123 lines
2.2 KiB
Lua
123 lines
2.2 KiB
Lua
--[[
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-- This is an example model for the RBDL addon luamodel. You need to
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-- enable RBDL_BUILD_ADDON_LUAMODEL to be able to use this file.
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--]]
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print ("This is some output from the model file")
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inertia = {
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{1.1, 0.1, 0.2},
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{0.3, 1.2, 0.4},
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{0.5, 0.6, 1.3}
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}
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pelvis = { mass = 9.3, com = { 1.1, 1.2, 1.3}, inertia = inertia }
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thigh = { mass = 4.2, com = { 1.1, 1.2, 1.3}, inertia = inertia }
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shank = { mass = 4.1, com = { 1.1, 1.2, 1.3}, inertia = inertia }
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foot = { mass = 1.1, com = { 1.1, 1.2, 1.3}, inertia = inertia }
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bodies = {
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pelvis = pelvis,
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thigh_right = thigh,
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shank_right = shank,
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thigh_left = thigh,
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shank_left = shank
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}
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joints = {
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freeflyer = {
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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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{ 0., 0., 1., 0., 0., 0.},
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{ 0., 1., 0., 0., 0., 0.},
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{ 1., 0., 0., 0., 0., 0.}
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},
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spherical_zyx = {
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{ 0., 0., 1., 0., 0., 0.},
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{ 0., 1., 0., 0., 0., 0.},
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{ 1., 0., 0., 0., 0., 0.}
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},
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rotational_y = {
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{ 0., 1., 0., 0., 0., 0.}
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},
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fixed = {}
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}
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model = {
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gravity = {0., 0., -9.81},
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frames = {
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{
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name = "pelvis",
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parent = "ROOT",
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body = bodies.pelvis,
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joint = joints.freeflyer,
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},
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{
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name = "thigh_right",
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parent = "pelvis",
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body = bodies.thigh_right,
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joint = joints.spherical_zyx,
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joint_frame = {
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r = {0.0, -0.15, 0.},
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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., 0.}
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}
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}
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},
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{
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name = "shank_right",
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parent = "thigh_right",
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body = bodies.thigh_right,
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joint = joints.rotational_y,
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joint_frame = {
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r = {0.0, 0., -0.42},
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},
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},
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{
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name = "foot_right",
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parent = "shank_right",
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body = bodies.thigh_right,
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joint_frame = {
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r = {0.0, 0., -0.41}
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},
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},
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{
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name = "thigh_left",
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parent = "pelvis",
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body = bodies.thigh_left,
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joint = joints.spherical_zyx,
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joint_frame = {
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r = {0.0, 0.15, 0.},
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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., 0.}
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}
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}
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},
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{
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name = "shank_left",
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parent = "thigh_left",
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body = bodies.thigh_left,
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joint = joints.rotational_y,
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joint_frame = {
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r = {0.0, 0., -0.42},
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},
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},
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{
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name = "foot_left",
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parent = "shank_left",
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body = bodies.thigh_left,
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joint_frame = {
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r = {0.0, 0., -0.41},
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},
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},
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}
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}
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return model
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