SD/FAST Information File: model.sd Generated 12-Jul-2012 12:56:14 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 crank -1 Pin 1? | 1p 2 femur_r 0 Pin 2? | 2p 3 tibia_r 2 Planar 3 4 5? | 3p 4 patella_r 3 Planar 6 7 8 | 5 talus_r 3 Pin 9? | 4p 6 calcn_r 5 Pin 10? | 5p 7 toes_r 6 Pin 11? | 6p 8 femur_l 0 Pin 12? | 7p 9 tibia_l 8 Planar 13 14 15? | 8p 10 patella_l 9 Planar 16 17 18 | 11 talus_l 9 Pin 19? | 9p 12 calcn_l 11 Pin 20? | 10p 13 toes_l 12 Pin 21? | 11p 14 pedal_r 1 Pin 22? | 12p 15 pedal_l 1 Pin 23? | 13p 16 calcn_rp 14 Pin 24? | 14p 17 calcn_lp 15 Pin 25? | 15p Loop Joints Pseudo Coords lq 18 calcn_r 16 Weld | 16 17 18 19 20 21 19 calcn_l 17 Weld | 22 23 24 25 26 27 User Constraints 0 knee_r_tx_con | 28 1 knee_r_ty_con | 29 2 tib_pat_r_tx_con | 30 3 tib_pat_r_ty_con | 31 4 tib_pat_r_r3_con | 32 5 knee_l_tx_con | 33 6 knee_l_ty_con | 34 7 tib_pat_l_tx_con | 35 8 tib_pat_l_ty_con | 36 9 tib_pat_l_r3_con | 37 STATE INDEX TO JOINT/AXIS MAP (model.sd) Index q|u Joint Axis Joint type Axis type Joint Name ----- ----- ---- ----------- ---------- ---------- 0|26 0 0? Pin rotate 1|27 1 0? Pin rotate 2|28 2 0? Pin rotate 3|29 3 0 Planar translate 4|30 . 1 . translate 5|31 . 2? . rotate 6|32 4 0 Planar translate 7|33 . 1 . translate 8|34 . 2 . rotate 9|35 5 0? Pin rotate 10|36 6 0? Pin rotate 11|37 7 0? Pin rotate 12|38 8 0? Pin rotate 13|39 9 0 Planar translate 14|40 . 1 . translate 15|41 . 2? . rotate 16|42 10 0 Planar translate 17|43 . 1 . translate 18|44 . 2 . rotate 19|45 11 0? Pin rotate 20|46 12 0? Pin rotate 21|47 13 0? Pin rotate 22|48 14 0? Pin rotate 23|49 15 0? Pin rotate 24|50 16 0? Pin rotate 25|51 17 0? 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 26 no. degrees of freedom allowed by tree joints nloop 2 no. loop joints nldof 0 no. degrees of freedom allowed by loop joints nq 26 no. position coordinates in state (tree joints) nu 26 no. rate coordinates in state (tree joints) nlq 0 no. position coordinates describing loop joints nlu 0 no. rate coordinates describing loop joints nc 38 total no. constraints defined nlc 12 no. loop joint constraints npresc 16 no. prescribed motion constraints nuserc 10 no. user constraints