SD/FAST Information File: fly.dat
Generated 27-Mar-2000 00:58:53 by SD/FAST, Order(N) formulation
(sdfast B.2.6 #70405) on machine ID 69086664

ROADMAP (fly.dat)

Bodies        Inb
No  Name      body Joint type  Coords q
--- --------- ---- ----------- ----------------
 -1 $ground                                    
  0 TORSO      -1  Sixdof        0   1   2 
                   ...           3   4   5  23 
  1 ROPEL_U    -1  Pin           6             
  2 ROPER_U    -1  Pin           7             
  3 HEAD        0  Pin           8             
  4 ULEGR       0  Pin           9             
  5 ULEGL       0  Pin          10             
  6 LLEGR       4  Pin          11             
  7 LLEGL       5  Pin          12             
  8 FOOTR       6  Pin          13             
  9 FOOTL       7  Pin          14             
 10 UARMR       0  Pin          15             
 11 UARML       0  Pin          16             
 12 LARMR      10  Pin          17             
 13 LARML      11  Pin          18             
 14 HANDR      12  Pin          19             
 15 HANDL      13  Pin          20             
 16 ROPEL_L     1  Pin          21             
 17 ROPER_L     2  Pin          22             


STATE INDEX TO JOINT/AXIS MAP (fly.dat)

 Index
  q|u   Joint  Axis   Joint type    Axis type    Joint Name
 -----  -----  ----   -----------   ----------   ----------
  0|24      0     0   Sixdof        translate    x
  1|25      .     1   .             translate    y
  2|26      .     2   .             translate    z
  3|27      .     3   .             quaternion   quat1
  4|28      .     4   .             quaternion   quat2
  5|29      .     5   .             quaternion   quat3
  6|30      1     0   Pin           rotate       ropeupperleft
  7|31      2     0   Pin           rotate       ropeupperright
  8|32      3     0   Pin           rotate       head
  9|33      4     0   Pin           rotate       ulegr
 10|34      5     0   Pin           rotate       ulegl
 11|35      6     0   Pin           rotate       llegr
 12|36      7     0   Pin           rotate       llegl
 13|37      8     0   Pin           rotate       footr
 14|38      9     0   Pin           rotate       footl
 15|39     10     0   Pin           rotate       uarmr
 16|40     11     0   Pin           rotate       uarml
 17|41     12     0   Pin           rotate       larmr
 18|42     13     0   Pin           rotate       larml
 19|43     14     0   Pin           rotate       handr
 20|44     15     0   Pin           rotate       handl
 21|45     16     0   Pin           rotate       ropelowerleft
 22|46     17     0   Pin           rotate       ropelowerright
 23|        0     6   Sixdof        4th quat     quat4
   

SYSTEM PARAMETERS (fly.dat)

Parameter  Value  Description

nbod          18  no. bodies (also, no. of tree joints)
njnt          18  total number of joints (tree+loop)
ndof          23  no. degrees of freedom allowed by tree joints
nloop          0  no. loop joints
nldof          0  no. degrees of freedom allowed by loop joints

nq            24  no. position coordinates in state (tree joints)
nu            23  no. rate coordinates in state (tree joints)
nlq            0  no. position coordinates describing loop joints
nlu            0  no. rate coordinates describing loop joints

nc             0  total no. constraints defined
nlc            0  no. loop joint constraints
npresc         0  no. prescribed motion constraints
nuserc         0  no. user constraints