267 lines
4.7 KiB
Lua
267 lines
4.7 KiB
Lua
-- 5b3d.lua
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-- Copyright (c) 2016 Davide Corradi <davide.corradi@iwr.uni-heidelberg.de>
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-- Parameters
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m1 = 2
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l1 = 2
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r1 = 0.2
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Izz1 = m1 * l1 * l1 / 3
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m2 = 2
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l2 = 2
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r2 = 0.2
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Izz2 = m2 * l2 * l2 / 3
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bodies = {
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virtual = {
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mass = 0,
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com = {0, 0, 0},
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inertia = {
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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},
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},
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link1 = {
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mass = m1,
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com = {l1/2, 0, 0},
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inertia = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, Izz1},
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},
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},
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link2 = {
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mass = m2,
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com = {l2/2, 0, 0},
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inertia = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, Izz2},
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},
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},
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}
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joints = {
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revZ = {
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{0, 0, 1, 0, 0, 0},
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},
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trnXYZ = {
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{0, 0, 0, 1, 0, 0},
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{0, 0, 0, 0, 1, 0},
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{0, 0, 0, 0, 0, 1},
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},
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}
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meshes = {
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link1 = {
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name = 'link1',
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dimensions = {l1, r1, r1},
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color = {1, 0, 0},
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src = 'unit_cylinder_medres_z.obj',
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mesh_center = {l1/2, 0, 0},
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},
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link2 = {
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name = 'link2',
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dimensions = {l2, r2, r2},
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color = {0, 1, 0},
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src = 'unit_cylinder_medres_z.obj',
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mesh_center = {l2/2, 0, 0},
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},
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}
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model = {
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gravity = {0, 0, 0},
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configuration = {
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axis_front = { 1., 0., 0.},
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axis_right = { 0., -1., 0.},
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axis_up = { 0., 0., 1.},
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},
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frames = {
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{
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name = 'base',
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parent = 'ROOT',
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body = bodies.virtual,
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joint = joints.trnXYZ,
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},
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{
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name = 'l11',
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parent = 'base',
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body = bodies.link1,
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joint = joints.revZ,
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visuals = { meshes.link1 },
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},
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{
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name = 'l12',
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parent = 'l11',
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body = bodies.link2,
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joint = joints.revZ,
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joint_frame = {
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r = {l1, 0, 0},
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},
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visuals = { meshes.link2 },
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},
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{
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name = 'l21',
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parent = 'base',
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body = bodies.link1,
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joint = joints.revZ,
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visuals = { meshes.link1 },
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},
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{
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name = 'l22',
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parent = 'l21',
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body = bodies.link2,
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joint = joints.revZ,
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joint_frame = {
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r = {l1, 0, 0},
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},
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visuals = { meshes.link2 },
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},
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},
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constraint_sets = {
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loop_constraints = {
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{
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constraint_type = 'loop',
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predecessor_body = 'l12',
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successor_body = 'l22',
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predecessor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {l2, 0, 0},
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},
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successor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {0, 0, 0},
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},
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axis = {0, 0, 0, 1, 0, 0},
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stabilization_coefficient = 0.1,
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name = 'linkTX',
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},
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{
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constraint_type = 'loop',
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predecessor_body = 'l12',
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successor_body = 'l22',
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predecessor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {l2, 0, 0},
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},
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successor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {0, 0, 0},
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},
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axis = {0, 0, 0, 0, 1, 0},
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stabilization_coefficient = 0.1,
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name = 'linkTY',
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},
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},
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all_constraints = {
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{
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constraint_type = 'contact',
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body = 'base',
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point = {0, 0, 0},
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normal = {1, 0, 0},
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name = 'baseTX',
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normal_acceleration = 0,
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},
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{
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constraint_type = 'contact',
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body = 'base',
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normal = {0, 1, 0},
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name = 'baseTY',
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},
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{
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constraint_type = 'contact',
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body = 'base',
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normal = {0, 0, 1},
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name = 'baseTZ',
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},
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{
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constraint_type = 'loop',
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predecessor_body = 'l12',
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successor_body = 'l22',
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predecessor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {l2, 0, 0},
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},
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successor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {0, 0, 0},
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},
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axis = {0, 0, 0, 1, 0, 0},
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stabilization_coefficient = 0.1,
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name = 'linkTX',
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},
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{
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constraint_type = 'loop',
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predecessor_body = 'l12',
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successor_body = 'l22',
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predecessor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {l2, 0, 0},
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},
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successor_transform = {
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E = {
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{1, 0, 0},
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{0, 1, 0},
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{0, 0, 1},
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},
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r = {0, 0, 0},
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},
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axis = {0, 0, 0, 0, 1, 0},
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stabilization_coefficient = 0.1,
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name = 'linkTY',
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},
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},
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},
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}
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return model |