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--- a +++ b/CPP/data/Arm26/arm26.osim @@ -0,0 +1,1563 @@ +<?xml version="1.0" encoding="UTF-8"?> +<OpenSimDocument Version="20302"> + <Model name="arm26"> + <defaults/> + <credits> The OpenSim Development Team (Reinbolt, J; Seth, A; Habib, A; Hamner, S) </credits> + <publications> This is an example model distributed with OpenSim </publications> + <ForceSet name=""> + <objects> + <Thelen2003Muscle name="TRIlong"> + <isDisabled> false </isDisabled> + <!--Minimum allowed value for control signal. Used primarily when solving + for control values--> + <min_control> 0.00000000 </min_control> + <!--Maximum allowed value for control signal. Used primarily when solving + for control values--> + <max_control> 1.00000000 </max_control> + <GeometryPath name=""> + <PathPointSet name=""> + <objects> + <PathPoint name="TRIlong-P1"> + <location> -0.05365000 -0.01373000 0.14723000 </location> + <body> ground </body> + </PathPoint> + <PathPoint name="TRIlong-P2"> + <location> -0.02714000 -0.11441000 -0.00664000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRIlong-P3"> + <location> -0.03184000 -0.22637000 -0.01217000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRIlong-P4"> + <location> -0.01743000 -0.26757000 -0.01208000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRIlong-P5"> + <location> -0.02190000 0.01046000 -0.00078000 </location> + <body> r_ulna_radius_hand </body> + </PathPoint> + </objects> + <groups/> + </PathPointSet> + <PathWrapSet name=""> + <objects> + <PathWrap name=""> + <wrap_object> TRI </wrap_object> + <method> hybrid </method> + <range> -1 -1 </range> + </PathWrap> + <PathWrap name=""> + <wrap_object> TRIlonghh </wrap_object> + <method> hybrid </method> + <range> -1 -1 </range> + </PathWrap> + <PathWrap name=""> + <wrap_object> TRIlongglen </wrap_object> + <method> hybrid </method> + <range> -1 -1 </range> + </PathWrap> + </objects> + <groups/> + </PathWrapSet> + </GeometryPath> + <optimal_force> 1.00000000 </optimal_force> + <!--Maximum isometric force that the fibers can generate--> + <max_isometric_force> 798.52000000 </max_isometric_force> + <!--Optimal length of the muscle fibers--> + <optimal_fiber_length> 0.13400000 </optimal_fiber_length> + <!--Resting length of the tendon--> + <tendon_slack_length> 0.14300000 </tendon_slack_length> + <!--Angle between tendon and fibers at optimal fiber length--> + <pennation_angle_at_optimal> 0.20943951 </pennation_angle_at_optimal> + <!--Maximum contraction velocity of the fibers, in optimal fiberlengths + per second--> + <max_contraction_velocity> 10.00000000 </max_contraction_velocity> + <!--time constant for ramping up of muscle activation--> + <activation_time_constant> 0.01000000 </activation_time_constant> + <!--time constant for ramping down of muscle activation--> + <deactivation_time_constant> 0.04000000 </deactivation_time_constant> + <!--maximum contraction velocity at full activation in fiber lengths per + second--> + <Vmax> 10.00000000 </Vmax> + <!--maximum contraction velocity at low activation in fiber lengths per + second--> + <Vmax0> 5.00000000 </Vmax0> + <!--tendon strain due to maximum isometric muscle force--> + <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> + <!--passive muscle strain due to maximum isometric muscle force--> + <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> + <!--shape factor for Gaussian active muscle force-length relationship--> + <KshapeActive> 0.50000000 </KshapeActive> + <!--exponential shape factor for passive force-length relationship--> + <KshapePassive> 4.00000000 </KshapePassive> + <!--passive damping in the force-velocity relationship--> + <damping> 0.05000000 </damping> + <!--force-velocity shape factor--> + <Af> 0.30000000 </Af> + <!--maximum normalized lengthening force--> + <Flen> 1.80000000 </Flen> + </Thelen2003Muscle> + <Thelen2003Muscle name="TRIlat"> + <isDisabled> false </isDisabled> + <!--Minimum allowed value for control signal. Used primarily when solving + for control values--> + <min_control> 0.00000000 </min_control> + <!--Maximum allowed value for control signal. Used primarily when solving + for control values--> + <max_control> 1.00000000 </max_control> + <GeometryPath name=""> + <PathPointSet name=""> + <objects> + <PathPoint name="TRIlat-P1"> + <location> -0.00599000 -0.12646000 0.00428000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRIlat-P2"> + <location> -0.02344000 -0.14528000 0.00928000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRIlat-P3"> + <location> -0.03184000 -0.22637000 -0.01217000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRIlat-P4"> + <location> -0.01743000 -0.26757000 -0.01208000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRIlat-P5"> + <location> -0.02190000 0.01046000 -0.00078000 </location> + <body> r_ulna_radius_hand </body> + </PathPoint> + </objects> + <groups/> + </PathPointSet> + <PathWrapSet name=""> + <objects> + <PathWrap name=""> + <wrap_object> TRI </wrap_object> + <method> hybrid </method> + <range> -1 -1 </range> + </PathWrap> + </objects> + <groups/> + </PathWrapSet> + </GeometryPath> + <optimal_force> 1.00000000 </optimal_force> + <!--Maximum isometric force that the fibers can generate--> + <max_isometric_force> 624.30000000 </max_isometric_force> + <!--Optimal length of the muscle fibers--> + <optimal_fiber_length> 0.11380000 </optimal_fiber_length> + <!--Resting length of the tendon--> + <tendon_slack_length> 0.09800000 </tendon_slack_length> + <!--Angle between tendon and fibers at optimal fiber length--> + <pennation_angle_at_optimal> 0.15707963 </pennation_angle_at_optimal> + <!--Maximum contraction velocity of the fibers, in optimal fiberlengths + per second--> + <max_contraction_velocity> 10.00000000 </max_contraction_velocity> + <!--time constant for ramping up of muscle activation--> + <activation_time_constant> 0.01000000 </activation_time_constant> + <!--time constant for ramping down of muscle activation--> + <deactivation_time_constant> 0.04000000 </deactivation_time_constant> + <!--maximum contraction velocity at full activation in fiber lengths per + second--> + <Vmax> 10.00000000 </Vmax> + <!--maximum contraction velocity at low activation in fiber lengths per + second--> + <Vmax0> 5.00000000 </Vmax0> + <!--tendon strain due to maximum isometric muscle force--> + <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> + <!--passive muscle strain due to maximum isometric muscle force--> + <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> + <!--shape factor for Gaussian active muscle force-length relationship--> + <KshapeActive> 0.50000000 </KshapeActive> + <!--exponential shape factor for passive force-length relationship--> + <KshapePassive> 4.00000000 </KshapePassive> + <!--passive damping in the force-velocity relationship--> + <damping> 0.05000000 </damping> + <!--force-velocity shape factor--> + <Af> 0.30000000 </Af> + <!--maximum normalized lengthening force--> + <Flen> 1.80000000 </Flen> + </Thelen2003Muscle> + <Thelen2003Muscle name="TRImed"> + <isDisabled> false </isDisabled> + <!--Minimum allowed value for control signal. Used primarily when solving + for control values--> + <min_control> 0.00000000 </min_control> + <!--Maximum allowed value for control signal. Used primarily when solving + for control values--> + <max_control> 1.00000000 </max_control> + <GeometryPath name=""> + <PathPointSet name=""> + <objects> + <PathPoint name="TRImed-P1"> + <location> -0.00838000 -0.13695000 -0.00906000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRImed-P2"> + <location> -0.02601000 -0.15139000 -0.01080000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRImed-P3"> + <location> -0.03184000 -0.22637000 -0.01217000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRImed-P4"> + <location> -0.01743000 -0.26757000 -0.01208000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="TRImed-P5"> + <location> -0.02190000 0.01046000 -0.00078000 </location> + <body> r_ulna_radius_hand </body> + </PathPoint> + </objects> + <groups/> + </PathPointSet> + <PathWrapSet name=""> + <objects> + <PathWrap name=""> + <wrap_object> TRI </wrap_object> + <method> hybrid </method> + <range> -1 -1 </range> + </PathWrap> + </objects> + <groups/> + </PathWrapSet> + </GeometryPath> + <optimal_force> 1.00000000 </optimal_force> + <!--Maximum isometric force that the fibers can generate--> + <max_isometric_force> 624.30000000 </max_isometric_force> + <!--Optimal length of the muscle fibers--> + <optimal_fiber_length> 0.11380000 </optimal_fiber_length> + <!--Resting length of the tendon--> + <tendon_slack_length> 0.09080000 </tendon_slack_length> + <!--Angle between tendon and fibers at optimal fiber length--> + <pennation_angle_at_optimal> 0.15707963 </pennation_angle_at_optimal> + <!--Maximum contraction velocity of the fibers, in optimal fiberlengths + per second--> + <max_contraction_velocity> 10.00000000 </max_contraction_velocity> + <!--time constant for ramping up of muscle activation--> + <activation_time_constant> 0.01000000 </activation_time_constant> + <!--time constant for ramping down of muscle activation--> + <deactivation_time_constant> 0.04000000 </deactivation_time_constant> + <!--maximum contraction velocity at full activation in fiber lengths per + second--> + <Vmax> 10.00000000 </Vmax> + <!--maximum contraction velocity at low activation in fiber lengths per + second--> + <Vmax0> 5.00000000 </Vmax0> + <!--tendon strain due to maximum isometric muscle force--> + <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> + <!--passive muscle strain due to maximum isometric muscle force--> + <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> + <!--shape factor for Gaussian active muscle force-length relationship--> + <KshapeActive> 0.50000000 </KshapeActive> + <!--exponential shape factor for passive force-length relationship--> + <KshapePassive> 4.00000000 </KshapePassive> + <!--passive damping in the force-velocity relationship--> + <damping> 0.05000000 </damping> + <!--force-velocity shape factor--> + <Af> 0.30000000 </Af> + <!--maximum normalized lengthening force--> + <Flen> 1.80000000 </Flen> + </Thelen2003Muscle> + <Thelen2003Muscle name="BIClong"> + <isDisabled> false </isDisabled> + <!--Minimum allowed value for control signal. Used primarily when solving + for control values--> + <min_control> 0.00000000 </min_control> + <!--Maximum allowed value for control signal. Used primarily when solving + for control values--> + <max_control> 1.00000000 </max_control> + <GeometryPath name=""> + <PathPointSet name=""> + <objects> + <PathPoint name="BIClong-P1"> + <location> -0.03923500 0.00347000 0.14795000 </location> + <body> ground </body> + </PathPoint> + <PathPoint name="BIClong-P2"> + <location> -0.02894500 0.01391000 0.15639000 </location> + <body> ground </body> + </PathPoint> + <PathPoint name="BIClong-P3"> + <location> 0.02131000 0.01793000 0.01028000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BIClong-P4"> + <location> 0.02378000 -0.00511000 0.01201000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BIClong-P5"> + <location> 0.01345000 -0.02827000 0.00136000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BIClong-P6"> + <location> 0.01068000 -0.07736000 -0.00165000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BIClong-P7"> + <location> 0.01703000 -0.12125000 0.00024000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BIClong-P8"> + <location> 0.02280000 -0.17540000 -0.00630000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BIClong-P9"> + <location> 0.00751000 -0.04839000 0.02179000 </location> + <body> r_ulna_radius_hand </body> + </PathPoint> + </objects> + <groups/> + </PathPointSet> + <PathWrapSet name=""> + <objects> + <PathWrap name=""> + <wrap_object> BIClonghh </wrap_object> + <method> hybrid </method> + <range> 2 3 </range> + </PathWrap> + </objects> + <groups/> + </PathWrapSet> + </GeometryPath> + <optimal_force> 1.00000000 </optimal_force> + <!--Maximum isometric force that the fibers can generate--> + <max_isometric_force> 624.30000000 </max_isometric_force> + <!--Optimal length of the muscle fibers--> + <optimal_fiber_length> 0.11570000 </optimal_fiber_length> + <!--Resting length of the tendon--> + <tendon_slack_length> 0.27230000 </tendon_slack_length> + <!--Angle between tendon and fibers at optimal fiber length--> + <pennation_angle_at_optimal> 0.00000000 </pennation_angle_at_optimal> + <!--Maximum contraction velocity of the fibers, in optimal fiberlengths + per second--> + <max_contraction_velocity> 10.00000000 </max_contraction_velocity> + <!--time constant for ramping up of muscle activation--> + <activation_time_constant> 0.01000000 </activation_time_constant> + <!--time constant for ramping down of muscle activation--> + <deactivation_time_constant> 0.04000000 </deactivation_time_constant> + <!--maximum contraction velocity at full activation in fiber lengths per + second--> + <Vmax> 10.00000000 </Vmax> + <!--maximum contraction velocity at low activation in fiber lengths per + second--> + <Vmax0> 5.00000000 </Vmax0> + <!--tendon strain due to maximum isometric muscle force--> + <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> + <!--passive muscle strain due to maximum isometric muscle force--> + <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> + <!--shape factor for Gaussian active muscle force-length relationship--> + <KshapeActive> 0.50000000 </KshapeActive> + <!--exponential shape factor for passive force-length relationship--> + <KshapePassive> 4.00000000 </KshapePassive> + <!--passive damping in the force-velocity relationship--> + <damping> 0.05000000 </damping> + <!--force-velocity shape factor--> + <Af> 0.30000000 </Af> + <!--maximum normalized lengthening force--> + <Flen> 1.80000000 </Flen> + </Thelen2003Muscle> + <Thelen2003Muscle name="BICshort"> + <isDisabled> false </isDisabled> + <!--Minimum allowed value for control signal. Used primarily when solving + for control values--> + <min_control> 0.00000000 </min_control> + <!--Maximum allowed value for control signal. Used primarily when solving + for control values--> + <max_control> 1.00000000 </max_control> + <GeometryPath name=""> + <PathPointSet name=""> + <objects> + <PathPoint name="BICshort-P1"> + <location> 0.00467500 -0.01231000 0.13475000 </location> + <body> ground </body> + </PathPoint> + <PathPoint name="BICshort-P2"> + <location> -0.00707500 -0.04004000 0.14507000 </location> + <body> ground </body> + </PathPoint> + <PathPoint name="BICshort-P3"> + <location> 0.01117000 -0.07576000 -0.01101000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BICshort-P4"> + <location> 0.01703000 -0.12125000 -0.01079000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BICshort-P5"> + <location> 0.02280000 -0.17540000 -0.00630000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BICshort-P6"> + <location> 0.00751000 -0.04839000 0.02179000 </location> + <body> r_ulna_radius_hand </body> + </PathPoint> + </objects> + <groups/> + </PathPointSet> + <PathWrapSet name=""> + <objects/> + <groups/> + </PathWrapSet> + </GeometryPath> + <optimal_force> 1.00000000 </optimal_force> + <!--Maximum isometric force that the fibers can generate--> + <max_isometric_force> 435.56000000 </max_isometric_force> + <!--Optimal length of the muscle fibers--> + <optimal_fiber_length> 0.13210000 </optimal_fiber_length> + <!--Resting length of the tendon--> + <tendon_slack_length> 0.19230000 </tendon_slack_length> + <!--Angle between tendon and fibers at optimal fiber length--> + <pennation_angle_at_optimal> 0.00000000 </pennation_angle_at_optimal> + <!--Maximum contraction velocity of the fibers, in optimal fiberlengths + per second--> + <max_contraction_velocity> 10.00000000 </max_contraction_velocity> + <!--time constant for ramping up of muscle activation--> + <activation_time_constant> 0.01000000 </activation_time_constant> + <!--time constant for ramping down of muscle activation--> + <deactivation_time_constant> 0.04000000 </deactivation_time_constant> + <!--maximum contraction velocity at full activation in fiber lengths per + second--> + <Vmax> 10.00000000 </Vmax> + <!--maximum contraction velocity at low activation in fiber lengths per + second--> + <Vmax0> 5.00000000 </Vmax0> + <!--tendon strain due to maximum isometric muscle force--> + <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> + <!--passive muscle strain due to maximum isometric muscle force--> + <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> + <!--shape factor for Gaussian active muscle force-length relationship--> + <KshapeActive> 0.50000000 </KshapeActive> + <!--exponential shape factor for passive force-length relationship--> + <KshapePassive> 4.00000000 </KshapePassive> + <!--passive damping in the force-velocity relationship--> + <damping> 0.05000000 </damping> + <!--force-velocity shape factor--> + <Af> 0.30000000 </Af> + <!--maximum normalized lengthening force--> + <Flen> 1.80000000 </Flen> + </Thelen2003Muscle> + <Thelen2003Muscle name="BRA"> + <isDisabled> false </isDisabled> + <!--Minimum allowed value for control signal. Used primarily when solving + for control values--> + <min_control> 0.00000000 </min_control> + <!--Maximum allowed value for control signal. Used primarily when solving + for control values--> + <max_control> 1.00000000 </max_control> + <GeometryPath name=""> + <PathPointSet name=""> + <objects> + <PathPoint name="BRA-P1"> + <location> 0.00680000 -0.17390000 -0.00360000 </location> + <body> r_humerus </body> + </PathPoint> + <PathPoint name="BRA-P2"> + <location> -0.00320000 -0.02390000 0.00090000 </location> + <body> r_ulna_radius_hand </body> + </PathPoint> + </objects> + <groups/> + </PathPointSet> + <PathWrapSet name=""> + <objects> + <PathWrap name=""> + <wrap_object> TRI </wrap_object> + <method> hybrid </method> + <range> -1 -1 </range> + </PathWrap> + </objects> + <groups/> + </PathWrapSet> + </GeometryPath> + <optimal_force> 1.00000000 </optimal_force> + <!--Maximum isometric force that the fibers can generate--> + <max_isometric_force> 987.26000000 </max_isometric_force> + <!--Optimal length of the muscle fibers--> + <optimal_fiber_length> 0.08580000 </optimal_fiber_length> + <!--Resting length of the tendon--> + <tendon_slack_length> 0.05350000 </tendon_slack_length> + <!--Angle between tendon and fibers at optimal fiber length--> + <pennation_angle_at_optimal> 0.00000000 </pennation_angle_at_optimal> + <!--Maximum contraction velocity of the fibers, in optimal fiberlengths + per second--> + <max_contraction_velocity> 10.00000000 </max_contraction_velocity> + <!--time constant for ramping up of muscle activation--> + <activation_time_constant> 0.01000000 </activation_time_constant> + <!--time constant for ramping down of muscle activation--> + <deactivation_time_constant> 0.04000000 </deactivation_time_constant> + <!--maximum contraction velocity at full activation in fiber lengths per + second--> + <Vmax> 10.00000000 </Vmax> + <!--maximum contraction velocity at low activation in fiber lengths per + second--> + <Vmax0> 5.00000000 </Vmax0> + <!--tendon strain due to maximum isometric muscle force--> + <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> + <!--passive muscle strain due to maximum isometric muscle force--> + <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> + <!--shape factor for Gaussian active muscle force-length relationship--> + <KshapeActive> 0.50000000 </KshapeActive> + <!--exponential shape factor for passive force-length relationship--> + <KshapePassive> 4.00000000 </KshapePassive> + <!--passive damping in the force-velocity relationship--> + <damping> 0.05000000 </damping> + <!--force-velocity shape factor--> + <Af> 0.30000000 </Af> + <!--maximum normalized lengthening force--> + <Flen> 1.80000000 </Flen> + </Thelen2003Muscle> + </objects> + <groups/> + </ForceSet> + <length_units> meters </length_units> + <force_units> N </force_units> + <!--Acceleration due to gravity.--> + <gravity> 0.00000000 -9.80660000 0.00000000 </gravity> + <!--Bodies in the model.--> + <BodySet name=""> + <objects> + <Body name="ground"> + <mass> 0.00000000 </mass> + <mass_center> 0.00000000 0.00000000 0.00000000 </mass_center> + <inertia_xx> 0.00000000 </inertia_xx> + <inertia_yy> 0.00000000 </inertia_yy> + <inertia_zz> 0.00000000 </inertia_zz> + <inertia_xy> 0.00000000 </inertia_xy> + <inertia_xz> 0.00000000 </inertia_xz> + <inertia_yz> 0.00000000 </inertia_yz> + <!--Joint that connects this body with the parent body.--> + <Joint/> + <VisibleObject name=""> + <!--Set of geometry files and associated attributes, allow .vtp, .stl, + .obj--> + <GeometrySet name=""> + <objects> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> ground_ribs.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> ground_spine.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> ground_skull.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> ground_jaw.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> ground_r_clavicle.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> ground_r_scapula.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + </objects> + <groups/> + </GeometrySet> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--transform relative to owner specified as 3 rotations (rad) followed by + 3 translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Whether to show a coordinate frame--> + <show_axes> false </show_axes> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for + individual geometries--> + <display_preference> 4 </display_preference> + </VisibleObject> + <WrapObjectSet name=""> + <objects> + <WrapCylinder name="TRIlongglen"> + <xyz_body_rotation> 1.37531945 -0.29461158 2.43595604 </xyz_body_rotation> + <translation> -0.04390500 -0.00390000 0.14780000 </translation> + <active> true </active> + <quadrant> x </quadrant> + <VisibleObject name=""> + <!--Set of geometry files and associated attributes, allow .vtp, .stl, + .obj--> + <GeometrySet name=""> + <objects/> + <groups/> + </GeometrySet> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--transform relative to owner specified as 3 rotations (rad) followed by + 3 translations rX rY rZ tx ty tz--> + <transform> 1.37531945 -0.29461158 2.43595604 -0.04390500 -0.00390000 0.14780000 </transform> + <!--Whether to show a coordinate frame--> + <show_axes> false </show_axes> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for + individual geometries--> + <display_preference> 4 </display_preference> + </VisibleObject> + <radius> 0.00300000 </radius> + <length> 0.03000000 </length> + </WrapCylinder> + </objects> + <groups/> + </WrapObjectSet> + </Body> + <Body name="r_humerus"> + <mass> 1.86457200 </mass> + <mass_center> 0.00000000 -0.18049600 0.00000000 </mass_center> + <inertia_xx> 0.01481000 </inertia_xx> + <inertia_yy> 0.00455100 </inertia_yy> + <inertia_zz> 0.01319300 </inertia_zz> + <inertia_xy> 0.00000000 </inertia_xy> + <inertia_xz> 0.00000000 </inertia_xz> + <inertia_yz> 0.00000000 </inertia_yz> + <!--Joint that connects this body with the parent body.--> + <Joint> + <CustomJoint name="r_shoulder"> + <parent_body> ground </parent_body> + <location_in_parent> -0.01754500 -0.00700000 0.17000000 </location_in_parent> + <orientation_in_parent> 0.00000000 0.00000000 0.00000000 </orientation_in_parent> + <location> 0.00000000 0.00000000 0.00000000 </location> + <orientation> 0.00000000 0.00000000 0.00000000 </orientation> + <!--Generalized coordinates parameterizing this joint.--> + <CoordinateSet name=""> + <objects> + <Coordinate name="r_shoulder_elev"> + <!--Cooridnate can describe rotational, translational, or coupled values. + Defaults to rotational.--> + <motion_type> rotational </motion_type> + <default_value> 0.00000000 </default_value> + <default_speed_value> 0.00000000 </default_speed_value> + <range> -1.57079633 3.14159265 </range> + <clamped> false </clamped> + <locked> false </locked> + <prescribed_function/> + </Coordinate> + </objects> + <groups/> + </CoordinateSet> + <reverse> false </reverse> + <SpatialTransform name=""> + <!--3 Axes for rotations are listed first.--> + <TransformAxis name="rotation1"> + <function> + <LinearFunction name=""> + <coefficients> 1.00000000 0.00000000 </coefficients> + </LinearFunction> + </function> + <coordinates> r_shoulder_elev </coordinates> + <axis> -0.05889802 0.00230000 0.99826136 </axis> + </TransformAxis> + <TransformAxis name="rotation2"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.00000000 1.00000000 0.00000000 </axis> + </TransformAxis> + <TransformAxis name="rotation3"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.99826136 -0.00000000 0.05889802 </axis> + </TransformAxis> + <!--3 Axes for translations are listed next.--> + <TransformAxis name="translation1"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 1.00000000 0.00000000 0.00000000 </axis> + </TransformAxis> + <TransformAxis name="translation2"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.00000000 1.00000000 0.00000000 </axis> + </TransformAxis> + <TransformAxis name="translation3"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.00000000 0.00000000 1.00000000 </axis> + </TransformAxis> + </SpatialTransform> + </CustomJoint> + </Joint> + <VisibleObject name=""> + <!--Set of geometry files and associated attributes, allow .vtp, .stl, + .obj--> + <GeometrySet name=""> + <objects> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_humerus.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + </objects> + <groups/> + </GeometrySet> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--transform relative to owner specified as 3 rotations (rad) followed by + 3 translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Whether to show a coordinate frame--> + <show_axes> false </show_axes> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for + individual geometries--> + <display_preference> 4 </display_preference> + </VisibleObject> + <WrapObjectSet name=""> + <objects> + <WrapEllipsoid name="TRIlonghh"> + <xyz_body_rotation> 3.00161725 -0.85346600 2.57418611 </xyz_body_rotation> + <translation> -0.00780000 -0.00410000 -0.00140000 </translation> + <active> true </active> + <quadrant> z </quadrant> + <VisibleObject name=""> + <!--Set of geometry files and associated attributes, allow .vtp, .stl, + .obj--> + <GeometrySet name=""> + <objects/> + <groups/> + </GeometrySet> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--transform relative to owner specified as 3 rotations (rad) followed by + 3 translations rX rY rZ tx ty tz--> + <transform> 3.00161725 -0.85346600 2.57418611 -0.00780000 -0.00410000 -0.00140000 </transform> + <!--Whether to show a coordinate frame--> + <show_axes> false </show_axes> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for + individual geometries--> + <display_preference> 4 </display_preference> + </VisibleObject> + <dimensions> 0.03500000 0.02000000 0.02000000 </dimensions> + </WrapEllipsoid> + <WrapEllipsoid name="BIClonghh"> + <xyz_body_rotation> -2.00433611 -1.00164446 0.97546452 </xyz_body_rotation> + <translation> 0.00330000 0.00730000 0.00030000 </translation> + <active> true </active> + <quadrant> -y </quadrant> + <VisibleObject name=""> + <!--Set of geometry files and associated attributes, allow .vtp, .stl, + .obj--> + <GeometrySet name=""> + <objects/> + <groups/> + </GeometrySet> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--transform relative to owner specified as 3 rotations (rad) followed by + 3 translations rX rY rZ tx ty tz--> + <transform> -2.00433611 -1.00164446 0.97546452 0.00330000 0.00730000 0.00030000 </transform> + <!--Whether to show a coordinate frame--> + <show_axes> false </show_axes> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for + individual geometries--> + <display_preference> 4 </display_preference> + </VisibleObject> + <dimensions> 0.02500000 0.02000000 0.02000000 </dimensions> + </WrapEllipsoid> + <WrapCylinder name="TRI"> + <xyz_body_rotation> -0.14014994 -0.00628319 0.15498524 </xyz_body_rotation> + <translation> 0.00280000 -0.29190000 -0.00690000 </translation> + <active> true </active> + <quadrant> all </quadrant> + <VisibleObject name=""> + <!--Set of geometry files and associated attributes, allow .vtp, .stl, + .obj--> + <GeometrySet name=""> + <objects/> + <groups/> + </GeometrySet> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--transform relative to owner specified as 3 rotations (rad) followed by + 3 translations rX rY rZ tx ty tz--> + <transform> -0.14014994 -0.00628319 0.15498524 0.00280000 -0.29190000 -0.00690000 </transform> + <!--Whether to show a coordinate frame--> + <show_axes> false </show_axes> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for + individual geometries--> + <display_preference> 4 </display_preference> + </VisibleObject> + <radius> 0.01600000 </radius> + <length> 0.05000000 </length> + </WrapCylinder> + </objects> + <groups/> + </WrapObjectSet> + </Body> + <Body name="r_ulna_radius_hand"> + <mass> 1.53431500 </mass> + <mass_center> 0.00000000 -0.18147900 0.00000000 </mass_center> + <inertia_xx> 0.01928100 </inertia_xx> + <inertia_yy> 0.00157100 </inertia_yy> + <inertia_zz> 0.02006200 </inertia_zz> + <inertia_xy> 0.00000000 </inertia_xy> + <inertia_xz> 0.00000000 </inertia_xz> + <inertia_yz> 0.00000000 </inertia_yz> + <!--Joint that connects this body with the parent body.--> + <Joint> + <CustomJoint name="r_elbow"> + <parent_body> r_humerus </parent_body> + <location_in_parent> 0.00610000 -0.29040000 -0.01230000 </location_in_parent> + <orientation_in_parent> 0.00000000 0.00000000 0.00000000 </orientation_in_parent> + <location> 0.00000000 0.00000000 0.00000000 </location> + <orientation> 0.00000000 0.00000000 0.00000000 </orientation> + <!--Generalized coordinates parameterizing this joint.--> + <CoordinateSet name=""> + <objects> + <Coordinate name="r_elbow_flex"> + <!--Cooridnate can describe rotational, translational, or coupled values. + Defaults to rotational.--> + <motion_type> rotational </motion_type> + <default_value> 0.00000000 </default_value> + <default_speed_value> 0.00000000 </default_speed_value> + <range> 0.00000000 2.26892803 </range> + <clamped> false </clamped> + <locked> false </locked> + <prescribed_function/> + </Coordinate> + </objects> + <groups/> + </CoordinateSet> + <reverse> false </reverse> + <SpatialTransform name=""> + <!--3 Axes for rotations are listed first.--> + <TransformAxis name="rotation1"> + <function> + <LinearFunction name=""> + <coefficients> 1.00000000 0.00000000 </coefficients> + </LinearFunction> + </function> + <coordinates> r_elbow_flex </coordinates> + <axis> 0.04940001 0.03660001 0.99810825 </axis> + </TransformAxis> + <TransformAxis name="rotation2"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.00000000 1.00000000 0.00000000 </axis> + </TransformAxis> + <TransformAxis name="rotation3"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.99810825 0.00000000 -0.04940001 </axis> + </TransformAxis> + <!--3 Axes for translations are listed next.--> + <TransformAxis name="translation1"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 1.00000000 0.00000000 0.00000000 </axis> + </TransformAxis> + <TransformAxis name="translation2"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.00000000 1.00000000 0.00000000 </axis> + </TransformAxis> + <TransformAxis name="translation3"> + <function> + <Constant name=""> + <value> 0.00000000 </value> + </Constant> + </function> + <coordinates> </coordinates> + <axis> 0.00000000 0.00000000 1.00000000 </axis> + </TransformAxis> + </SpatialTransform> + </CustomJoint> + </Joint> + <VisibleObject name=""> + <!--Set of geometry files and associated attributes, allow .vtp, .stl, + .obj--> + <GeometrySet name=""> + <objects> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_ulna.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_radius.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_lunate.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_scaphoid.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_pisiform.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_triquetrum.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_capitate.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_trapezium.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_trapezoid.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_hamate.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_1mc.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_2mc.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_3mc.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_4mc.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_5mc.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_thumbprox.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_thumbdist.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_2proxph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_2midph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_2distph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_3proxph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_3midph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_3distph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_4proxph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_4midph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_4distph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_5proxph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_5midph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + <DisplayGeometry name=""> + <!--Name of geometry file .vtp, .stl, .obj--> + <geometry_file> arm_r_5distph.vtp </geometry_file> + <!--Color used to display the geometry when visible--> + <color> 1.00000000 1.00000000 1.00000000 </color> + <!--Name of texture file .jpg, .bmp--> + <texture_file> </texture_file> + <!--in body transform specified as 3 rotations (rad) followed by 3 + translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> + <display_preference> 4 </display_preference> + <!--Display opacity between 0.0 and 1.0--> + <opacity> 1.00000000 </opacity> + </DisplayGeometry> + </objects> + <groups/> + </GeometrySet> + <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> + <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> + <!--transform relative to owner specified as 3 rotations (rad) followed by + 3 translations rX rY rZ tx ty tz--> + <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> + <!--Whether to show a coordinate frame--> + <show_axes> false </show_axes> + <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for + individual geometries--> + <display_preference> 4 </display_preference> + </VisibleObject> + <WrapObjectSet name=""> + <objects/> + <groups/> + </WrapObjectSet> + </Body> + </objects> + <groups/> + </BodySet> + <!--Constraints in the model.--> + <ConstraintSet name=""> + <objects/> + <groups/> + </ConstraintSet> + <!--Markers in the model.--> + <MarkerSet name=""> + <objects> + <Marker name="r_acromion"> + <!--Body segment in the model on which the marker resides.--> + <body> ground </body> + <!--Location of a marker on the body segment.--> + <location> -0.01256000 0.04000000 0.17000000 </location> + <!--Flag (true or false) specifying whether or not a marker should be kept + fixed in the marker placement step. i.e. If false, the marker is + allowed to move.--> + <fixed> false </fixed> + </Marker> + <Marker name="r_humerus_epicondyle"> + <!--Body segment in the model on which the marker resides.--> + <body> r_humerus </body> + <!--Location of a marker on the body segment.--> + <location> 0.00500000 -0.29040000 0.03000000 </location> + <!--Flag (true or false) specifying whether or not a marker should be kept + fixed in the marker placement step. i.e. If false, the marker is + allowed to move.--> + <fixed> false </fixed> + </Marker> + <Marker name="r_radius_styloid"> + <!--Body segment in the model on which the marker resides.--> + <body> r_ulna_radius_hand </body> + <!--Location of a marker on the body segment.--> + <location> -0.00110000 -0.23559000 0.09430000 </location> + <!--Flag (true or false) specifying whether or not a marker should be kept + fixed in the marker placement step. i.e. If false, the marker is + allowed to move.--> + <fixed> false </fixed> + </Marker> + </objects> + <groups/> + </MarkerSet> + <!--ContactGeometry objects in the model.--> + <ContactGeometrySet name=""> + <objects/> + <groups/> + </ContactGeometrySet> + </Model> +</OpenSimDocument> +