b2fe4f7ba3
Edits from @hunminkim98's awesome work at integrating pose estimation into Pose2Sim with RTMLib. Most of the changes in syntax are not necessarily better, it is mostly for the code to be more consistent with the rest of the library. Thank you again for your fantastic work! General: - Automatically detects whether a valid CUDA install is available. If so, use the GPU with the ONNXRuntime backend. Otherwise, use the CPU with the OpenVINO backend - The tensorflow version used for marker augmentation was incompatible with the cuda torch installation for pose estimation: edited code and models for it to work with the latest tf version. - Added logging information to pose estimation - Readme.md: provided an installation procedure for CUDA (took me a while to find something simple and robust) - Readme.md: added information about PoseEstimation with RTMLib - added poseEstimation to tests.py - created videos for the multi-person case (used to only have json, no video), and reorganized Demo folders. Had to recreate calibration file as well Json files: - the json files only saved one person, I made it save all the detected ones - tracking was not taken into account by rtmlib, which caused issues in synchronization: fixed, waiting for merge - took the save_to_openpose function out from the main function - minified the json files (they take less space when all spaces are removed) Detection results: - Compared the triangulated locations of RTMpose keypoints to the ones of OpenPose to potentially edit model marker locations on OpenSim. Did not seem to need it. Others in Config.toml: - removed the "to_openpose" option, which is not needed - added the flag: save_video = 'to_images' # 'to_video' or 'to_images' or ['to_video', 'to_images'] - changed the way frame_range was handled (made me change synchronization in depth, as well as personAssociation and triangulation) - added the flag: time_range_around_maxspeed in synchronization - automatically detect framerate from video, or set to 60 fps if we work from images (or give a value) - frame_range -> time_range - moved height and weight to project (only read for markerAugmentation, and in the future for automatic scaling) - removed reorder_trc from triangulation and Config -> call it for markerAugmentation instead Others: - Provided an installation procedure for OpenSim (for the future) and made continuous installation check its install (a bit harder since it cannot be installed via pip) - scaling from motion instead of static pose (will have to study whether it's as good or not) - added logging to synchronization - Struggled quite a bit with continuous integration * Starting point of integrating RTMPose into Pose2Sim. (#111) * RTM_to_Open Convert format from RTMPose to OpenPose * rtm_intergrated * rtm_integrated * rtm_integrated * rtm_integrated * rtm * Delete build/lib/Pose2Sim directory * rtm * Delete build/lib/Pose2Sim directory * Delete onnxruntime-gpu * device = cpu * add pose folder * Update tests.py * added annotation * fix typo * Should work be still lots of tests to run. Detailed commit coming soon * intermediary commit * last checks before v0.9.0 * Update continuous-integration.yml * Update tests.py * replaced tabs with spaces * unittest issue * unittest typo * deactivated display for CI test of pose detection * Try to make continuous integration work * a * b * c * d * e * f * g * h * i * j * k * l --------- Co-authored-by: HunMinKim <144449115+hunminkim98@users.noreply.github.com>
6943 lines
443 KiB
XML
6943 lines
443 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<OpenSimDocument Version="40000">
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<Model name="Pose2Sim_OpenPose">
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<Ground name="ground">
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<socket_frame>..</socket_frame>
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</FrameGeometry>
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<groups />
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</WrapObjectSet>
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</Ground>
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<gravity>0 -9.8066499999999994 0</gravity>
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<!--Credits (e.g., model author names) associated with the model.-->
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<credits>Full-body model adapted from Beaucage-Gauvreau et al., with Rajagopal et al. knee angles. COCO markers. No muscles included. Free pelvis translation, added ball joint between head and torso, locked arm pronation/supination, clamped hip flexion to 150° instead of 120°, hip adduction -60° instead of -50°, hip rotation -70° instead of -40°, knee 155° instead of 120°.</credits>
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<publications>Pagnon, D., Domalain, M., Reveret, L. (2021). Pose2Sim: An End-to-End Workflow for 3D Markerless Sports Kinematics—Part 1: Robustness. Sensors, 21(19), 6530.</publications>
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<length_units>meters</length_units>
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<force_units>N</force_units>
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<color>1 1 1</color>
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<mesh_file>r_pelvis.vtp</mesh_file>
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</Mesh>
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<socket_frame>..</socket_frame>
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<objects />
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<groups />
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<inertia>0.1028 0.087099999999999997 0.0579 0 0 0</inertia>
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</FrameGeometry>
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<attached_geometry>
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<socket_frame>..</socket_frame>
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<scale_factors>1 1 1</scale_factors>
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<Appearance>
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<visible>true</visible>
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<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
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<opacity>1</opacity>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>1 1 1</color>
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</Appearance>
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<mesh_file>sacrum.vtp</mesh_file>
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</Mesh>
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</attached_geometry>
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<WrapObjectSet name="wrapobjectset">
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<objects />
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<groups />
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</WrapObjectSet>
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<mass>0</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
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<mass_center>0 0 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
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<inertia>0 0 0 0 0 0</inertia>
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</Body>
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<Body name="femur_r">
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<FrameGeometry name="frame_geometry">
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
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</FrameGeometry>
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<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
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<attached_geometry>
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<Mesh name="femur_r_geom_1">
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<socket_frame>..</socket_frame>
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<scale_factors>1 1 1</scale_factors>
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<Appearance>
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<visible>true</visible>
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<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
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<opacity>1</opacity>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>1 1 1</color>
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<mesh_file>femur_r.vtp</mesh_file>
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</Mesh>
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</attached_geometry>
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<WrapObjectSet name="wrapobjectset">
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<objects />
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<groups />
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</WrapObjectSet>
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<mass>9.3013999999999992</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
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<mass_center>0 -0.17000000000000001 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
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<inertia>0.13389999999999999 0.035099999999999999 0.14119999999999999 0 0 0</inertia>
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</Body>
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<Body name="patella_r">
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<FrameGeometry name="frame_geometry">
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
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</FrameGeometry>
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<attached_geometry>
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<Mesh name="patella_r_geom_1">
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>1 1 1</scale_factors>
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<Appearance>
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<visible>true</visible>
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<opacity>1</opacity>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>1 1 1</color>
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<mesh_file>r_patella.vtp</mesh_file>
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</Mesh>
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<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
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<WrapObjectSet name="wrapobjectset">
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<objects />
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<groups />
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</WrapObjectSet>
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<mass>0.086199999999999999</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
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<mass_center>0.0018 0.0264 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
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<inertia>2.8700000000000001e-06 1.311e-05 1.311e-05 0 0 0</inertia>
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</Body>
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<FrameGeometry name="frame_geometry">
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
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</FrameGeometry>
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<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
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<attached_geometry>
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<Mesh name="tibia_r_geom_1">
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<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>1 1 1</scale_factors>
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<Appearance>
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<visible>true</visible>
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<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
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<opacity>1</opacity>
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<color>1 1 1</color>
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<mesh_file>tibia_r.vtp</mesh_file>
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<Mesh name="tibia_r_geom_2">
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>1 1 1</scale_factors>
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<Appearance>
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<visible>true</visible>
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<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
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<opacity>1</opacity>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>1 1 1</color>
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<mesh_file>fibula_r.vtp</mesh_file>
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</Mesh>
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<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
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<WrapObjectSet name="wrapobjectset">
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<objects />
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<groups />
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</WrapObjectSet>
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<mass>3.7075</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
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<mass_center>0 -0.1867 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
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<inertia>0.0504 0.0051000000000000004 0.0511 0 0 0</inertia>
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</Body>
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<!--The geometry used to display the axes of this Frame.-->
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<FrameGeometry name="frame_geometry">
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
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</FrameGeometry>
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<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
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<attached_geometry>
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<Mesh name="talus_r_geom_1">
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<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>1 1 1</scale_factors>
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<!--Default appearance attributes for this Geometry-->
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<Appearance>
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<!--Flag indicating whether the associated Geometry is visible or hidden.-->
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<visible>true</visible>
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<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
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<opacity>1</opacity>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>1 1 1</color>
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</Appearance>
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<mesh_file>talus_rv.vtp</mesh_file>
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</Mesh>
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</attached_geometry>
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<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
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<WrapObjectSet name="wrapobjectset">
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<objects />
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<groups />
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</WrapObjectSet>
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<!--The mass of the body (kg)-->
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<mass>0.10000000000000001</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
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<mass_center>0 0 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
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<inertia>0.001 0.001 0.001 0 0 0</inertia>
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</Body>
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<Body name="calcn_r">
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<!--The geometry used to display the axes of this Frame.-->
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<FrameGeometry name="frame_geometry">
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<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
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</FrameGeometry>
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<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
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<attached_geometry>
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<Mesh name="calcn_r_geom_1">
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<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
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<socket_frame>..</socket_frame>
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<!--Scale factors in X, Y, Z directions respectively.-->
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<scale_factors>1 1 1</scale_factors>
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<!--Default appearance attributes for this Geometry-->
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<Appearance>
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<!--Flag indicating whether the associated Geometry is visible or hidden.-->
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<visible>true</visible>
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<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
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<opacity>1</opacity>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>1 1 1</color>
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</Appearance>
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<!--Name of geometry file.-->
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<mesh_file>foot.vtp</mesh_file>
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</Mesh>
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</attached_geometry>
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<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
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<objects />
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<groups />
|
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</WrapObjectSet>
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<!--The mass of the body (kg)-->
|
|
<mass>1.25</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.10000000000000001 0.029999999999999999 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0014 0.0038999999999999998 0.0041000000000000003 0 0 0</inertia>
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</Body>
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<Body name="toes_r">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="toes_r_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>bofoot.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.21659999999999999</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.034599999999999999 0.0060000000000000001 -0.017500000000000002</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="femur_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="femur_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>femur_l.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>9.3013999999999992</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.17000000000000001 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.13389999999999999 0.035099999999999999 0.14119999999999999 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="patella_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="patella_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>l_patella.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.086199999999999999</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.0018 0.0264 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>2.8700000000000001e-06 1.311e-05 1.311e-05 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="tibia_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="tibia_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>tibia_l.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="tibia_l_geom_2">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>fibula_l.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>3.7075</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.1867 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0504 0.0051000000000000004 0.0511 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="talus_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="talus_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>talus_lv.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.10000000000000001</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 0 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.001 0.001 0.001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="calcn_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="calcn_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>l_foot.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>1.25</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.10000000000000001 0.029999999999999999 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0014 0.0038999999999999998 0.0041000000000000003 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="toes_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="toes_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>l_bofoot.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.21659999999999999</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.034599999999999999 0.0060000000000000001 0.017500000000000002</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="lumbar5">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="lumbar5_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.93000000000000005 0.93000000000000005 0.93000000000000005</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>lumbar5.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>1.8240000000000001</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.01728 0.0183 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.17821600000000001 0.021727400000000001 0.171486 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="lumbar4">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="lumbar4_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.93000000000000005 0.93000000000000005 0.93000000000000005</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>lumbar4.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>1.7989999999999999</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.018599999999999998 0.0217953 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.171208 0.020679199999999998 0.16517799999999999 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="lumbar3">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="lumbar3_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.93000000000000005 0.93000000000000005 0.93000000000000005</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>lumbar3.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>1.6699999999999999</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.017893900000000001 0.0232739 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.157697 0.0199107 0.152447 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="lumbar2">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="lumbar2_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.93000000000000005 0.93000000000000005 0.93000000000000005</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>lumbar2.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>1.6890000000000001</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.0252462 0.020212399999999998 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.16270499999999999 0.021975100000000001 0.15770500000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="lumbar1">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="lumbar1_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.93000000000000005 0.93000000000000005 0.93000000000000005</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>lumbar1.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>1.677</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.032739999999999998 0.019407299999999999 0.00132891</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.162657 0.024131199999999998 0.15792700000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="torso">
|
|
<!--List of components that this component owns and serializes.-->
|
|
<components>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_1">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>cerv1sm.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.020500000000000001 0.40200000000000002 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_2">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_2">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>cerv2sm.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.020500000000000001 0.40200000000000002 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_3">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_3">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>cerv3sm.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.020500000000000001 0.40200000000000002 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_4">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_4">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>cerv4sm.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.020500000000000001 0.40200000000000002 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_5">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_5">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>cerv5sm.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.020500000000000001 0.40200000000000002 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_6">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_6">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>cerv6sm.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.020500000000000001 0.40200000000000002 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_7">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_7">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>cerv7.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.020500000000000001 0.40200000000000002 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_8">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_8">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic12_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_9">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_9">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic11_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_10">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_10">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic10_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_11">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_11">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic9_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_12">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_12">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic8_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_13">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_13">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic7_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_14">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_14">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic6_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_15">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_15">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic5_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_16">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_16">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic4_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_17">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_17">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic3_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_18">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_18">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic2_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_19">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_19">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.89000000000000001 0.89000000000000001 0.89000000000000001</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thoracic1_s.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0035000000000000001 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_geom_frame_20">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_20">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1.1000000000000001 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>hat_ribs_scap.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>..</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0085000000000000006 -0.044999999999999998 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0 0 -0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</components>
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry />
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects>
|
|
<WrapCylinder name="Cylinder">
|
|
<!--Whether or not the WrapObject is considered active in computing paths-->
|
|
<active>true</active>
|
|
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
|
|
<xyz_body_rotation>-0 -0 0</xyz_body_rotation>
|
|
<!--Translation of the WrapObject.-->
|
|
<translation>-0.20799999999999999 0.040000000000000001 -0</translation>
|
|
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
|
|
<quadrant>all</quadrant>
|
|
<!--Default appearance for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>false</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>0 1 1</color>
|
|
<!--Visuals applied to surfaces associated with this Appearance.-->
|
|
<SurfaceProperties>
|
|
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
|
|
<representation>3</representation>
|
|
</SurfaceProperties>
|
|
</Appearance>
|
|
<!--The radius of the cylinder.-->
|
|
<radius>0.17000000000000001</radius>
|
|
<!--The length of the cylinder.-->
|
|
<length>0.26000000000000001</length>
|
|
</WrapCylinder>
|
|
<WrapEllipsoid name="Chest_r">
|
|
<!--Whether or not the WrapObject is considered active in computing paths-->
|
|
<active>true</active>
|
|
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
|
|
<xyz_body_rotation>0 -0.40000000000000002 0.20000000000000001</xyz_body_rotation>
|
|
<!--Translation of the WrapObject.-->
|
|
<translation>0 0.20999999999999999 0.01</translation>
|
|
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
|
|
<quadrant>z</quadrant>
|
|
<!--Default appearance for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>false</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>0 1 1</color>
|
|
<!--Visuals applied to surfaces associated with this Appearance.-->
|
|
<SurfaceProperties>
|
|
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
|
|
<representation>3</representation>
|
|
</SurfaceProperties>
|
|
</Appearance>
|
|
<!--The length of the radii of the ellipsoid.-->
|
|
<dimensions>0.074999999999999997 0.17000000000000001 0.13</dimensions>
|
|
</WrapEllipsoid>
|
|
<WrapEllipsoid name="Chest_l">
|
|
<!--Whether or not the WrapObject is considered active in computing paths-->
|
|
<active>true</active>
|
|
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
|
|
<xyz_body_rotation>0 0.40000000000000002 0.20000000000000001</xyz_body_rotation>
|
|
<!--Translation of the WrapObject.-->
|
|
<translation>0 0.20999999999999999 -0.01</translation>
|
|
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
|
|
<quadrant>-z</quadrant>
|
|
<!--Default appearance for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>false</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>0 1 1</color>
|
|
<!--Visuals applied to surfaces associated with this Appearance.-->
|
|
<SurfaceProperties>
|
|
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
|
|
<representation>3</representation>
|
|
</SurfaceProperties>
|
|
</Appearance>
|
|
<!--The length of the radii of the ellipsoid.-->
|
|
<dimensions>0.074999999999999997 0.17000000000000001 0.13</dimensions>
|
|
</WrapEllipsoid>
|
|
</objects>
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>22.530000000000001</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.016232595708608341 0.18022592527648448 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>1.3661962752309638 0.70000765407730969 1.3262620199156339 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="head">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="torso_geom_21">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>hat_jaw.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="torso_geom_22">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>hat_skull.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>4.2778</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.016066733194191503 0.05850891278809623 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.011490919358968635 0.0083147028646661601 0.012530257217051907 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="Abdomen">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects>
|
|
<WrapEllipsoid name="Abdomen">
|
|
<!--Whether or not the WrapObject is considered active in computing paths-->
|
|
<active>true</active>
|
|
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
|
|
<xyz_body_rotation>0 0 0</xyz_body_rotation>
|
|
<!--Translation of the WrapObject.-->
|
|
<translation>0 0 0</translation>
|
|
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
|
|
<quadrant>x</quadrant>
|
|
<!--Default appearance for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>false</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>0 1 1</color>
|
|
<!--Visuals applied to surfaces associated with this Appearance.-->
|
|
<SurfaceProperties>
|
|
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
|
|
<representation>3</representation>
|
|
</SurfaceProperties>
|
|
</Appearance>
|
|
<!--The length of the radii of the ellipsoid.-->
|
|
<dimensions>0.01 0.080000000000000002 0.050000000000000003</dimensions>
|
|
</WrapEllipsoid>
|
|
</objects>
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.001</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0.0080000000000000002 0 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>1.7799999999999999e-06 5.7999999999999995e-07 1.3599999999999999e-06 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="humerus_r">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="humerus_r_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
<!--Visuals applied to surfaces associated with this Appearance.-->
|
|
<SurfaceProperties>
|
|
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
|
|
<representation>3</representation>
|
|
</SurfaceProperties>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>humerus_rv.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>2.0325000000000002</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.16450200000000001 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.011946 0.0041209999999999997 0.013409000000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="ulna_r">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="ulna_r_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ulna_rv.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.60750000000000004</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.12052499999999999 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="radius_r">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="radius_r_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>radius_rv.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.60750000000000004</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.12052499999999999 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="hand_r">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="hand_r_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>pisiform_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_2">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>lunate_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_3">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>scaphoid_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_4">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>triquetrum_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_5">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>hamate_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_6">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>capitate_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_7">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>trapezoid_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_8">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>trapezium_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_9">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal2_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_10">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>index_proximal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_11">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>index_medial_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_12">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>index_distal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_13">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal3_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_14">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>middle_proximal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_15">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>middle_medial_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_16">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>middle_distal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_17">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal4_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_18">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ring_proximal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_19">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ring_medial_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_20">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ring_distal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_21">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal5_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_22">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>little_proximal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_23">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>little_medial_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_24">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>little_distal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_25">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal1_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_26">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thumb_proximal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_r_geom_27">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thumb_distal_rvs.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.45750000000000002</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.068095000000000003 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.000892 0.00054699999999999996 0.00134 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="humerus_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="humerus_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>humerus_lv.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>2.0325000000000002</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.16450200000000001 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.011946 0.0041209999999999997 0.013409000000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="ulna_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="ulna_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ulna_lv.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.60750000000000004</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.12052499999999999 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="radius_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="radius_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>1 1 1</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>radius_lv.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.60750000000000004</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.12052499999999999 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
|
|
</Body>
|
|
<Body name="hand_l">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
|
|
<attached_geometry>
|
|
<Mesh name="hand_l_geom_1">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>pisiform_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_2">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>lunate_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_3">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>scaphoid_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_4">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>triquetrum_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_5">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>hamate_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_6">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>capitate_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_7">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>trapezoid_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_8">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>trapezium_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_9">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal2_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_10">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>index_proximal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_11">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>index_medial_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_12">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>index_distal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_13">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal3_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_14">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>middle_proximal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_15">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>middle_medial_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_16">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>middle_distal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_17">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal4_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_18">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ring_proximal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_19">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ring_medial_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_20">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>ring_distal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_21">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal5_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_22">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>little_proximal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_23">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>little_medial_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_24">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>little_distal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_25">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>metacarpal1_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_26">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thumb_proximal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
<Mesh name="hand_l_geom_27">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
|
|
<!--Default appearance attributes for this Geometry-->
|
|
<Appearance>
|
|
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
|
|
<visible>true</visible>
|
|
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
|
|
<opacity>1</opacity>
|
|
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
|
|
<color>1 1 1</color>
|
|
</Appearance>
|
|
<!--Name of geometry file.-->
|
|
<mesh_file>thumb_distal_lvs.vtp</mesh_file>
|
|
</Mesh>
|
|
</attached_geometry>
|
|
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
|
|
<WrapObjectSet name="wrapobjectset">
|
|
<objects />
|
|
<groups />
|
|
</WrapObjectSet>
|
|
<!--The mass of the body (kg)-->
|
|
<mass>0.45750000000000002</mass>
|
|
<!--The location (Vec3) of the mass center in the body frame.-->
|
|
<mass_center>0 -0.068095000000000003 0</mass_center>
|
|
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
|
|
<inertia>0.000892 0.00054699999999999996 0.00134 0 0 0</inertia>
|
|
</Body>
|
|
</objects>
|
|
<groups />
|
|
</BodySet>
|
|
<!--List of joints that connect the bodies.-->
|
|
<JointSet name="jointset">
|
|
<objects>
|
|
<CustomJoint name="ground_pelvis">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>ground_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>pelvis_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="pelvis_tilt">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="pelvis_list">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="pelvis_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="pelvis_tx">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-5 5</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="pelvis_ty">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0.93999999999999995</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1 2</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="pelvis_tz">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-3 3</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="ground_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/ground</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="pelvis_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/pelvis</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>pelvis_tilt</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>pelvis_list</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>pelvis_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>pelvis_tx</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>pelvis_ty</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>pelvis_tz</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<WeldJoint name="sacrumjnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>pelvis_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>sacrum_offset</socket_child_frame>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="pelvis_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/pelvis</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.01 -0.017000000000000001 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="sacrum_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/sacrum</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</WeldJoint>
|
|
<CustomJoint name="hip_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>pelvis_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>femur_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="hip_flexion_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>1.5670050666942832e-09</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.87 2.6179899999999998</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="hip_adduction_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>-9.4634793044849591e-10</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.0471975511965976 0.52359878000000004</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="hip_rotation_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.2217304763960306 0.69813170000000002</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="pelvis_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/pelvis</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.070699999999999999 -0.066100000000000006 0.083500000000000005</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="femur_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/femur_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>hip_flexion_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>hip_adduction_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>hip_rotation_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="walker_knee_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>femur_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>tibia_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="knee_angle_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>7.6916171281619415e-05</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>0 2.705260340591211</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="femur_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/femur_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.00809 -0.40795999999999999 -0.0027499999999999998</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.64157 1.44618 1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="tibia_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/tibia_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0080895399999999992 -0.0105347999999999998 -0.00148474</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.64157 1.44618 1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 0.0126809 0.0226969 0.0296054 0.0332049 0.0335354 0.0308779 0.0257548 0.0189295 0.011407 0.00443314 -0.00050475 -0.0016782</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 0.059461 0.109399 0.150618 0.18392 0.210107 0.229983 0.24435 0.254012 0.25977 0.262428 0.262788 0.261654</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 0.000479 0.000835 0.001086 0.001251 0.001346 0.001391 0.001403 0.0014 0.0014 0.001421 0.001481 0.001599</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 0.000988 0.001899 0.002734 0.003492 0.004173 0.004777 0.005305 0.005756 0.00613 0.006427 0.006648 0.006792</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="patellofemoral_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>femur_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>patella_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="knee_angle_r_beta">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>7.6916171281619415e-05</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="femur_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/femur_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.00809 -0.40795999999999999 -0.0027499999999999998</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="patella_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/patella_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r_beta</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0.00113686 -0.00629212 -0.105582 -0.253683 -0.414245 -0.579047 -0.747244 -0.91799 -1.09044 -1.26379 -1.43763 -1.61186 -1.78634</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r_beta</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0.0524 0.0488 0.0437 0.0371 0.0296 0.0216 0.0136 0.0057 -0.0019 -0.0088 -0.0148 -0.0196 -0.0227</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_r_beta</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> -0.0108 -0.019 -0.0263 -0.0322 -0.0367 -0.0395 -0.0408 -0.0404 -0.0384 -0.0349 -0.0301 -0.0245 -0.0187</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0.0027499999999999998</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="ankle_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>tibia_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>talus_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="ankle_angle_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.0471975511965976 1.0471975511965976</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="tibia_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/tibia_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 -0.42999999999999999 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="talus_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/talus_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>ankle_angle_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>-0.10501355 -0.17402245 0.97912631999999999</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0.97912631999999999 -0 0.10501355</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<PinJoint name="subtalar_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>talus_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>calcn_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="subtalar_angle_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.34906585000000001 0.34906585000000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="talus_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/talus_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.048770000000000001 -0.041950000000000001 0.00792</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.7681899999999999 0.906223 1.8196000000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="calcn_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/calcn_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.7681899999999999 0.906223 1.8196000000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<PinJoint name="mtp_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>calcn_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>toes_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="mtp_angle_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.52359878000000004 0.52359878000000004</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="calcn_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/calcn_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.17879999999999999 -0.002 0.00108</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-3.1415899999999999 0.61990100000000004 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="toes_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/toes_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-3.1415899999999999 0.61990100000000004 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<CustomJoint name="hip_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>pelvis_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>femur_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="hip_flexion_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>1.5670050666942832e-09</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.87 2.6179899999999998</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="hip_adduction_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>-9.4634793044849591e-10</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.0471975511965976 0.52359878000000004</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="hip_rotation_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.2217304763960306 0.69813170000000002</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="pelvis_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/pelvis</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.070699999999999999 -0.066100000000000006 -0.083500000000000005</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="femur_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/femur_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>hip_flexion_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>hip_adduction_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> -1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>hip_rotation_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> -1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="walker_knee_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>femur_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>tibia_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="knee_angle_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>7.6916171281619415e-05</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>0 2.705260340591211</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="femur_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/femur_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.00809 -0.40795999999999999 0.0027499999999999998</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.64157 -1.44618 1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="tibia_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/tibia_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0080895399999999992 -0.0105347999999999998 0.00148474</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.64157 -1.44618 1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>-1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 0.0126809 0.0226969 0.0296054 0.0332049 0.0335354 0.0308779 0.0257548 0.0189295 0.011407 0.00443314 -0.00050475 -0.0016782</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 -0.059461 -0.109399 -0.150618 -0.18392 -0.210107 -0.229983 -0.24435 -0.254012 -0.25977 -0.262428 -0.262788 -0.261654</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 0.000479 0.000835 0.001086 0.001251 0.001346 0.001391 0.001403 0.0014 0.0014 0.001421 0.001481 0.001599</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0 -0.000988 -0.001899 -0.002734 -0.003492 -0.004173 -0.004777 -0.005305 -0.005756 -0.00613 -0.006427 -0.006648 -0.006792</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="patellofemoral_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>femur_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>patella_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="knee_angle_l_beta">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>7.6916171281619415e-05</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="femur_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/femur_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.00809 -0.40795999999999999 0.0027499999999999998</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="patella_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/patella_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l_beta</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0.00113686 -0.00629212 -0.105582 -0.253683 -0.414245 -0.579047 -0.747244 -0.91799 -1.09044 -1.26379 -1.43763 -1.61186 -1.78634</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l_beta</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> 0.0524 0.0488 0.0437 0.0371 0.0296 0.0216 0.0136 0.0057 -0.0019 -0.0088 -0.0148 -0.0196 -0.0227</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>knee_angle_l_beta</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<SimmSpline name="function">
|
|
<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>
|
|
<y> -0.0108 -0.019 -0.0263 -0.0322 -0.0367 -0.0395 -0.0408 -0.0404 -0.0384 -0.0349 -0.0301 -0.0245 -0.0187</y>
|
|
</SimmSpline>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>-0.0027499999999999998</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="ankle_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>tibia_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>talus_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="ankle_angle_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.0471975499999999 1.0471975499999999</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="tibia_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/tibia_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 -0.42999999999999999 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="talus_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/talus_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>ankle_angle_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0.10501355 0.17402245 0.97912631999999999</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0.97912631999999999 0 -0.10501355</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<PinJoint name="subtalar_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>talus_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>calcn_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="subtalar_angle_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.34906585000000001 0.34906585000000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="talus_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/talus_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.048770000000000001 -0.041950000000000001 -0.00792</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.7681899999999999 -0.906223 1.8196000000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="calcn_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/calcn_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.7681899999999999 -0.906223 1.8196000000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<PinJoint name="mtp_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>calcn_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>toes_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="mtp_angle_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.52359878000000004 0.52359878000000004</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="calcn_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/calcn_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.17879999999999999 -0.002 -0.00108</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-3.1415899999999999 -0.61990100000000004 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="toes_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/toes_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-3.1415899999999999 -0.61990100000000004 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<CustomJoint name="L5_S1_IVDjnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>sacrum_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>lumbar5_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="L5_S1_Flex_Ext">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.19547690000000001 0.06352998</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L5_S1_Lat_Bending">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.039269909999999998 0.039269909999999998</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L5_S1_axial_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.17592919000000001 0.17592919000000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="sacrum_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/sacrum</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.098000000000000004 0.070999999999999994 -0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="lumbar5_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar5</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L5_S1_Flex_Ext</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L5_S1_Lat_Bending</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L5_S1_axial_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="L4_L5_IVDjnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>lumbar5_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>lumbar4_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="L4_L5_Flex_Ext">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L4_L5_Lat_Bending">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L4_L5_axial_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="lumbar5_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar5</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.01 0.029600000000000001 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="lumbar4_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar4</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.001 -0.0025000000000000001 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L4_L5_Flex_Ext</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L4_L5_Lat_Bending</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L4_L5_axial_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="L3_L4_IVDjnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>lumbar4_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>lumbar3_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="L3_L4_Flex_Ext">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L3_L4_Lat_Bending">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L3_L4_axial_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="lumbar4_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar4</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0.032000000000000001 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="lumbar3_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar3</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.00059999999999999995 -0.0011999999999999999 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L3_L4_Flex_Ext</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L3_L4_Lat_Bending</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L3_L4_axial_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="L2_L3_IVD_jnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>lumbar3_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>lumbar2_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="L2_L3_Flex_Ext">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L2_L3_Lat_Bending">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L2_L3_axial_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="lumbar3_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar3</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0080000000000000002 0.031199999999999999 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="lumbar2_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar2</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0012999999999999999 -0.0038999999999999998 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L2_L3_Flex_Ext</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L2_L3_Lat_Bending</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L2_L3_axial_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="L1_L2_IVD_jnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>lumbar2_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>lumbar1_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="L1_L2_Flex_Ext">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L1_L2_Lat_Bending">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L1_L2_axial_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="lumbar2_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar2</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.01 0.025000000000000001 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="lumbar1_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar1</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0014 -0.0038 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L1_L2_Flex_Ext</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L1_L2_Lat_Bending</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L1_L2_axial_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="L1_T12_IVD_jnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>lumbar1_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>torso_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="L1_T12_Flex_Ext">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L1_T12_Lat_Bending">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="L1_T12_axial_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.1000000000000001 1.1000000000000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="lumbar1_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/lumbar1</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0104 0.0275 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="torso_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/torso</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0129 0.1154 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L1_T12_Flex_Ext</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L1_T12_Lat_Bending</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>L1_T12_axial_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="Abdjnt">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>sacrum_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>Abdomen_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="Abs_r3">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.7 1.7</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="Abs_r2">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.7 1.7</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="Abs_r1">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.7 1.7</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="Abs_t1">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="Abs_t2">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-99999.899999999994 99999.899999999994</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>false</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="sacrum_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/sacrum</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.098000000000000004 0.070999999999999994 -0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="Abdomen_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/Abdomen</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.089999999999999997 -0.089999999999999997 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>Abs_r3</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>Abs_r2</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>Abs_r1</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>Abs_t1</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>Abs_t2</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="head_torso">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>torso_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>head_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="neck_flexion">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>5.488090856396461e-11</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.5 0.5</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="neck_bending">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
</Coordinate>
|
|
<Coordinate name="neck_rotation">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>3.6589138998366536e-10</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.78539800000000004 0.78539800000000004</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="torso_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/torso</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0.54145811252102782 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="head_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/head</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0.54145799999999999 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>neck_flexion</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>neck_bending</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>neck_rotation</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<MultiplierFunction name="function">
|
|
<function>
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</function>
|
|
<scale>1.061682573570643</scale>
|
|
</MultiplierFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<MultiplierFunction name="function">
|
|
<function>
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</function>
|
|
<scale>1.061682573570643</scale>
|
|
</MultiplierFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<MultiplierFunction name="function">
|
|
<function>
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</function>
|
|
<scale>1.061682573570643</scale>
|
|
</MultiplierFunction>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<CustomJoint name="acromial_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>torso_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>humerus_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="arm_flex_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="arm_add_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>-1.5707963283033672</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-2.0943950999999998 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="arm_rot_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="torso_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/torso</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0031549999999999998 0.3715 0.17000000000000001</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="humerus_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/humerus_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>arm_flex_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>arm_add_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>arm_rot_r</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<PinJoint name="elbow_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>humerus_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>ulna_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="elbow_flex_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>7.6915122188371947e-05</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>0 2.6179999999999999</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="humerus_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/humerus_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.013143999999999999 -0.286273 -0.0095949999999999994</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0.0228627 0.228018 0.0051688999999999997</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="ulna_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/ulna_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-0.0228627 0.228018 0.0051688999999999997</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<PinJoint name="radioulnar_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>ulna_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>radius_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="pro_sup_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>1.5707194213471012</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>0 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="ulna_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/ulna_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0067270000000000003 -0.013006999999999999 0.026082999999999999</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.56884 0.056427999999999999 1.5361400000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="radius_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/radius_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.56884 0.056427999999999999 1.5361400000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<UniversalJoint name="radius_hand_r">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>radius_r_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>hand_r_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="wrist_flex_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.22173048 1.22173048</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="wrist_dev_r">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.43633231 0.61086523999999998</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="radius_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/radius_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0087969999999999993 -0.235841 0.013610000000000001</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.5708 0 -1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="hand_r_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/hand_r</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>-1.5708 0 -1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</UniversalJoint>
|
|
<CustomJoint name="acromial_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>torso_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>humerus_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="arm_flex_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="arm_add_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>-1.5707963283033672</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-2.0943950999999998 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="arm_rot_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.5707963300000001 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="torso_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/torso</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.0031549999999999998 0.3715 -0.17000000000000001</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="humerus_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/humerus_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0 0 0</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
|
|
<SpatialTransform>
|
|
<!--3 Axes for rotations are listed first.-->
|
|
<TransformAxis name="rotation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>arm_flex_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>arm_add_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>-1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<TransformAxis name="rotation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates>arm_rot_l</coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 -1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<LinearFunction name="function">
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</TransformAxis>
|
|
<!--3 Axes for translations are listed next.-->
|
|
<TransformAxis name="translation1">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>1 0 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation2">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 1 0</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
<TransformAxis name="translation3">
|
|
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
|
|
<coordinates></coordinates>
|
|
<!--Rotation or translation axis for the transform.-->
|
|
<axis>0 0 1</axis>
|
|
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
|
|
<Constant name="function">
|
|
<value>0</value>
|
|
</Constant>
|
|
</TransformAxis>
|
|
</SpatialTransform>
|
|
</CustomJoint>
|
|
<PinJoint name="elbow_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>humerus_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>ulna_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="elbow_flex_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>7.6915122188371947e-05</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>0 2.6179999999999999</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>false</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="humerus_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/humerus_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0.013143999999999999 -0.286273 0.0095949999999999994</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0.0228627 -0.228018 0.0051688999999999997</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="ulna_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/ulna_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>0.0228627 -0.228018 0.0051688999999999997</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<PinJoint name="radioulnar_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>ulna_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>radius_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="pro_sup_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>1.5707194213471012</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>0 1.5707963300000001</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="ulna_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/ulna_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0067270000000000003 -0.013006999999999999 -0.026082999999999999</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.56884 -0.056427999999999999 1.5361400000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="radius_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/radius_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.56884 -0.056427999999999999 1.5361400000000001</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</PinJoint>
|
|
<UniversalJoint name="radius_hand_l">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
|
|
<socket_parent_frame>radius_l_offset</socket_parent_frame>
|
|
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
|
|
<socket_child_frame>hand_l_offset</socket_child_frame>
|
|
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
|
|
<coordinates>
|
|
<Coordinate name="wrist_flex_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-1.22173048 1.22173048</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
<Coordinate name="wrist_dev_l">
|
|
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
|
|
<default_value>0</default_value>
|
|
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
|
|
<default_speed_value>0</default_speed_value>
|
|
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
|
|
<range>-0.43633231 0.61086523999999998</range>
|
|
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
|
|
<clamped>true</clamped>
|
|
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
|
|
<locked>true</locked>
|
|
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
|
|
<prescribed_function />
|
|
<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
|
|
<prescribed>false</prescribed>
|
|
</Coordinate>
|
|
</coordinates>
|
|
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
|
|
<frames>
|
|
<PhysicalOffsetFrame name="radius_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/radius_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>-0.0087969999999999993 -0.235841 -0.013610000000000001</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.5708 0 1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
<PhysicalOffsetFrame name="hand_l_offset">
|
|
<!--The geometry used to display the axes of this Frame.-->
|
|
<FrameGeometry name="frame_geometry">
|
|
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
|
|
<socket_frame>..</socket_frame>
|
|
<!--Scale factors in X, Y, Z directions respectively.-->
|
|
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
|
|
</FrameGeometry>
|
|
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
|
|
<socket_parent>/bodyset/hand_l</socket_parent>
|
|
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
|
|
<translation>0 0 0</translation>
|
|
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
|
|
<orientation>1.5708 0 1.5708</orientation>
|
|
</PhysicalOffsetFrame>
|
|
</frames>
|
|
</UniversalJoint>
|
|
</objects>
|
|
<groups />
|
|
</JointSet>
|
|
<!--Controllers that provide the control inputs for Actuators.-->
|
|
<ControllerSet name="controllerset">
|
|
<objects />
|
|
<groups />
|
|
</ControllerSet>
|
|
<!--Constraints in the model.-->
|
|
<ConstraintSet name="constraintset">
|
|
<objects>
|
|
<CoordinateCouplerConstraint name="Abs_r3_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 7.1429 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Flex_Ext</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>Abs_r3</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="Abs_r1_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 5.5617 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_axial_rotation</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>Abs_r1</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="Abs_r2_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 11.3122 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Lat_Bending</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>Abs_r2</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L4_L5_Flex_Ext_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1.8571 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Flex_Ext</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L4_L5_Flex_Ext</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L4_L5_axial_rotation_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1.0625 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_axial_rotation</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L4_L5_axial_rotation</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L4_L5_Lat_Bending_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1.33 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Lat_Bending</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L4_L5_Lat_Bending</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L3_L4_Flex_Ext_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1.6429 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Flex_Ext</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L3_L4_Flex_Ext</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L3_L4_axial_rotation_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1.0625 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_axial_rotation</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L3_L4_axial_rotation</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L3_L4_Lat_Bending_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 2.4314 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Lat_Bending</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L3_L4_Lat_Bending</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L2_L3_Flex_Ext_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1.1429 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Flex_Ext</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L2_L3_Flex_Ext</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L2_L3_axial_rotation_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 0.875 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_axial_rotation</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L2_L3_axial_rotation</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L2_L3_Lat_Bending_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 2.4314 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Lat_Bending</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L2_L3_Lat_Bending</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L1_L2_Flex_Ext_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 0.9286 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Flex_Ext</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L1_L2_Flex_Ext</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L1_L2_axial_rotation_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 0.8125 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_axial_rotation</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L1_L2_axial_rotation</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L1_L2_Lat_Bending_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 2.0392 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Lat_Bending</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L1_L2_Lat_Bending</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L1_T12_axial_rotation">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 0.75 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_axial_rotation</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L1_T12_axial_rotation</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L1_T12_Flex_Ext_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 0.5714 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Flex_Ext</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L1_T12_Flex_Ext</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="L1_T12_Lat_Bending_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1.549 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>L5_S1_Lat_Bending</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>L1_T12_Lat_Bending</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="patellofemoral_knee_angle_r_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>knee_angle_r</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>knee_angle_r_beta</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
<CoordinateCouplerConstraint name="patellofemoral_knee_angle_l_con">
|
|
<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
|
|
<isEnforced>true</isEnforced>
|
|
<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
|
|
<coupled_coordinates_function>
|
|
<LinearFunction>
|
|
<coefficients> 1 0</coefficients>
|
|
</LinearFunction>
|
|
</coupled_coordinates_function>
|
|
<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
|
|
<independent_coordinate_names>knee_angle_l</independent_coordinate_names>
|
|
<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
|
|
<dependent_coordinate_name>knee_angle_l_beta</dependent_coordinate_name>
|
|
<!--Scale factor for the coupling function.-->
|
|
<scale_factor>1</scale_factor>
|
|
</CoordinateCouplerConstraint>
|
|
</objects>
|
|
<groups />
|
|
</ConstraintSet>
|
|
<!--Forces in the model (includes Actuators).-->
|
|
<ForceSet name="forceset">
|
|
<objects />
|
|
<groups />
|
|
</ForceSet>
|
|
<!--Markers in the model.-->
|
|
<MarkerSet name="markerset">
|
|
<objects>
|
|
<Marker name="Nose">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/head</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>0.107623784338859 0.54290490722614126 0.0001528854696219647</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="Neck">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/torso</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.0127516 0.36630699999999999 -0.00050900000000000001</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="LShoulder">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/torso</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.012751615047454833 0.3663070650903635 -0.20157419735588852</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="RShoulder">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/torso</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.012751615047454833 0.3663070650903635 0.20157419735588852</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="LElbow">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/humerus_l</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>0.025000000000000001 -0.297954547847498 0.00873765299328707</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="RElbow">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/humerus_r</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>0.025000000000000001 -0.297954547847498 -0.00873765299328707</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="LWrist">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/radius_l</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.00017358908136026123 -0.23509597713454577 -0.009743794995017714</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="RWrist">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/radius_r</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.00017358908136026123 -0.23509597713454577 0.009743794995017714</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="LHip">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.06392744445800781 -0.08134311294555664 -0.10540640790244724</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="RHip">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.06392744445800781 -0.08134311294555664 0.10540640790244724</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="LKnee">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.005410484544778264 -0.3861321573680546 -0.005110696942696956</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="RKnee">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.005410484544778264 -0.3861321573680546 0.005110696942696956</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="LAnkle">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.0002863097610119403 -0.3768397741642202 -0.014959548491229383</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
<Marker name="RAnkle">
|
|
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
|
|
<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
|
|
<!--The fixed location of the station expressed in its parent frame.-->
|
|
<location>-0.0002863097610119403 -0.3768397741642202 0.014959548491229383</location>
|
|
<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling. If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
|
|
<fixed>true</fixed>
|
|
</Marker>
|
|
</objects>
|
|
<groups />
|
|
</MarkerSet>
|
|
<!--Geometry to be used in contact forces.-->
|
|
<ContactGeometrySet name="contactgeometryset">
|
|
<objects />
|
|
<groups />
|
|
</ContactGeometrySet>
|
|
</Model>
|
|
</OpenSimDocument>
|