rbdlsim/3rdparty/rbdl/addons/luamodel/samplemodel.lua

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2020-10-03 22:55:14 +02:00
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