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