Planar Statics with SE(2)

Hover a link or joint to inspect applied wrenches [fₓ, fᵧ, τ].

Scene Mode

Model

q1 (deg) 0 q2 (deg) 0

m_trunk (kg) 8.0 m_upper_leg (kg) 3.0 m_lower_leg (kg) 2.0

Fext x (N) 45 Fext y (N) -35 Text (N m) 0

Gravity Internal/Joint GRF External

gravity joint/internal GRF external

Wrench spotlight ready