16 Weld | 40 41 42 43 44 45 19 foot_l 17 Weld | 46 47 48 49 50 51 User Constraints 0 knee_r_tz_con | 52 1 knee_r_tx_con | 53 2 knee_r_ty_con | 54 3 knee_r_r1_con | 55 4 knee_r_r2_con | 56 5 tib_pat_r_tx_con | 57 6 tib_pat_r_ty_con | 58 7 tib_pat_r_r3_con | 59 8 knee_l_tz_con | 60 9 knee_l_tx_con | 61 10 knee_l_ty_con | 62 11 knee_l_r1_con | 63 12 knee_l_r2_con | 64 13 tib_pat_l_tx_con | 65 14 tib_pat_l_ty_con | 66 15 tib_pat_l_r3_con | 67 STATE INDEX TO JOINT/AXIS MAP (model.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|56 0 0? Bushing translate 1|57 . 1? . translate 2|58 . 2? . translate 3|59 . 3? . rotate 4|60 . 4? . rotate 5|61 . 5? . rotate 6|62 1 0? Bushing translate 7|63 . 1? . translate 8|64 . 2? . translate 9|65 . 3? . rotate 10|66 . 4? . rotate 11|67 . 5? . rotate 12|68 2 0? Bushing translate 13|69 . 1? . translate 14|70 . 2? . translate 15|71 . 3? . rotate 16|72 . 4? . rotate 17|73 . 5? . rotate 18|74 3 0? Bushing translate 19|75 . 1? . translate 20|76 . 2? . translate 21|77 . 3? . rotate 22|78 . 4? . rotate 23|79 . 5? . rotate 24|80 4 0? Gimbal rotate 25|81 . 1? . rotate 26|82 . 2? . rotate 27|83 5 0 Bushing translate 28|84 . 1 . translate 29|85 . 2 . translate 30|86 . 3? . rotate 31|87 . 4 . rotate 32|88 . 5 . rotate 33|89 6 0 Planar translate 34|90 . 1 . translate 35|91 . 2 . rotate 36|92 7 0? Pin rotate 37|93 8 0? Pin rotate 38|94 9 0? Pin rotate 39|95 10 0? Gimbal rotate 40|96 . 1? . rotate 41|97 . 2? . rotate 42|98 11 0 Bushing translate 43|99 . 1 . translate 44|100 . 2 . translate 45|101 . 3? . rotate 46|102 . 4 . rotate 47|103 . 5 . rotate 48|104 12 0 Planar translate 49|105 . 1 . translate 50|106 . 2 . rotate 51|107 13 0? Pin rotate 52|108 14 0? Pin rotate 53|109 15 0? Pin rotate 54|110 16 0p Pin rotate 55|111 17 0p Pin rotate SYSTEM PARAMETERS (model.sd) Parameter Value Description nbod 18 no. bodies (also, no. of tree joints) njnt 20 total number of joints (tree+loop) ndof 56 no. degrees of freedom allowed by tree joints nloop 2 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 56 no. position coordinates in state (tree joints) nu 56 no. rate coordinates in state (tree joints) nlq 0 no. position coordinates describing loop joints nlu 0 no. rate coordinates describing loop joints nc 68 total no. constraints defined nlc 12 no. loop joint constraints npresc 40 no. prescribed motion constraints nuserc 16 no. user constraints