SD/FAST Information File: model.sd Generated 12-Apr-2008 13:07:08 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 Bushing 24? 25? 26? | ... 27? 28? 29? | 24p 25p 26p 27p 28p 29p 12 tibia_r 11 Bushing 30? 31? 32? | ... 33? 34? 35? | 30p 31p 32p 33p 34p 35p 13 patella_r 12 Planar 36 37 38 | 14 talus_r 12 Bushing 39? 40? 41? | ... 42? 43? 44? | 36p 37p 38p 39p 40p 41p 15 foot_r 14 Pin 45p | 42p 16 toes_r 15 Pin 46? | 43p 17 femur_l 0 Bushing 47? 48? 49? | ... 50? 51? 52? | 44p 45p 46p 47p 48p 49p 18 tibia_l 17 Bushing 53? 54? 55? | ... 56? 57? 58? | 50p 51p 52p 53p 54p 55p 19 patella_l 18 Planar 59 60 61 | 20 talus_l 18 Bushing 62? 63? 64? | ... 65? 66? 67? | 56p 57p 58p 59p 60p 61p 21 foot_l 20 Pin 68p | 62p 22 toes_l 21 Pin 69? | 63p User Constraints 0 tib_pat_r_tx_con | 64 1 tib_pat_r_ty_con | 65 2 tib_pat_r_r3_con | 66 3 tib_pat_l_tx_con | 67 4 tib_pat_l_ty_con | 68 5 tib_pat_l_r3_con | 69 STATE INDEX TO JOINT/AXIS MAP (model.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|70 0 0? Bushing translate 1|71 . 1? . translate 2|72 . 2? . translate 3|73 . 3? . rotate 4|74 . 4? . rotate 5|75 . 5? . rotate 6|76 1 0? Gimbal rotate 7|77 . 1? . rotate 8|78 . 2? . rotate 9|79 2 0? Gimbal rotate 10|80 . 1? . rotate 11|81 . 2? . rotate 12|82 3 0? Gimbal rotate 13|83 . 1? . rotate 14|84 . 2? . rotate 15|85 4 0? Pin rotate 16|86 5 0? Pin rotate 17|87 6 0? Pin rotate 18|88 7 0? Gimbal rotate 19|89 . 1? . rotate 20|90 . 2? . rotate 21|91 8 0? Pin rotate 22|92 9 0? Pin rotate 23|93 10 0? Pin rotate 24|94 11 0? Bushing translate 25|95 . 1? . translate 26|96 . 2? . translate 27|97 . 3? . rotate 28|98 . 4? . rotate 29|99 . 5? . rotate 30|100 12 0? Bushing translate 31|101 . 1? . translate 32|102 . 2? . translate 33|103 . 3? . rotate 34|104 . 4? . rotate 35|105 . 5? . rotate 36|106 13 0 Planar translate 37|107 . 1 . translate 38|108 . 2 . rotate 39|109 14 0? Bushing translate 40|110 . 1? . translate 41|111 . 2? . translate 42|112 . 3? . rotate 43|113 . 4? . rotate 44|114 . 5? . rotate 45|115 15 0p Pin rotate 46|116 16 0? Pin rotate 47|117 17 0? Bushing translate 48|118 . 1? . translate 49|119 . 2? . translate 50|120 . 3? . rotate 51|121 . 4? . rotate 52|122 . 5? . rotate 53|123 18 0? Bushing translate 54|124 . 1? . translate 55|125 . 2? . translate 56|126 . 3? . rotate 57|127 . 4? . rotate 58|128 . 5? . rotate 59|129 19 0 Planar translate 60|130 . 1 . translate 61|131 . 2 . rotate 62|132 20 0? Bushing translate 63|133 . 1? . translate 64|134 . 2? . translate 65|135 . 3? . rotate 66|136 . 4? . rotate 67|137 . 5? . rotate 68|138 21 0p Pin rotate 69|139 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 70 no. degrees of freedom allowed by tree joints nloop 0 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 70 no. position coordinates in state (tree joints) nu 70 no. rate coordinates in state (tree joints) nlq 0 no. position coordinates describing loop joints nlu 0 no. rate coordinates describing loop joints nc 70 total no. constraints defined nlc 0 no. loop joint constraints npresc 64 no. prescribed motion constraints nuserc 6 no. user constraints