88 lines
1.6 KiB
Lua
88 lines
1.6 KiB
Lua
|
inertia = {
|
||
|
|
{1.1, 0.1, 0.2},
|
||
|
|
{0.3, 1.2, 0.4},
|
||
|
|
{0.5, 0.6, 1.3}
|
||
|
|
}
|
||
|
|
|
||
|
|
pelvis = { mass = 9.3, com = { 1.1, 1.2, 1.3}, inertia = inertia }
|
||
|
|
thigh = { mass = 4.2, com = { 1.1, 1.2, 1.3}, inertia = inertia }
|
||
|
|
shank = { mass = 4.1, com = { 1.1, 1.2, 1.3}, inertia = inertia }
|
||
|
|
foot = { mass = 1.1, com = { 1.1, 1.2, 1.3}, inertia = inertia }
|
||
|
|
|
||
|
|
bodies = {
|
||
|
|
pelvis = pelvis,
|
||
|
|
thigh_right = thigh,
|
||
|
|
shank_right = shank,
|
||
|
|
thigh_left = thigh,
|
||
|
|
shank_left = shank
|
||
|
|
}
|
||
|
|
|
||
|
|
joints = {
|
||
|
|
freeflyer = {
|
||
|
|
{ 0., 0., 0., 1., 0., 0.},
|
||
|
|
{ 0., 0., 0., 0., 1., 0.},
|
||
|
|
{ 0., 0., 0., 0., 0., 1.},
|
||
|
|
{ 0., 0., 1., 0., 0., 0.},
|
||
|
|
{ 0., 1., 0., 0., 0., 0.},
|
||
|
|
{ 1., 0., 0., 0., 0., 0.}
|
||
|
|
},
|
||
|
|
spherical_zyx = {
|
||
|
|
{ 0., 0., 1., 0., 0., 0.},
|
||
|
|
{ 0., 1., 0., 0., 0., 0.},
|
||
|
|
{ 1., 0., 0., 0., 0., 0.}
|
||
|
|
},
|
||
|
|
rotational_y = {
|
||
|
|
{ 0., 1., 0., 0., 0., 0.}
|
||
|
|
},
|
||
|
|
fixed = {}
|
||
|
|
}
|
||
|
|
|
||
|
|
model = {
|
||
|
|
frames = {
|
||
|
|
{
|
||
|
|
name = "pelvis",
|
||
|
|
parent = "ROOT",
|
||
|
|
body = bodies.pelvis,
|
||
|
|
joint = joints.freeflyer,
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name = "thigh_right",
|
||
|
|
parent = "pelvis",
|
||
|
|
body = bodies.thigh_right,
|
||
|
|
joint = joints.spherical_zyx,
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name = "shank_right",
|
||
|
|
parent = "thigh_right",
|
||
|
|
body = bodies.thigh_right,
|
||
|
|
joint = joints.rotational_y
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name = "foot_right",
|
||
|
|
parent = "shank_right",
|
||
|
|
body = bodies.thigh_right,
|
||
|
|
joint = joints.fixed
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name = "thigh_left",
|
||
|
|
parent = "pelvis",
|
||
|
|
body = bodies.thigh_left,
|
||
|
|
joint = joints.spherical_zyx
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name = "shank_left",
|
||
|
|
parent = "thigh_left",
|
||
|
|
body = bodies.thigh_left,
|
||
|
|
joint = joints.rotational_y
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name = "foot_left",
|
||
|
|
parent = "shank_left",
|
||
|
|
body = bodies.thigh_left,
|
||
|
|
joint = joints.fixed
|
||
|
|
},
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return model
|