Tips

The F5 command in Toolkit reloads all the models, so you can make modifications and quickly see the results instead of needing to reopen the software.

The joint axes local frame can be enabled by modifying Settings > frame_axis.size and frame_axis.diameter. Additional settings can be found in Settings

To list the individual joints of a model, rbdl_luamodel_util -d [luamodel]. This is also the same DOF order expected by the animation files.