248 lines
4.3 KiB
Lua
248 lines
4.3 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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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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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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},
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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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},
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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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},
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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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},
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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_parameter = 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_parameter = 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_parameter = 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_parameter = 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
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