# DynaMechs V 2.0.3 ascii # tree parameter file Graphics_Models { Number_Graphics_Models 3 "../models/sm_cube_center.xan" "../models/sm_cube_center2.xan" "../models/obj_cylinder_x_slim.xan" } System { StaticRefMember { Graphics_Model_Index 0 Position 20.0 0.0 2.0 Orientation_Quat 0.0 0.0 0.0 1.0 } Articulation { # Initial axial translation for control (the "push/pull" joint) PrismaticLink { Graphics_Model_Index 0 Mass 0.1 Inertia 0.1 0.0 0.0 0.0 0.1 0.0 0.0 0.0 0.1 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 0.0 -1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits -20.0 20.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Joint_Friction 0.35 } # Initial axial roll joint for control (the "twist" joint) RevoluteLink { Graphics_Model_Index 0 Mass 0.1 Inertia 0.1 0.0 0.0 0.0 0.1 0.0 0.0 0.0 0.1 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 0.0 0.0 0.0 0.50 Initial_Joint_Velocity 0.0 Joint_Limits -10.172 10.172 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # This link pair is different from the rest that follow but # they still represent a universal joint # Element 1a - almost a massless, extent-less joint RevoluteLink { Graphics_Model_Index 1 Mass 0.01 Inertia 0.01 0.0 0.0 0.0 0.01 0.0 0.0 0.0 0.01 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 0.0 1.5708 0.0 1.5708 Initial_Joint_Velocity 0.0 Joint_Limits 1.5708 1.5708 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 1b - a wire element with mass and length (3.0) RevoluteLink { Graphics_Model_Index 2 Mass 0.5 Inertia 0.1 0.0 0.0 0.0 1.7 0.0 0.0 0.0 1.7 Center_of_Gravity 1.5 0.0 0.0 Number_of_Contact_Points 1 Contact_Locations 3.0 0.0 0.0 MDH_Parameters 0.0 1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # The following two are the repeating pairs corresponding to 2DOF # wire elements. # Element 2a - nearly massless, extent-less RevoluteLink { Graphics_Model_Index 1 Mass 0.01 Inertia 0.01 0.0 0.0 0.0 0.01 0.0 0.0 0.0 0.01 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 3.0 -1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2b - wire element RevoluteLink { Graphics_Model_Index 2 Mass 0.5 Inertia 0.1 0.0 0.0 0.0 1.7 0.0 0.0 0.0 1.7 Center_of_Gravity 1.5 0.0 0.0 Number_of_Contact_Points 1 Contact_Locations 3.0 0.0 0.0 MDH_Parameters 0.0 1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2a - nearly massless, extent-less RevoluteLink { Graphics_Model_Index 1 Mass 0.01 Inertia 0.01 0.0 0.0 0.0 0.01 0.0 0.0 0.0 0.01 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 3.0 -1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2b - wire element RevoluteLink { Graphics_Model_Index 2 Mass 0.5 Inertia 0.1 0.0 0.0 0.0 1.7 0.0 0.0 0.0 1.7 Center_of_Gravity 1.5 0.0 0.0 Number_of_Contact_Points 1 Contact_Locations 3.0 0.0 0.0 MDH_Parameters 0.0 1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2a - nearly massless, extent-less RevoluteLink { Graphics_Model_Index 1 Mass 0.01 Inertia 0.01 0.0 0.0 0.0 0.01 0.0 0.0 0.0 0.01 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 3.0 -1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2b - wire element RevoluteLink { Graphics_Model_Index 2 Mass 0.5 Inertia 0.1 0.0 0.0 0.0 1.7 0.0 0.0 0.0 1.7 Center_of_Gravity 1.5 0.0 0.0 Number_of_Contact_Points 1 Contact_Locations 3.0 0.0 0.0 MDH_Parameters 0.0 1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2a - nearly massless, extent-less RevoluteLink { Graphics_Model_Index 1 Mass 0.01 Inertia 0.01 0.0 0.0 0.0 0.01 0.0 0.0 0.0 0.01 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 3.0 -1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2b - wire element RevoluteLink { Graphics_Model_Index 2 Mass 0.5 Inertia 0.1 0.0 0.0 0.0 1.7 0.0 0.0 0.0 1.7 Center_of_Gravity 1.5 0.0 0.0 Number_of_Contact_Points 1 Contact_Locations 3.0 0.0 0.0 MDH_Parameters 0.0 1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2a - nearly massless, extent-less RevoluteLink { Graphics_Model_Index 1 Mass 0.01 Inertia 0.01 0.0 0.0 0.0 0.01 0.0 0.0 0.0 0.01 Center_of_Gravity 0.0 0.0 0.0 Number_of_Contact_Points 0 MDH_Parameters 3.0 -1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } # Element 2b - wire element RevoluteLink { Graphics_Model_Index 2 Mass 0.5 Inertia 0.1 0.0 0.0 0.0 1.7 0.0 0.0 0.0 1.7 Center_of_Gravity 1.5 0.0 0.0 Number_of_Contact_Points 1 Contact_Locations 3.0 0.0 0.0 MDH_Parameters 0.0 1.5708 0.0 0.0 Initial_Joint_Velocity 0.0 Joint_Limits 0.0 0.0 Joint_Limit_Spring_Constant 50.0 Joint_Limit_Damper_Constant 5.0 Actuator_Type 0 Joint_Friction 0.35 } } }