1<?xml version="1.0" encoding="UTF-8"?> 2<OpenSimDocument Version="20001"> 3 <Model name="P2PCustomJointMomentArmTest"> 4 <credits> Unassigned </credits> 5 <publications> Unassigned </publications> 6 <ForceSet name=""> 7 <objects> 8 <Thelen2003Muscle name="muscle1"> 9 <isDisabled> false </isDisabled> 10 <GeometryPath name="muscle1"> 11 <PathPointSet name=""> 12 <objects> 13 <PathPoint name="muscle-on-thigh1"> 14 <location> 0.00500000 -0.21110000 0.02340000 </location> 15 <VisibleObject name=""> 16 <geometry_files> </geometry_files> 17 <VisibleProperties name=""> 18 <display_preference> 4 </display_preference> 19 <show_normals> false </show_normals> 20 <show_axes> false </show_axes> 21 <material_name> DEFAULT </material_name> 22 </VisibleProperties> 23 <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> 24 </VisibleObject> 25 <body> thigh </body> 26 </PathPoint> 27 <PathPoint name="muscle-on-shank1"> 28 <location> -0.03010000 -0.03600000 0.02943000 </location> 29 <VisibleObject name=""> 30 <geometry_files> </geometry_files> 31 <VisibleProperties name=""> 32 <display_preference> 4 </display_preference> 33 <show_normals> false </show_normals> 34 <show_axes> false </show_axes> 35 <material_name> DEFAULT </material_name> 36 </VisibleProperties> 37 <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> 38 </VisibleObject> 39 <body> shank </body> 40 </PathPoint> 41 </objects> 42 <groups/> 43 </PathPointSet> 44 <VisibleObject name=""> 45 <geometry_files> </geometry_files> 46 <VisibleProperties name=""> 47 <display_preference> 4 </display_preference> 48 <show_normals> false </show_normals> 49 <show_axes> false </show_axes> 50 <material_name> DEFAULT </material_name> 51 </VisibleProperties> 52 <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> 53 </VisibleObject> 54 <PathWrapSet name=""> 55 <objects/> 56 <groups/> 57 </PathWrapSet> 58 </GeometryPath> 59 <!--maximum isometric force of the muscle fibers--> 60 <max_isometric_force> 1000.00000000 </max_isometric_force> 61 <!--optimal length of the muscle fibers--> 62 <optimal_fiber_length> 0.10000000 </optimal_fiber_length> 63 <!--resting length of the tendon--> 64 <tendon_slack_length> 0.20000000 </tendon_slack_length> 65 <!--angle between tendon and fibers at optimal fiber length--> 66 <pennation_angle> 0.00000000 </pennation_angle> 67 <!--time constant for ramping up of muscle activation--> 68 <activation_time_constant> 0.01000000 </activation_time_constant> 69 <!--time constant for ramping down of muscle activation--> 70 <deactivation_time_constant> 0.04000000 </deactivation_time_constant> 71 <!--maximum contraction velocity at full activation in fiber lengths per 72 second--> 73 <Vmax> 10.00000000 </Vmax> 74 <!--maximum contraction velocity at low activation in fiber lengths per 75 second--> 76 <Vmax0> 5.00000000 </Vmax0> 77 <!--tendon strain due to maximum isometric muscle force--> 78 <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> 79 <!--passive muscle strain due to maximum isometric muscle force--> 80 <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> 81 <!--shape factor for Gaussian active muscle force-length relationship--> 82 <KshapeActive> 0.50000000 </KshapeActive> 83 <!--exponential shape factor for passive force-length relationship--> 84 <KshapePassive> 4.00000000 </KshapePassive> 85 <!--passive damping in the force-velocity relationship--> 86 <damping> 0.05000000 </damping> 87 <!--force-velocity shape factor--> 88 <Af> 0.30000000 </Af> 89 <!--maximum normalized lengthening force--> 90 <Flen> 1.80000000 </Flen> 91 </Thelen2003Muscle> 92 </objects> 93 <groups/> 94 <datafile> </datafile> 95 </ForceSet> 96 <length_units> Unassigned </length_units> 97 <force_units> Unassigned </force_units> 98 <!--Acceleration due to gravity.--> 99 <gravity> 0.00000000 -9.80665000 0.00000000 </gravity> 100 <!--Bodies in the model.--> 101 <BodySet name=""> 102 <objects> 103 <Body name="ground"> 104 <mass> 0.00000000 </mass> 105 <mass_center> 0.00000000 0.00000000 0.00000000 </mass_center> 106 <inertia_xx> 1.00000000 </inertia_xx> 107 <inertia_yy> 1.00000000 </inertia_yy> 108 <inertia_zz> 1.00000000 </inertia_zz> 109 <inertia_xy> 0.00000000 </inertia_xy> 110 <inertia_xz> 0.00000000 </inertia_xz> 111 <inertia_yz> 0.00000000 </inertia_yz> 112 <!--Joint that connects this body with the parent body.--> 113 <Joint/> 114 <VisibleObject name=""> 115 <geometry_files> </geometry_files> 116 <VisibleProperties name=""> 117 <display_preference> 4 </display_preference> 118 <show_normals> false </show_normals> 119 <show_axes> false </show_axes> 120 <material_name> DEFAULT </material_name> 121 </VisibleProperties> 122 <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> 123 </VisibleObject> 124 <WrapObjectSet name=""> 125 <objects/> 126 <groups/> 127 </WrapObjectSet> 128 </Body> 129 <Body name="thigh"> 130 <mass> 8.80600000 </mass> 131 <mass_center> 0.00000000 0.50000000 0.00000000 </mass_center> 132 <inertia_xx> 0.12680000 </inertia_xx> 133 <inertia_yy> 0.03320000 </inertia_yy> 134 <inertia_zz> 0.13370000 </inertia_zz> 135 <inertia_xy> 0.00000000 </inertia_xy> 136 <inertia_xz> 0.00000000 </inertia_xz> 137 <inertia_yz> 0.00000000 </inertia_yz> 138 <!--Joint that connects this body with the parent body.--> 139 <Joint> 140 <WeldJoint name=""> 141 <parent_body> ground </parent_body> 142 <location_in_parent> 0.00000000 0.00000000 0.00000000 </location_in_parent> 143 <orientation_in_parent> 0.00000000 0.00000000 0.00000000 </orientation_in_parent> 144 <location> 0.00200000 0.17150000 0.00000000 </location> 145 <orientation> 0.00000000 0.00000000 0.00000000 </orientation> 146 <!--Generalized coordinates parameterizing this joint.--> 147 <CoordinateSet name=""> 148 <objects/> 149 <groups/> 150 </CoordinateSet> 151 <reverse> false </reverse> 152 </WeldJoint> 153 </Joint> 154 <VisibleObject name=""> 155 <geometry_files> femur_r.vtp </geometry_files> 156 <VisibleProperties name=""> 157 <display_preference> 4 </display_preference> 158 <show_normals> false </show_normals> 159 <show_axes> false </show_axes> 160 <material_name> DEFAULT </material_name> 161 </VisibleProperties> 162 <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> 163 </VisibleObject> 164 <WrapObjectSet name=""> 165 <objects/> 166 <groups/> 167 </WrapObjectSet> 168 </Body> 169 <Body name="shank"> 170 <mass> 3.51000000 </mass> 171 <mass_center> 0.00000000 0.00000000 0.00000000 </mass_center> 172 <inertia_xx> 0.04770000 </inertia_xx> 173 <inertia_yy> 0.00480000 </inertia_yy> 174 <inertia_zz> 0.04840000 </inertia_zz> 175 <inertia_xy> 0.00000000 </inertia_xy> 176 <inertia_xz> 0.00000000 </inertia_xz> 177 <inertia_yz> 0.00000000 </inertia_yz> 178 <!--Joint that connects this body with the parent body.--> 179 <Joint> 180 <CustomJoint name="knee_r"> 181 <parent_body> thigh </parent_body> 182 <location_in_parent> 0.00000000000000000000 0.00000000000000000000 0.00000000000000000000 </location_in_parent> 183 <orientation_in_parent> 0.00000000000000000000 0.00000000000000000000 0.00000000000000000000 </orientation_in_parent> 184 <location> 0.00000000000000000000 0.00000000000000000000 0.00000000000000000000 </location> 185 <orientation> 0.00000000000000000000 0.00000000000000000000 0.00000000000000000000 </orientation> 186 <!--Generalized coordinates parameterizing this joint.--> 187 <CoordinateSet name=""> 188 <objects> 189 <Coordinate name="knee_angle_r"> 190 <!--Cooridnate can describe rotational, translational, or coupled values. 191 Defaults to rotational.--> 192 <motion_type> rotational </motion_type> 193 <default_value> 0.00000000000000000000 </default_value> 194 <default_speed_value> 0.00000000000000000000 </default_speed_value> 195 <initial_value> 0.00000000000000000000 </initial_value> 196 <range> -2.09439509999999980000 0.17453293000000000000 </range> 197 <clamped> false </clamped> 198 <locked> false </locked> 199 <prescribed_function/> 200 </Coordinate> 201 </objects> 202 <groups/> 203 </CoordinateSet> 204 <reverse> false </reverse> 205 <SpatialTransform name=""> 206 <!--3 Axes for rotations are listed first.--> 207 <TransformAxis name="rotation1"> 208 <function> 209 <LinearFunction name=""> 210 <coefficients> 1.00000000000000000000 0.00000000000000000000 </coefficients> 211 </LinearFunction> 212 </function> 213 <coordinates> knee_angle_r </coordinates> 214 <axis> 0.00000000000000000000 0.00000000000000000000 1.00000000000000000000 </axis> 215 </TransformAxis> 216 <TransformAxis name="rotation2"> 217 <function> 218 <Constant name=""> 219 <value> 0.00000000000000000000 </value> 220 </Constant> 221 </function> 222 <coordinates> </coordinates> 223 <axis> 0.00000000000000000000 1.00000000000000000000 0.00000000000000000000 </axis> 224 </TransformAxis> 225 <TransformAxis name="rotation3"> 226 <function> 227 <Constant name=""> 228 <value> 0.00000000000000000000 </value> 229 </Constant> 230 </function> 231 <coordinates> </coordinates> 232 <axis> 1.00000000000000000000 0.00000000000000000000 0.00000000000000000000 </axis> 233 </TransformAxis> 234 <!--3 Axes for translations are listed next.--> 235 <TransformAxis name="translation1"> 236 <function> 237 <NaturalCubicSpline name=""> 238 <x> -2.09439509999999980000 -1.74532924999999990000 -1.39626340000000000000 -1.04719754999999990000 -0.69813170000000002000 -0.34906585000000001000 -0.17453293000000000000 0.19734421999999999000 0.33739496000000002000 0.49017757000000001000 1.52146026999999990000 2.09439509999999980000 </x> 239 <y> -0.00320000000000000020 0.00178999999999999990 0.00410999999999999990 0.00410000000000000030 0.00211999999999999990 -0.00100000000000000000 -0.00309999999999999990 -0.00522699999999999990 -0.00543499999999999970 -0.00557400000000000000 -0.00543499999999999970 -0.00525000000000000030 </y> 240 </NaturalCubicSpline> 241 </function> 242 <coordinates> knee_angle_r </coordinates> 243 <axis> 1.00000000000000000000 0.00000000000000000000 0.00000000000000000000 </axis> 244 </TransformAxis> 245 <TransformAxis name="translation2"> 246 <function> 247 <NaturalCubicSpline name=""> 248 <x> -2.09439509999999980000 -1.22173048000000000000 -0.52359878000000004000 -0.34906585000000001000 -0.17453293000000000000 0.15914855999999999000 2.09439509999999980000 </x> 249 <y> -0.42259999999999998000 -0.40820000000000001000 -0.39900000000000002000 -0.39760000000000001000 -0.39660000000000001000 -0.39526400000000000000 -0.39600000000000002000 </y> 250 </NaturalCubicSpline> 251 </function> 252 <coordinates> knee_angle_r </coordinates> 253 <axis> 0.00000000000000000000 1.00000000000000000000 0.00000000000000000000 </axis> 254 </TransformAxis> 255 <TransformAxis name="translation3"> 256 <function> 257 <Constant name=""> 258 <value> 0.00000000000000000000 </value> 259 </Constant> 260 </function> 261 <coordinates> </coordinates> 262 <axis> 0.00000000000000000000 0.00000000000000000000 1.00000000000000000000 </axis> 263 </TransformAxis> 264 </SpatialTransform> 265 </CustomJoint> 266 </Joint> 267 <VisibleObject name=""> 268 <geometry_files> tibia_r.vtp </geometry_files> 269 <VisibleProperties name=""> 270 <display_preference> 4 </display_preference> 271 <show_normals> false </show_normals> 272 <show_axes> false </show_axes> 273 <material_name> DEFAULT </material_name> 274 </VisibleProperties> 275 <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> 276 </VisibleObject> 277 <WrapObjectSet name=""> 278 <objects/> 279 <groups/> 280 </WrapObjectSet> 281 </Body> 282 </objects> 283 <groups/> 284 </BodySet> 285 <!--Constraints in the model.--> 286 <ConstraintSet name=""> 287 <objects/> 288 <groups/> 289 </ConstraintSet> 290 <!--Markers in the model.--> 291 <MarkerSet name=""> 292 <objects/> 293 <groups/> 294 </MarkerSet> 295 <!--ContactGeometry objects in the model.--> 296 <ContactGeometrySet name=""> 297 <objects/> 298 <groups/> 299 </ContactGeometrySet> 300 </Model> 301</OpenSimDocument> 302 303