Specifications

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AnyFixedRefFrame GlobalRef = {
}; // Global reference frame
AnySeg Pedal = {
Mass = 2;
Jii = {0.05, 0.001, 0.05};
AnyRefNode Hinge = {
sRel = {0, -0.15, 0};
};
AnyRefNode FootNode = {
sRel = {0, 0.15, 0};
};
AnyDrawSeg drw = {};
};
AnyRevoluteJoint HingeJoint = {
Axis = z;
AnyFixedRefFrame &Ground = .GlobalRef;
AnyRefNode &Pedal = .Pedal.Hinge;
};
};
If you load the model and open a Model View, then you will see the new segment:
It is hinged to the origin of the global reference frame, but there is not much else to see. In the next lesson
we shall look at how we can import a leg model from the repository to step on the pedal.
Next up is Lesson 6: Importing a Leg Model
.
Lesson 6: Importing a Leg Model
Having defined the environment, the next step is to introduce a leg into the model. We are gong to pick one
from the repository. The repository has several layers from which you can pick models. At the low level you
can pick individual body parts but will have to manually provide the necessary interfaces or handles to
connect the body parts to each other and to the environment.