Both sides previous revision Previous revision Next revision | Previous revision |
doc:sto [2021/07/26 10:50] – thomas | doc:sto [2023/12/07 13:13] (current) – thomas |
---|
^ Channel Name ^ Data Type ^ | ^ Channel Name ^ Data Type ^ |
| ''time'' | Time [s] | | | ''time'' | Time [s] | |
| Name without extension | Value of a specific Degree of Freedom during the simulation | | | ''<dof>'' | Value of a specific Degree of Freedom during the simulation in [rad] or [m] | |
| Name ending with ''_u'' | Derivative (speed) of a specific Degree of Freedom during the simulation | | | ''<dof>_u'' | Derivative (speed) of a specific Degree of Freedom during the simulation in [rad/s] or [m/s] | |
| ''.activation'' | Current activation of a muscle | | | ''.activation'' | Current activation [0..1] of a muscle | |
| ''.fiber_length'' | Current length [m] of the contractile element of the muscle | | | ''.fiber_length'' | Current length [m] of the contractile element of the muscle | |
| | ''.fiber_length_norm'' | Current length of the contractile element of the muscle, normalized by optimal fiber length | |
| | ''.fiber_velocity'' | Current lengthening velocity [m/s] of the contractile element of the muscle | |
| | ''.fiber_velocity_norm'' | Current lengthening velocity of the contractile element of the muscle, normalized by optimal fiber length | |
| ''.excitation'' | Current excitation [0..1] of the muscle | | | ''.excitation'' | Current excitation [0..1] of the muscle | |
| ''.F'' | Normalized contraction force [0..1] of a muscle | | | ''.F'' | Normalized contraction force [0..1] of a muscle | |
| ''.ori_*'' | Global orientation of a body, stored as a rotation vector [rad] | | | ''.ori_*'' | Global orientation of a body, stored as a rotation vector [rad] | |
| ''.ang_vel_*'' | Angular velocity [rad/s] of a body | | | ''.ang_vel_*'' | Angular velocity [rad/s] of a body | |
| ''.load'' | Joint load [BW], normalized by weight, i.e. ''model_mass * g'' | | | ''.load'' | Joint load [BW], normalized by weight, i.e. ''load = joint_force / ( model_mass * g )'' | |
| |