1<?xml version="1.0" encoding="UTF-8" ?> 2<OpenSimDocument Version="30000"> 3 <Model name="PushUpToesOnGround"> 4 <defaults></defaults> 5 <!--See the credits section below for information about this model's authors, data sources, intended uses, and more. 6 See the publications section for the paper(s) you should cite when using this model. Do not remove either section if you modify or add to this model. 7 If you are this model's author(s), add or update the credits and publications sections before distributing your model.--> 8 <credits>Model authors names..</credits> 9 <publications>Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990. Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomecl7. vol. 21. pp. 1-10. 1989. Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999. Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123:381-390, 2001. Delp SL, Anderson FC, Arnold AS, Loan P, Habib A, John CT, Guendelman E, Thelen DG (in press). OpenSim: Open-source Software to Create and Analyze Dynamic Simulations of Movement. IEEE Transactions on Biomedical Engineering. (2007) Holzbaur KR, Murray WM, Delp SL.: A model of the upper extremity for simulating musculoskeletal surgery and analyzing neuromuscular control., Ann Biomed Eng. 2005 Jun;33(6):829-40. (2005) NOTE: This model has been developed on the base of the 3DGaitModel2354.osim model (developed by Delp S.L. et all) and the Stanford VA Upper Limb Model.osim model (developed by Holzbaur KR et all). Not additional informations are present in this model that cannot be found in the original ones. This model has been built by the author aiming only to provide a starting model for a full body model.</publications> 10 <length_units>meters</length_units> 11 <force_units>N</force_units> 12 <!--Acceleration due to gravity.--> 13 <gravity> 0 -9.80665 0</gravity> 14 <!--Bodies in the model.--> 15 <BodySet> 16 <objects> 17 <Body name="ground"> 18 <mass>0</mass> 19 <mass_center> 0 0 0</mass_center> 20 <inertia_xx>0</inertia_xx> 21 <inertia_yy>0</inertia_yy> 22 <inertia_zz>0</inertia_zz> 23 <inertia_xy>0</inertia_xy> 24 <inertia_xz>0</inertia_xz> 25 <inertia_yz>0</inertia_yz> 26 <!--Joint that connects this body with the parent body.--> 27 <Joint /> 28 <VisibleObject> 29 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 30 <GeometrySet> 31 <objects> 32 <DisplayGeometry> 33 <!--Name of geometry file .vtp, .stl, .obj--> 34 <geometry_file>treadmill.vtp</geometry_file> 35 <!--Color used to display the geometry when visible--> 36 <color> 1 1 1</color> 37 <!--Name of texture file .jpg, .bmp--> 38 <texture_file /> 39 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 40 <transform> -0 0 -0 0 0 0</transform> 41 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 42 <scale_factors> 1 1 1</scale_factors> 43 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 44 <display_preference>4</display_preference> 45 <!--Display opacity between 0.0 and 1.0--> 46 <opacity>1</opacity> 47 </DisplayGeometry> 48 </objects> 49 <groups /> 50 </GeometrySet> 51 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 52 <scale_factors> 1 1 1</scale_factors> 53 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 54 <transform> -0 0 -0 0 0 0</transform> 55 <!--Whether to show a coordinate frame--> 56 <show_axes>false</show_axes> 57 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 58 <display_preference>4</display_preference> 59 </VisibleObject> 60 <WrapObjectSet> 61 <objects /> 62 <groups /> 63 </WrapObjectSet> 64 </Body> 65 <Body name="pelvis"> 66 <mass>11.777</mass> 67 <mass_center> -0.0707 0 0</mass_center> 68 <inertia_xx>0.1028</inertia_xx> 69 <inertia_yy>0.0871</inertia_yy> 70 <inertia_zz>0.0579</inertia_zz> 71 <inertia_xy>0</inertia_xy> 72 <inertia_xz>0</inertia_xz> 73 <inertia_yz>0</inertia_yz> 74 <!--Joint that connects this body with the parent body.--> 75 <Joint> 76 <CustomJoint name="ground_pelvis"> 77 <!--Name of the parent body to which this joint connects its owner body.--> 78 <parent_body>ground</parent_body> 79 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 80 <location_in_parent>0 0 0</location_in_parent> 81 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 82 <orientation_in_parent>0 0 0</orientation_in_parent> 83 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 84 <location>0 0 0</location> 85 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 86 <orientation>0 0 0</orientation> 87 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 88 <CoordinateSet> 89 <objects> 90 <Coordinate name="pelvis_rotation"> 91 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 92 <motion_type>rotational</motion_type> 93 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 94 <default_value>-1.32441915</default_value> 95 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 96 <default_speed_value>0</default_speed_value> 97 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 98 <range>-1.57079633 1.57079633</range> 99 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 100 <clamped>true</clamped> 101 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 102 <locked>false</locked> 103 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 104 <prescribed_function /> 105 <!--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.--> 106 <prescribed>false</prescribed> 107 </Coordinate> 108 <Coordinate name="pelvis_tx"> 109 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 110 <motion_type>translational</motion_type> 111 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 112 <default_value>0.75</default_value> 113 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 114 <default_speed_value>0</default_speed_value> 115 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 116 <range>-5 5</range> 117 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 118 <clamped>true</clamped> 119 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 120 <locked>false</locked> 121 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 122 <prescribed_function /> 123 <!--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.--> 124 <prescribed>false</prescribed> 125 <!--Flag identifies whether or not this coordinate can change freely when posing the model to satisfy kinematic constraints. When true, the coordinate's initial or specified value is ignored when considering constraints. This allows values for important coordinates, which have this flag set to false, to dictate the value of unimportant coordinates if they are linked via constraints.--> 126 <is_free_to_satisfy_constraints>true</is_free_to_satisfy_constraints> 127 </Coordinate> 128 <Coordinate name="pelvis_ty"> 129 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 130 <motion_type>translational</motion_type> 131 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 132 <default_value>0.35501672</default_value> 133 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 134 <default_speed_value>0</default_speed_value> 135 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 136 <range>-5 5</range> 137 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 138 <clamped>true</clamped> 139 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 140 <locked>false</locked> 141 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 142 <prescribed_function /> 143 <!--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.--> 144 <prescribed>false</prescribed> 145 <!--Flag identifies whether or not this coordinate can change freely when posing the model to satisfy kinematic constraints. When true, the coordinate's initial or specified value is ignored when considering constraints. This allows values for important coordinates, which have this flag set to false, to dictate the value of unimportant coordinates if they are linked via constraints.--> 146 <is_free_to_satisfy_constraints>true</is_free_to_satisfy_constraints> 147 </Coordinate> 148 </objects> 149 <groups /> 150 </CoordinateSet> 151 <!--Whether the joint transform defines parent->child or child->parent.--> 152 <reverse>false</reverse> 153 <!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.--> 154 <SpatialTransform> 155 <!--3 Axes for rotations are listed first.--> 156 <TransformAxis name="rotation1"> 157 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 158 <coordinates></coordinates> 159 <!--Rotation or translation axis for the transform.--> 160 <axis>1 0 0</axis> 161 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 162 <function> 163 <Constant> 164 <value>0</value> 165 </Constant> 166 </function> 167 </TransformAxis> 168 <TransformAxis name="rotation2"> 169 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 170 <coordinates></coordinates> 171 <!--Rotation or translation axis for the transform.--> 172 <axis>0 1 0</axis> 173 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 174 <function> 175 <Constant> 176 <value>0</value> 177 </Constant> 178 </function> 179 </TransformAxis> 180 <TransformAxis name="rotation3"> 181 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 182 <coordinates>pelvis_rotation</coordinates> 183 <!--Rotation or translation axis for the transform.--> 184 <axis>0 0 1</axis> 185 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 186 <function> 187 <LinearFunction> 188 <coefficients> 1 0</coefficients> 189 </LinearFunction> 190 </function> 191 </TransformAxis> 192 <!--3 Axes for translations are listed next.--> 193 <TransformAxis name="translation1"> 194 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 195 <coordinates>pelvis_tx</coordinates> 196 <!--Rotation or translation axis for the transform.--> 197 <axis>1 0 0</axis> 198 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 199 <function> 200 <LinearFunction> 201 <coefficients> 1 0</coefficients> 202 </LinearFunction> 203 </function> 204 </TransformAxis> 205 <TransformAxis name="translation2"> 206 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 207 <coordinates>pelvis_ty</coordinates> 208 <!--Rotation or translation axis for the transform.--> 209 <axis>0 1 0</axis> 210 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 211 <function> 212 <LinearFunction> 213 <coefficients> 1 0</coefficients> 214 </LinearFunction> 215 </function> 216 </TransformAxis> 217 <TransformAxis name="translation3"> 218 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 219 <coordinates></coordinates> 220 <!--Rotation or translation axis for the transform.--> 221 <axis>0 0 1</axis> 222 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 223 <function> 224 <Constant> 225 <value>0</value> 226 </Constant> 227 </function> 228 </TransformAxis> 229 </SpatialTransform> 230 </CustomJoint> 231 </Joint> 232 <VisibleObject> 233 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 234 <GeometrySet> 235 <objects> 236 <DisplayGeometry> 237 <!--Name of geometry file .vtp, .stl, .obj--> 238 <geometry_file>sacrum.vtp</geometry_file> 239 <!--Color used to display the geometry when visible--> 240 <color> 1 1 1</color> 241 <!--Name of texture file .jpg, .bmp--> 242 <texture_file /> 243 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 244 <transform> -0 0 -0 0 0 0</transform> 245 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 246 <scale_factors> 1 1 1</scale_factors> 247 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 248 <display_preference>4</display_preference> 249 <!--Display opacity between 0.0 and 1.0--> 250 <opacity>1</opacity> 251 </DisplayGeometry> 252 <DisplayGeometry> 253 <!--Name of geometry file .vtp, .stl, .obj--> 254 <geometry_file>pelvis_r.vtp</geometry_file> 255 <!--Color used to display the geometry when visible--> 256 <color> 1 1 1</color> 257 <!--Name of texture file .jpg, .bmp--> 258 <texture_file /> 259 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 260 <transform> -0 0 -0 0 0 0</transform> 261 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 262 <scale_factors> 1 1 1</scale_factors> 263 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 264 <display_preference>4</display_preference> 265 <!--Display opacity between 0.0 and 1.0--> 266 <opacity>1</opacity> 267 </DisplayGeometry> 268 <DisplayGeometry> 269 <!--Name of geometry file .vtp, .stl, .obj--> 270 <geometry_file>pelvis_l.vtp</geometry_file> 271 <!--Color used to display the geometry when visible--> 272 <color> 1 1 1</color> 273 <!--Name of texture file .jpg, .bmp--> 274 <texture_file /> 275 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 276 <transform> -0 0 -0 0 0 0</transform> 277 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 278 <scale_factors> 1 1 1</scale_factors> 279 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 280 <display_preference>4</display_preference> 281 <!--Display opacity between 0.0 and 1.0--> 282 <opacity>1</opacity> 283 </DisplayGeometry> 284 </objects> 285 <groups /> 286 </GeometrySet> 287 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 288 <scale_factors> 1 1 1</scale_factors> 289 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 290 <transform> -0 0 -0 0 0 0</transform> 291 <!--Whether to show a coordinate frame--> 292 <show_axes>false</show_axes> 293 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 294 <display_preference>4</display_preference> 295 </VisibleObject> 296 <WrapObjectSet> 297 <objects /> 298 <groups /> 299 </WrapObjectSet> 300 </Body> 301 <Body name="thorax"> 302 <mass>27.853</mass> 303 <mass_center> -0.0317853 -0.0858467 0</mass_center> 304 <inertia_xx>1.181757</inertia_xx> 305 <inertia_yy>0.2775728</inertia_yy> 306 <inertia_zz>1.04043</inertia_zz> 307 <inertia_xy>0</inertia_xy> 308 <inertia_xz>0</inertia_xz> 309 <inertia_yz>0</inertia_yz> 310 <!--Joint that connects this body with the parent body.--> 311 <Joint> 312 <PinJoint name="back"> 313 <!--Name of the parent body to which this joint connects its owner body.--> 314 <parent_body>pelvis</parent_body> 315 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 316 <location_in_parent>-0.1007 0.0815 0</location_in_parent> 317 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 318 <orientation_in_parent>0 0 0</orientation_in_parent> 319 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 320 <location>-0.0205 -0.3785 0</location> 321 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 322 <orientation>0 0 0</orientation> 323 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 324 <CoordinateSet> 325 <objects> 326 <Coordinate name="back_rotation"> 327 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 328 <motion_type>rotational</motion_type> 329 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 330 <default_value>0</default_value> 331 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 332 <default_speed_value>0</default_speed_value> 333 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 334 <range>-1.57079633 1.57079633</range> 335 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 336 <clamped>true</clamped> 337 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 338 <locked>false</locked> 339 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 340 <prescribed_function /> 341 <!--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.--> 342 <prescribed>false</prescribed> 343 </Coordinate> 344 </objects> 345 <groups /> 346 </CoordinateSet> 347 <!--Whether the joint transform defines parent->child or child->parent.--> 348 <reverse>false</reverse> 349 </PinJoint> 350 </Joint> 351 <VisibleObject> 352 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 353 <GeometrySet> 354 <objects> 355 <DisplayGeometry> 356 <!--Name of geometry file .vtp, .stl, .obj--> 357 <geometry_file>thorax.vtp</geometry_file> 358 <!--Color used to display the geometry when visible--> 359 <color> 1 1 1</color> 360 <!--Name of texture file .jpg, .bmp--> 361 <texture_file /> 362 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 363 <transform> -0 0 -0 0 0 0</transform> 364 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 365 <scale_factors> 1 1 1</scale_factors> 366 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 367 <display_preference>4</display_preference> 368 <!--Display opacity between 0.0 and 1.0--> 369 <opacity>1</opacity> 370 </DisplayGeometry> 371 <DisplayGeometry> 372 <!--Name of geometry file .vtp, .stl, .obj--> 373 <geometry_file>hat_spine.vtp</geometry_file> 374 <!--Color used to display the geometry when visible--> 375 <color> 1 1 1</color> 376 <!--Name of texture file .jpg, .bmp--> 377 <texture_file /> 378 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 379 <transform> -0 0 -0 0 0 0</transform> 380 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 381 <scale_factors> 1 1 1</scale_factors> 382 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 383 <display_preference>4</display_preference> 384 <!--Display opacity between 0.0 and 1.0--> 385 <opacity>1</opacity> 386 </DisplayGeometry> 387 <DisplayGeometry> 388 <!--Name of geometry file .vtp, .stl, .obj--> 389 <geometry_file>hat_jaw.vtp</geometry_file> 390 <!--Color used to display the geometry when visible--> 391 <color> 1 1 1</color> 392 <!--Name of texture file .jpg, .bmp--> 393 <texture_file /> 394 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 395 <transform> -0 0 -0 0 0 0</transform> 396 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 397 <scale_factors> 1 1 1</scale_factors> 398 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 399 <display_preference>4</display_preference> 400 <!--Display opacity between 0.0 and 1.0--> 401 <opacity>1</opacity> 402 </DisplayGeometry> 403 <DisplayGeometry> 404 <!--Name of geometry file .vtp, .stl, .obj--> 405 <geometry_file>hat_skull.vtp</geometry_file> 406 <!--Color used to display the geometry when visible--> 407 <color> 1 1 1</color> 408 <!--Name of texture file .jpg, .bmp--> 409 <texture_file /> 410 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 411 <transform> -0 0 -0 0 0 0</transform> 412 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 413 <scale_factors> 1 1 1</scale_factors> 414 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 415 <display_preference>4</display_preference> 416 <!--Display opacity between 0.0 and 1.0--> 417 <opacity>1</opacity> 418 </DisplayGeometry> 419 </objects> 420 <groups /> 421 </GeometrySet> 422 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 423 <scale_factors> 1 1 1</scale_factors> 424 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 425 <transform> -0 0 -0 0 0 0</transform> 426 <!--Whether to show a coordinate frame--> 427 <show_axes>false</show_axes> 428 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 429 <display_preference>4</display_preference> 430 </VisibleObject> 431 <WrapObjectSet> 432 <objects /> 433 <groups /> 434 </WrapObjectSet> 435 </Body> 436 <Body name="femur_r"> 437 <mass>9.3014</mass> 438 <mass_center> 0 -0.17 0</mass_center> 439 <inertia_xx>0.1339</inertia_xx> 440 <inertia_yy>0.0351</inertia_yy> 441 <inertia_zz>0.1412</inertia_zz> 442 <inertia_xy>0</inertia_xy> 443 <inertia_xz>0</inertia_xz> 444 <inertia_yz>0</inertia_yz> 445 <!--Joint that connects this body with the parent body.--> 446 <Joint> 447 <PinJoint name="hip_r"> 448 <!--Name of the parent body to which this joint connects its owner body.--> 449 <parent_body>pelvis</parent_body> 450 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 451 <location_in_parent>-0.0707 -0.0661 0.0835</location_in_parent> 452 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 453 <orientation_in_parent>0 0 0</orientation_in_parent> 454 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 455 <location>0 0 0</location> 456 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 457 <orientation>0 0 0</orientation> 458 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 459 <CoordinateSet> 460 <objects> 461 <Coordinate name="hip_flexion_r"> 462 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 463 <motion_type>rotational</motion_type> 464 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 465 <default_value>0</default_value> 466 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 467 <default_speed_value>0</default_speed_value> 468 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 469 <range>-2.0943951 2.0943951</range> 470 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 471 <clamped>true</clamped> 472 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 473 <locked>false</locked> 474 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 475 <prescribed_function /> 476 <!--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.--> 477 <prescribed>false</prescribed> 478 </Coordinate> 479 </objects> 480 <groups /> 481 </CoordinateSet> 482 <!--Whether the joint transform defines parent->child or child->parent.--> 483 <reverse>false</reverse> 484 </PinJoint> 485 </Joint> 486 <VisibleObject> 487 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 488 <GeometrySet> 489 <objects> 490 <DisplayGeometry> 491 <!--Name of geometry file .vtp, .stl, .obj--> 492 <geometry_file>femur_r.vtp</geometry_file> 493 <!--Color used to display the geometry when visible--> 494 <color> 1 1 1</color> 495 <!--Name of texture file .jpg, .bmp--> 496 <texture_file /> 497 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 498 <transform> -0 0 -0 0 0 0</transform> 499 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 500 <scale_factors> 1 1 1</scale_factors> 501 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 502 <display_preference>4</display_preference> 503 <!--Display opacity between 0.0 and 1.0--> 504 <opacity>1</opacity> 505 </DisplayGeometry> 506 </objects> 507 <groups /> 508 </GeometrySet> 509 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 510 <scale_factors> 1 1 1</scale_factors> 511 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 512 <transform> -0 0 -0 0 0 0</transform> 513 <!--Whether to show a coordinate frame--> 514 <show_axes>false</show_axes> 515 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 516 <display_preference>4</display_preference> 517 </VisibleObject> 518 <WrapObjectSet> 519 <objects /> 520 <groups /> 521 </WrapObjectSet> 522 </Body> 523 <Body name="femur_l"> 524 <mass>9.3014</mass> 525 <mass_center> 0 -0.17 0</mass_center> 526 <inertia_xx>0.1339</inertia_xx> 527 <inertia_yy>0.0351</inertia_yy> 528 <inertia_zz>0.1412</inertia_zz> 529 <inertia_xy>0</inertia_xy> 530 <inertia_xz>0</inertia_xz> 531 <inertia_yz>0</inertia_yz> 532 <!--Joint that connects this body with the parent body.--> 533 <Joint> 534 <PinJoint name="hip_l"> 535 <!--Name of the parent body to which this joint connects its owner body.--> 536 <parent_body>pelvis</parent_body> 537 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 538 <location_in_parent>-0.0707 -0.0661 -0.0835</location_in_parent> 539 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 540 <orientation_in_parent>0 0 0</orientation_in_parent> 541 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 542 <location>0 0 0</location> 543 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 544 <orientation>0 0 0</orientation> 545 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 546 <CoordinateSet> 547 <objects> 548 <Coordinate name="hip_flexion_l"> 549 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 550 <motion_type>rotational</motion_type> 551 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 552 <default_value>0</default_value> 553 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 554 <default_speed_value>0</default_speed_value> 555 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 556 <range>-2.0943951 2.0943951</range> 557 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 558 <clamped>true</clamped> 559 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 560 <locked>false</locked> 561 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 562 <prescribed_function /> 563 <!--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.--> 564 <prescribed>false</prescribed> 565 </Coordinate> 566 </objects> 567 <groups /> 568 </CoordinateSet> 569 <!--Whether the joint transform defines parent->child or child->parent.--> 570 <reverse>false</reverse> 571 </PinJoint> 572 </Joint> 573 <VisibleObject> 574 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 575 <GeometrySet> 576 <objects> 577 <DisplayGeometry> 578 <!--Name of geometry file .vtp, .stl, .obj--> 579 <geometry_file>femur_l.vtp</geometry_file> 580 <!--Color used to display the geometry when visible--> 581 <color> 1 1 1</color> 582 <!--Name of texture file .jpg, .bmp--> 583 <texture_file /> 584 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 585 <transform> -0 0 -0 0 0 0</transform> 586 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 587 <scale_factors> 1 1 1</scale_factors> 588 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 589 <display_preference>4</display_preference> 590 <!--Display opacity between 0.0 and 1.0--> 591 <opacity>1</opacity> 592 </DisplayGeometry> 593 </objects> 594 <groups /> 595 </GeometrySet> 596 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 597 <scale_factors> 1 1 1</scale_factors> 598 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 599 <transform> -0 0 -0 0 0 0</transform> 600 <!--Whether to show a coordinate frame--> 601 <show_axes>false</show_axes> 602 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 603 <display_preference>4</display_preference> 604 </VisibleObject> 605 <WrapObjectSet> 606 <objects /> 607 <groups /> 608 </WrapObjectSet> 609 </Body> 610 <Body name="tibia_r"> 611 <mass>3.7075</mass> 612 <mass_center> 0 -0.1867 0</mass_center> 613 <inertia_xx>0.0504</inertia_xx> 614 <inertia_yy>0.0051</inertia_yy> 615 <inertia_zz>0.0511</inertia_zz> 616 <inertia_xy>0</inertia_xy> 617 <inertia_xz>0</inertia_xz> 618 <inertia_yz>0</inertia_yz> 619 <!--Joint that connects this body with the parent body.--> 620 <Joint> 621 <PinJoint name="knee_r"> 622 <!--Name of the parent body to which this joint connects its owner body.--> 623 <parent_body>femur_r</parent_body> 624 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 625 <location_in_parent>0 -0.4 0</location_in_parent> 626 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 627 <orientation_in_parent>0 3.14159265 0</orientation_in_parent> 628 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 629 <location>0 0 0</location> 630 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 631 <orientation>0 3.14159265 0</orientation> 632 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 633 <CoordinateSet> 634 <objects> 635 <Coordinate name="knee_flexion_r"> 636 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 637 <motion_type>rotational</motion_type> 638 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 639 <default_value>0</default_value> 640 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 641 <default_speed_value>0</default_speed_value> 642 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 643 <range>-0.17453293 2.0943951</range> 644 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 645 <clamped>true</clamped> 646 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 647 <locked>false</locked> 648 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 649 <prescribed_function /> 650 <!--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.--> 651 <prescribed>false</prescribed> 652 </Coordinate> 653 </objects> 654 <groups /> 655 </CoordinateSet> 656 <!--Whether the joint transform defines parent->child or child->parent.--> 657 <reverse>false</reverse> 658 </PinJoint> 659 </Joint> 660 <VisibleObject> 661 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 662 <GeometrySet> 663 <objects> 664 <DisplayGeometry> 665 <!--Name of geometry file .vtp, .stl, .obj--> 666 <geometry_file>tibia_r.vtp</geometry_file> 667 <!--Color used to display the geometry when visible--> 668 <color> 1 1 1</color> 669 <!--Name of texture file .jpg, .bmp--> 670 <texture_file /> 671 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 672 <transform> -0 0 -0 0 0 0</transform> 673 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 674 <scale_factors> 1 1 1</scale_factors> 675 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 676 <display_preference>4</display_preference> 677 <!--Display opacity between 0.0 and 1.0--> 678 <opacity>1</opacity> 679 </DisplayGeometry> 680 <DisplayGeometry> 681 <!--Name of geometry file .vtp, .stl, .obj--> 682 <geometry_file>fibula_r.vtp</geometry_file> 683 <!--Color used to display the geometry when visible--> 684 <color> 1 1 1</color> 685 <!--Name of texture file .jpg, .bmp--> 686 <texture_file /> 687 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 688 <transform> -0 0 -0 0 0 0</transform> 689 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 690 <scale_factors> 1 1 1</scale_factors> 691 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 692 <display_preference>4</display_preference> 693 <!--Display opacity between 0.0 and 1.0--> 694 <opacity>1</opacity> 695 </DisplayGeometry> 696 </objects> 697 <groups /> 698 </GeometrySet> 699 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 700 <scale_factors> 1 1 1</scale_factors> 701 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 702 <transform> -0 0 -0 0 0 0</transform> 703 <!--Whether to show a coordinate frame--> 704 <show_axes>false</show_axes> 705 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 706 <display_preference>4</display_preference> 707 </VisibleObject> 708 <WrapObjectSet> 709 <objects /> 710 <groups /> 711 </WrapObjectSet> 712 </Body> 713 <Body name="tibia_l"> 714 <mass>3.7075</mass> 715 <mass_center> 0 -0.1867 0</mass_center> 716 <inertia_xx>0.0504</inertia_xx> 717 <inertia_yy>0.0051</inertia_yy> 718 <inertia_zz>0.0511</inertia_zz> 719 <inertia_xy>0</inertia_xy> 720 <inertia_xz>0</inertia_xz> 721 <inertia_yz>0</inertia_yz> 722 <!--Joint that connects this body with the parent body.--> 723 <Joint> 724 <PinJoint name="knee_l"> 725 <!--Name of the parent body to which this joint connects its owner body.--> 726 <parent_body>femur_l</parent_body> 727 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 728 <location_in_parent>0 -0.4 0</location_in_parent> 729 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 730 <orientation_in_parent>0 3.14159265 0</orientation_in_parent> 731 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 732 <location>0 0 0</location> 733 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 734 <orientation>0 3.14159265 0</orientation> 735 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 736 <CoordinateSet> 737 <objects> 738 <Coordinate name="knee_flexion_l"> 739 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 740 <motion_type>rotational</motion_type> 741 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 742 <default_value>0</default_value> 743 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 744 <default_speed_value>0</default_speed_value> 745 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 746 <range>-0.17453293 2.0943951</range> 747 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 748 <clamped>true</clamped> 749 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 750 <locked>false</locked> 751 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 752 <prescribed_function /> 753 <!--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.--> 754 <prescribed>false</prescribed> 755 </Coordinate> 756 </objects> 757 <groups /> 758 </CoordinateSet> 759 <!--Whether the joint transform defines parent->child or child->parent.--> 760 <reverse>false</reverse> 761 </PinJoint> 762 </Joint> 763 <VisibleObject> 764 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 765 <GeometrySet> 766 <objects> 767 <DisplayGeometry> 768 <!--Name of geometry file .vtp, .stl, .obj--> 769 <geometry_file>tibia_l.vtp</geometry_file> 770 <!--Color used to display the geometry when visible--> 771 <color> 1 1 1</color> 772 <!--Name of texture file .jpg, .bmp--> 773 <texture_file /> 774 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 775 <transform> -0 0 -0 0 0 0</transform> 776 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 777 <scale_factors> 1 1 1</scale_factors> 778 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 779 <display_preference>4</display_preference> 780 <!--Display opacity between 0.0 and 1.0--> 781 <opacity>1</opacity> 782 </DisplayGeometry> 783 <DisplayGeometry> 784 <!--Name of geometry file .vtp, .stl, .obj--> 785 <geometry_file>fibula_l.vtp</geometry_file> 786 <!--Color used to display the geometry when visible--> 787 <color> 1 1 1</color> 788 <!--Name of texture file .jpg, .bmp--> 789 <texture_file /> 790 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 791 <transform> -0 0 -0 0 0 0</transform> 792 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 793 <scale_factors> 1 1 1</scale_factors> 794 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 795 <display_preference>4</display_preference> 796 <!--Display opacity between 0.0 and 1.0--> 797 <opacity>1</opacity> 798 </DisplayGeometry> 799 </objects> 800 <groups /> 801 </GeometrySet> 802 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 803 <scale_factors> 1 1 1</scale_factors> 804 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 805 <transform> -0 0 -0 0 0 0</transform> 806 <!--Whether to show a coordinate frame--> 807 <show_axes>false</show_axes> 808 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 809 <display_preference>4</display_preference> 810 </VisibleObject> 811 <WrapObjectSet> 812 <objects /> 813 <groups /> 814 </WrapObjectSet> 815 </Body> 816 <Body name="talus_r"> 817 <mass>0.1</mass> 818 <mass_center> 0 0 0</mass_center> 819 <inertia_xx>0.001</inertia_xx> 820 <inertia_yy>0.001</inertia_yy> 821 <inertia_zz>0.001</inertia_zz> 822 <inertia_xy>0</inertia_xy> 823 <inertia_xz>0</inertia_xz> 824 <inertia_yz>0</inertia_yz> 825 <!--Joint that connects this body with the parent body.--> 826 <Joint> 827 <PinJoint name="ankle_r"> 828 <!--Name of the parent body to which this joint connects its owner body.--> 829 <parent_body>tibia_r</parent_body> 830 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 831 <location_in_parent>0 -0.43 0</location_in_parent> 832 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 833 <orientation_in_parent>0 3.14159265 0</orientation_in_parent> 834 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 835 <location>0 0 0</location> 836 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 837 <orientation>0 3.14159265 0</orientation> 838 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 839 <CoordinateSet> 840 <objects> 841 <Coordinate name="ankle_plantarflexion_r"> 842 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 843 <motion_type>rotational</motion_type> 844 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 845 <default_value>0.24637717</default_value> 846 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 847 <default_speed_value>0</default_speed_value> 848 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 849 <range>-0.26179939 0.78539816</range> 850 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 851 <clamped>true</clamped> 852 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 853 <locked>false</locked> 854 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 855 <prescribed_function /> 856 <!--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.--> 857 <prescribed>false</prescribed> 858 </Coordinate> 859 </objects> 860 <groups /> 861 </CoordinateSet> 862 <!--Whether the joint transform defines parent->child or child->parent.--> 863 <reverse>false</reverse> 864 </PinJoint> 865 </Joint> 866 <VisibleObject> 867 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 868 <GeometrySet> 869 <objects> 870 <DisplayGeometry> 871 <!--Name of geometry file .vtp, .stl, .obj--> 872 <geometry_file>talus_r.vtp</geometry_file> 873 <!--Color used to display the geometry when visible--> 874 <color> 1 1 1</color> 875 <!--Name of texture file .jpg, .bmp--> 876 <texture_file /> 877 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 878 <transform> -0 0 -0 0 0 0</transform> 879 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 880 <scale_factors> 1 1 1</scale_factors> 881 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 882 <display_preference>4</display_preference> 883 <!--Display opacity between 0.0 and 1.0--> 884 <opacity>1</opacity> 885 </DisplayGeometry> 886 </objects> 887 <groups /> 888 </GeometrySet> 889 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 890 <scale_factors> 1 1 1</scale_factors> 891 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 892 <transform> -0 0 -0 0 0 0</transform> 893 <!--Whether to show a coordinate frame--> 894 <show_axes>false</show_axes> 895 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 896 <display_preference>4</display_preference> 897 </VisibleObject> 898 <WrapObjectSet> 899 <objects /> 900 <groups /> 901 </WrapObjectSet> 902 </Body> 903 <Body name="calcn_r"> 904 <mass>1.25</mass> 905 <mass_center> 0.1 0.03 0</mass_center> 906 <inertia_xx>0.0014</inertia_xx> 907 <inertia_yy>0.0039</inertia_yy> 908 <inertia_zz>0.0041</inertia_zz> 909 <inertia_xy>0</inertia_xy> 910 <inertia_xz>0</inertia_xz> 911 <inertia_yz>0</inertia_yz> 912 <!--Joint that connects this body with the parent body.--> 913 <Joint> 914 <WeldJoint name="subtalar_r"> 915 <!--Name of the parent body to which this joint connects its owner body.--> 916 <parent_body>talus_r</parent_body> 917 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 918 <location_in_parent>-0.04877 -0.04195 0.00792</location_in_parent> 919 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 920 <orientation_in_parent>0 0 0</orientation_in_parent> 921 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 922 <location>0 0 0</location> 923 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 924 <orientation>0 0 0</orientation> 925 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 926 <CoordinateSet> 927 <objects /> 928 <groups /> 929 </CoordinateSet> 930 <!--Whether the joint transform defines parent->child or child->parent.--> 931 <reverse>false</reverse> 932 </WeldJoint> 933 </Joint> 934 <VisibleObject> 935 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 936 <GeometrySet> 937 <objects> 938 <DisplayGeometry> 939 <!--Name of geometry file .vtp, .stl, .obj--> 940 <geometry_file>foot_r.vtp</geometry_file> 941 <!--Color used to display the geometry when visible--> 942 <color> 1 1 1</color> 943 <!--Name of texture file .jpg, .bmp--> 944 <texture_file /> 945 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 946 <transform> -0 0 -0 0 0 0</transform> 947 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 948 <scale_factors> 1 1 1</scale_factors> 949 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 950 <display_preference>4</display_preference> 951 <!--Display opacity between 0.0 and 1.0--> 952 <opacity>1</opacity> 953 </DisplayGeometry> 954 </objects> 955 <groups /> 956 </GeometrySet> 957 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 958 <scale_factors> 1 1 1</scale_factors> 959 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 960 <transform> -0 0 -0 0 0 0</transform> 961 <!--Whether to show a coordinate frame--> 962 <show_axes>false</show_axes> 963 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 964 <display_preference>4</display_preference> 965 </VisibleObject> 966 <WrapObjectSet> 967 <objects /> 968 <groups /> 969 </WrapObjectSet> 970 </Body> 971 <Body name="toes_r"> 972 <mass>0.2166</mass> 973 <mass_center> 0.0346 0.006 -0.0175</mass_center> 974 <inertia_xx>0.0001</inertia_xx> 975 <inertia_yy>0.0002</inertia_yy> 976 <inertia_zz>0.0003</inertia_zz> 977 <inertia_xy>0</inertia_xy> 978 <inertia_xz>0</inertia_xz> 979 <inertia_yz>0</inertia_yz> 980 <!--Joint that connects this body with the parent body.--> 981 <Joint> 982 <WeldJoint name="toe_flexion_r"> 983 <!--Name of the parent body to which this joint connects its owner body.--> 984 <parent_body>calcn_r</parent_body> 985 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 986 <location_in_parent>0.1788 -0.002 0.00108</location_in_parent> 987 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 988 <orientation_in_parent>0 0 0</orientation_in_parent> 989 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 990 <location>0 0 0</location> 991 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 992 <orientation>0 0 0</orientation> 993 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 994 <CoordinateSet> 995 <objects /> 996 <groups /> 997 </CoordinateSet> 998 <!--Whether the joint transform defines parent->child or child->parent.--> 999 <reverse>false</reverse> 1000 </WeldJoint> 1001 </Joint> 1002 <VisibleObject> 1003 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1004 <GeometrySet> 1005 <objects> 1006 <DisplayGeometry> 1007 <!--Name of geometry file .vtp, .stl, .obj--> 1008 <geometry_file>bofoot_r.vtp</geometry_file> 1009 <!--Color used to display the geometry when visible--> 1010 <color> 1 1 1</color> 1011 <!--Name of texture file .jpg, .bmp--> 1012 <texture_file /> 1013 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1014 <transform> -0 0 -0 0 0 0</transform> 1015 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1016 <scale_factors> 1 1 1</scale_factors> 1017 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1018 <display_preference>4</display_preference> 1019 <!--Display opacity between 0.0 and 1.0--> 1020 <opacity>1</opacity> 1021 </DisplayGeometry> 1022 </objects> 1023 <groups /> 1024 </GeometrySet> 1025 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1026 <scale_factors> 1 1 1</scale_factors> 1027 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1028 <transform> -0 0 -0 0 0 0</transform> 1029 <!--Whether to show a coordinate frame--> 1030 <show_axes>false</show_axes> 1031 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1032 <display_preference>4</display_preference> 1033 </VisibleObject> 1034 <WrapObjectSet> 1035 <objects /> 1036 <groups /> 1037 </WrapObjectSet> 1038 </Body> 1039 <Body name="talus_l"> 1040 <mass>0.1</mass> 1041 <mass_center> 0 0 0</mass_center> 1042 <inertia_xx>0.001</inertia_xx> 1043 <inertia_yy>0.001</inertia_yy> 1044 <inertia_zz>0.001</inertia_zz> 1045 <inertia_xy>0</inertia_xy> 1046 <inertia_xz>0</inertia_xz> 1047 <inertia_yz>0</inertia_yz> 1048 <!--Joint that connects this body with the parent body.--> 1049 <Joint> 1050 <PinJoint name="ankle_l"> 1051 <!--Name of the parent body to which this joint connects its owner body.--> 1052 <parent_body>tibia_l</parent_body> 1053 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1054 <location_in_parent>0 -0.43 0</location_in_parent> 1055 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1056 <orientation_in_parent>0 3.14159265 0</orientation_in_parent> 1057 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1058 <location>0 0 0</location> 1059 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1060 <orientation>0 3.14159265 0</orientation> 1061 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1062 <CoordinateSet> 1063 <objects> 1064 <Coordinate name="ankle_plantarflexion_l"> 1065 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 1066 <motion_type>rotational</motion_type> 1067 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 1068 <default_value>0.24637717</default_value> 1069 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 1070 <default_speed_value>0</default_speed_value> 1071 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 1072 <range>-0.26179939 0.78539816</range> 1073 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 1074 <clamped>true</clamped> 1075 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 1076 <locked>false</locked> 1077 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 1078 <prescribed_function /> 1079 <!--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.--> 1080 <prescribed>false</prescribed> 1081 </Coordinate> 1082 </objects> 1083 <groups /> 1084 </CoordinateSet> 1085 <!--Whether the joint transform defines parent->child or child->parent.--> 1086 <reverse>false</reverse> 1087 </PinJoint> 1088 </Joint> 1089 <VisibleObject> 1090 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1091 <GeometrySet> 1092 <objects> 1093 <DisplayGeometry> 1094 <!--Name of geometry file .vtp, .stl, .obj--> 1095 <geometry_file>talus_l.vtp</geometry_file> 1096 <!--Color used to display the geometry when visible--> 1097 <color> 1 1 1</color> 1098 <!--Name of texture file .jpg, .bmp--> 1099 <texture_file /> 1100 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1101 <transform> -0 0 -0 0 0 0</transform> 1102 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1103 <scale_factors> 1 1 1</scale_factors> 1104 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1105 <display_preference>4</display_preference> 1106 <!--Display opacity between 0.0 and 1.0--> 1107 <opacity>1</opacity> 1108 </DisplayGeometry> 1109 </objects> 1110 <groups /> 1111 </GeometrySet> 1112 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1113 <scale_factors> 1 1 1</scale_factors> 1114 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1115 <transform> -0 0 -0 0 0 0</transform> 1116 <!--Whether to show a coordinate frame--> 1117 <show_axes>false</show_axes> 1118 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1119 <display_preference>4</display_preference> 1120 </VisibleObject> 1121 <WrapObjectSet> 1122 <objects /> 1123 <groups /> 1124 </WrapObjectSet> 1125 </Body> 1126 <Body name="calcn_l"> 1127 <mass>1.25</mass> 1128 <mass_center> 0.1 0.03 0</mass_center> 1129 <inertia_xx>0.0014</inertia_xx> 1130 <inertia_yy>0.0039</inertia_yy> 1131 <inertia_zz>0.0041</inertia_zz> 1132 <inertia_xy>0</inertia_xy> 1133 <inertia_xz>0</inertia_xz> 1134 <inertia_yz>0</inertia_yz> 1135 <!--Joint that connects this body with the parent body.--> 1136 <Joint> 1137 <WeldJoint name="subtalar_l"> 1138 <!--Name of the parent body to which this joint connects its owner body.--> 1139 <parent_body>talus_l</parent_body> 1140 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1141 <location_in_parent>-0.04877 -0.04195 -0.00792</location_in_parent> 1142 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1143 <orientation_in_parent>0 0 0</orientation_in_parent> 1144 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1145 <location>0 0 0</location> 1146 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1147 <orientation>0 0 0</orientation> 1148 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1149 <CoordinateSet> 1150 <objects /> 1151 <groups /> 1152 </CoordinateSet> 1153 <!--Whether the joint transform defines parent->child or child->parent.--> 1154 <reverse>false</reverse> 1155 </WeldJoint> 1156 </Joint> 1157 <VisibleObject> 1158 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1159 <GeometrySet> 1160 <objects> 1161 <DisplayGeometry> 1162 <!--Name of geometry file .vtp, .stl, .obj--> 1163 <geometry_file>foot_l.vtp</geometry_file> 1164 <!--Color used to display the geometry when visible--> 1165 <color> 1 1 1</color> 1166 <!--Name of texture file .jpg, .bmp--> 1167 <texture_file /> 1168 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1169 <transform> -0 0 -0 0 0 0</transform> 1170 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1171 <scale_factors> 1 1 1</scale_factors> 1172 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1173 <display_preference>4</display_preference> 1174 <!--Display opacity between 0.0 and 1.0--> 1175 <opacity>1</opacity> 1176 </DisplayGeometry> 1177 </objects> 1178 <groups /> 1179 </GeometrySet> 1180 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1181 <scale_factors> 1 1 1</scale_factors> 1182 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1183 <transform> -0 0 -0 0 0 0</transform> 1184 <!--Whether to show a coordinate frame--> 1185 <show_axes>false</show_axes> 1186 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1187 <display_preference>4</display_preference> 1188 </VisibleObject> 1189 <WrapObjectSet> 1190 <objects /> 1191 <groups /> 1192 </WrapObjectSet> 1193 </Body> 1194 <Body name="toes_l"> 1195 <mass>0.2166</mass> 1196 <mass_center> 0.0346 0.006 0.0175</mass_center> 1197 <inertia_xx>0.0001</inertia_xx> 1198 <inertia_yy>0.0002</inertia_yy> 1199 <inertia_zz>0.0003</inertia_zz> 1200 <inertia_xy>0</inertia_xy> 1201 <inertia_xz>0</inertia_xz> 1202 <inertia_yz>0</inertia_yz> 1203 <!--Joint that connects this body with the parent body.--> 1204 <Joint> 1205 <WeldJoint name="toe_flexion_l"> 1206 <!--Name of the parent body to which this joint connects its owner body.--> 1207 <parent_body>calcn_l</parent_body> 1208 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1209 <location_in_parent>0.1788 -0.002 -0.00108</location_in_parent> 1210 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1211 <orientation_in_parent>0 0 0</orientation_in_parent> 1212 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1213 <location>0 0 0</location> 1214 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1215 <orientation>0 0 0</orientation> 1216 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1217 <CoordinateSet> 1218 <objects /> 1219 <groups /> 1220 </CoordinateSet> 1221 <!--Whether the joint transform defines parent->child or child->parent.--> 1222 <reverse>false</reverse> 1223 </WeldJoint> 1224 </Joint> 1225 <VisibleObject> 1226 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1227 <GeometrySet> 1228 <objects> 1229 <DisplayGeometry> 1230 <!--Name of geometry file .vtp, .stl, .obj--> 1231 <geometry_file>bofoot_l.vtp</geometry_file> 1232 <!--Color used to display the geometry when visible--> 1233 <color> 1 1 1</color> 1234 <!--Name of texture file .jpg, .bmp--> 1235 <texture_file /> 1236 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1237 <transform> -0 0 -0 0 0 0</transform> 1238 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1239 <scale_factors> 1 1 1</scale_factors> 1240 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1241 <display_preference>4</display_preference> 1242 <!--Display opacity between 0.0 and 1.0--> 1243 <opacity>1</opacity> 1244 </DisplayGeometry> 1245 </objects> 1246 <groups /> 1247 </GeometrySet> 1248 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1249 <scale_factors> 1 1 1</scale_factors> 1250 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1251 <transform> -0 0 -0 0 0 0</transform> 1252 <!--Whether to show a coordinate frame--> 1253 <show_axes>false</show_axes> 1254 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1255 <display_preference>4</display_preference> 1256 </VisibleObject> 1257 <WrapObjectSet> 1258 <objects /> 1259 <groups /> 1260 </WrapObjectSet> 1261 </Body> 1262 <Body name="clavicle_r"> 1263 <mass>0</mass> 1264 <mass_center> 0 0 0</mass_center> 1265 <inertia_xx>0</inertia_xx> 1266 <inertia_yy>0</inertia_yy> 1267 <inertia_zz>0</inertia_zz> 1268 <inertia_xy>0</inertia_xy> 1269 <inertia_xz>0</inertia_xz> 1270 <inertia_yz>0</inertia_yz> 1271 <!--Joint that connects this body with the parent body.--> 1272 <Joint> 1273 <WeldJoint name="sternoclavicular_r"> 1274 <!--Name of the parent body to which this joint connects its owner body.--> 1275 <parent_body>thorax</parent_body> 1276 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1277 <location_in_parent>0.006325 0.00693 0.025465</location_in_parent> 1278 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1279 <orientation_in_parent>0 0 0</orientation_in_parent> 1280 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1281 <location>0 0 0</location> 1282 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1283 <orientation>0 0 0</orientation> 1284 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1285 <CoordinateSet> 1286 <objects /> 1287 <groups /> 1288 </CoordinateSet> 1289 <!--Whether the joint transform defines parent->child or child->parent.--> 1290 <reverse>false</reverse> 1291 </WeldJoint> 1292 </Joint> 1293 <VisibleObject> 1294 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1295 <GeometrySet> 1296 <objects> 1297 <DisplayGeometry> 1298 <!--Name of geometry file .vtp, .stl, .obj--> 1299 <geometry_file>clavicle.vtp</geometry_file> 1300 <!--Color used to display the geometry when visible--> 1301 <color> 1 1 1</color> 1302 <!--Name of texture file .jpg, .bmp--> 1303 <texture_file /> 1304 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1305 <transform> -0 0 -0 0 0 0</transform> 1306 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1307 <scale_factors> 1 1 1</scale_factors> 1308 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1309 <display_preference>4</display_preference> 1310 <!--Display opacity between 0.0 and 1.0--> 1311 <opacity>1</opacity> 1312 </DisplayGeometry> 1313 </objects> 1314 <groups /> 1315 </GeometrySet> 1316 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1317 <scale_factors> 1 1 1</scale_factors> 1318 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1319 <transform> -0 0 -0 0 0 0</transform> 1320 <!--Whether to show a coordinate frame--> 1321 <show_axes>false</show_axes> 1322 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1323 <display_preference>4</display_preference> 1324 </VisibleObject> 1325 <WrapObjectSet> 1326 <objects /> 1327 <groups /> 1328 </WrapObjectSet> 1329 </Body> 1330 <Body name="clavicle_l"> 1331 <mass>0</mass> 1332 <mass_center> 0 0 0</mass_center> 1333 <inertia_xx>0</inertia_xx> 1334 <inertia_yy>0</inertia_yy> 1335 <inertia_zz>0</inertia_zz> 1336 <inertia_xy>0</inertia_xy> 1337 <inertia_xz>0</inertia_xz> 1338 <inertia_yz>0</inertia_yz> 1339 <!--Joint that connects this body with the parent body.--> 1340 <Joint> 1341 <WeldJoint name="sternoclavicular_l"> 1342 <!--Name of the parent body to which this joint connects its owner body.--> 1343 <parent_body>thorax</parent_body> 1344 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1345 <location_in_parent>0.006325 0.00693 -0.025465</location_in_parent> 1346 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1347 <orientation_in_parent>0 0 0</orientation_in_parent> 1348 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1349 <location>0 0 0</location> 1350 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1351 <orientation>0 0 0</orientation> 1352 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1353 <CoordinateSet> 1354 <objects /> 1355 <groups /> 1356 </CoordinateSet> 1357 <!--Whether the joint transform defines parent->child or child->parent.--> 1358 <reverse>false</reverse> 1359 </WeldJoint> 1360 </Joint> 1361 <VisibleObject> 1362 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1363 <GeometrySet> 1364 <objects> 1365 <DisplayGeometry> 1366 <!--Name of geometry file .vtp, .stl, .obj--> 1367 <geometry_file>clavicle_l.vtp</geometry_file> 1368 <!--Color used to display the geometry when visible--> 1369 <color> 1 1 1</color> 1370 <!--Name of texture file .jpg, .bmp--> 1371 <texture_file /> 1372 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1373 <transform> -0 0 -0 0 0 0</transform> 1374 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1375 <scale_factors> 1 1 1</scale_factors> 1376 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1377 <display_preference>4</display_preference> 1378 <!--Display opacity between 0.0 and 1.0--> 1379 <opacity>1</opacity> 1380 </DisplayGeometry> 1381 </objects> 1382 <groups /> 1383 </GeometrySet> 1384 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1385 <scale_factors> 1 1 1</scale_factors> 1386 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1387 <transform> -0 0 -0 0 0 0</transform> 1388 <!--Whether to show a coordinate frame--> 1389 <show_axes>false</show_axes> 1390 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1391 <display_preference>4</display_preference> 1392 </VisibleObject> 1393 <WrapObjectSet> 1394 <objects /> 1395 <groups /> 1396 </WrapObjectSet> 1397 </Body> 1398 <Body name="scapula_r"> 1399 <mass>0</mass> 1400 <mass_center> 0 0 0</mass_center> 1401 <inertia_xx>0</inertia_xx> 1402 <inertia_yy>0</inertia_yy> 1403 <inertia_zz>0</inertia_zz> 1404 <inertia_xy>0</inertia_xy> 1405 <inertia_xz>0</inertia_xz> 1406 <inertia_yz>0</inertia_yz> 1407 <!--Joint that connects this body with the parent body.--> 1408 <Joint> 1409 <WeldJoint name="acromioclavicular_r"> 1410 <!--Name of the parent body to which this joint connects its owner body.--> 1411 <parent_body>clavicle_r</parent_body> 1412 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1413 <location_in_parent>-0.01433 0.02007 0.135535</location_in_parent> 1414 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1415 <orientation_in_parent>0 0 0</orientation_in_parent> 1416 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1417 <location>0 0 0</location> 1418 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1419 <orientation>0 0 0</orientation> 1420 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1421 <CoordinateSet> 1422 <objects /> 1423 <groups /> 1424 </CoordinateSet> 1425 <!--Whether the joint transform defines parent->child or child->parent.--> 1426 <reverse>false</reverse> 1427 </WeldJoint> 1428 </Joint> 1429 <VisibleObject> 1430 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1431 <GeometrySet> 1432 <objects> 1433 <DisplayGeometry> 1434 <!--Name of geometry file .vtp, .stl, .obj--> 1435 <geometry_file>scapula.vtp</geometry_file> 1436 <!--Color used to display the geometry when visible--> 1437 <color> 1 1 1</color> 1438 <!--Name of texture file .jpg, .bmp--> 1439 <texture_file /> 1440 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1441 <transform> -0 0 -0 0 0 0</transform> 1442 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1443 <scale_factors> 1 1 1</scale_factors> 1444 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1445 <display_preference>4</display_preference> 1446 <!--Display opacity between 0.0 and 1.0--> 1447 <opacity>1</opacity> 1448 </DisplayGeometry> 1449 </objects> 1450 <groups /> 1451 </GeometrySet> 1452 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1453 <scale_factors> 1 1 1</scale_factors> 1454 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1455 <transform> -0 0 -0 0 0 0</transform> 1456 <!--Whether to show a coordinate frame--> 1457 <show_axes>false</show_axes> 1458 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1459 <display_preference>4</display_preference> 1460 </VisibleObject> 1461 <WrapObjectSet> 1462 <objects /> 1463 <groups /> 1464 </WrapObjectSet> 1465 </Body> 1466 <Body name="scapula_l"> 1467 <mass>0</mass> 1468 <mass_center> 0 0 0</mass_center> 1469 <inertia_xx>0</inertia_xx> 1470 <inertia_yy>0</inertia_yy> 1471 <inertia_zz>0</inertia_zz> 1472 <inertia_xy>0</inertia_xy> 1473 <inertia_xz>0</inertia_xz> 1474 <inertia_yz>0</inertia_yz> 1475 <!--Joint that connects this body with the parent body.--> 1476 <Joint> 1477 <WeldJoint name="acromioclavicular_l"> 1478 <!--Name of the parent body to which this joint connects its owner body.--> 1479 <parent_body>clavicle_l</parent_body> 1480 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1481 <location_in_parent>-0.01433 0.02007 -0.135535</location_in_parent> 1482 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1483 <orientation_in_parent>0 0 0</orientation_in_parent> 1484 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1485 <location>0 0 0</location> 1486 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1487 <orientation>0 0 0</orientation> 1488 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1489 <CoordinateSet> 1490 <objects /> 1491 <groups /> 1492 </CoordinateSet> 1493 <!--Whether the joint transform defines parent->child or child->parent.--> 1494 <reverse>false</reverse> 1495 </WeldJoint> 1496 </Joint> 1497 <VisibleObject> 1498 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1499 <GeometrySet> 1500 <objects> 1501 <DisplayGeometry> 1502 <!--Name of geometry file .vtp, .stl, .obj--> 1503 <geometry_file>scapula_l.vtp</geometry_file> 1504 <!--Color used to display the geometry when visible--> 1505 <color> 1 1 1</color> 1506 <!--Name of texture file .jpg, .bmp--> 1507 <texture_file /> 1508 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1509 <transform> -0 0 -0 0 0 0</transform> 1510 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1511 <scale_factors> 1 1 1</scale_factors> 1512 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1513 <display_preference>4</display_preference> 1514 <!--Display opacity between 0.0 and 1.0--> 1515 <opacity>1</opacity> 1516 </DisplayGeometry> 1517 </objects> 1518 <groups /> 1519 </GeometrySet> 1520 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1521 <scale_factors> 1 1 1</scale_factors> 1522 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1523 <transform> -0 0 -0 0 0 0</transform> 1524 <!--Whether to show a coordinate frame--> 1525 <show_axes>false</show_axes> 1526 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1527 <display_preference>4</display_preference> 1528 </VisibleObject> 1529 <WrapObjectSet> 1530 <objects /> 1531 <groups /> 1532 </WrapObjectSet> 1533 </Body> 1534 <Body name="humerus_r"> 1535 <mass>1.9241</mass> 1536 <mass_center> -0.005 -0.1676 -0.008</mass_center> 1537 <inertia_xx>0.0132</inertia_xx> 1538 <inertia_yy>0.0041</inertia_yy> 1539 <inertia_zz>0.0117</inertia_zz> 1540 <inertia_xy>0</inertia_xy> 1541 <inertia_xz>0</inertia_xz> 1542 <inertia_yz>0</inertia_yz> 1543 <!--Joint that connects this body with the parent body.--> 1544 <Joint> 1545 <CustomJoint name="shoulder_r"> 1546 <!--Name of the parent body to which this joint connects its owner body.--> 1547 <parent_body>scapula_r</parent_body> 1548 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1549 <location_in_parent>-0.00955 -0.034 0.009</location_in_parent> 1550 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1551 <orientation_in_parent>0 0 0</orientation_in_parent> 1552 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1553 <location>0 0 0</location> 1554 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1555 <orientation>0 0 0</orientation> 1556 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1557 <CoordinateSet> 1558 <objects> 1559 <Coordinate name="shoulder_flexion_r"> 1560 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 1561 <motion_type>rotational</motion_type> 1562 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 1563 <default_value>1.32441915</default_value> 1564 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 1565 <default_speed_value>0</default_speed_value> 1566 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 1567 <range>-3.14159265 3.14159265</range> 1568 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 1569 <clamped>true</clamped> 1570 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 1571 <locked>false</locked> 1572 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 1573 <prescribed_function /> 1574 <!--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.--> 1575 <prescribed>false</prescribed> 1576 </Coordinate> 1577 <Coordinate name="shoulder_rotation_r"> 1578 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 1579 <motion_type>rotational</motion_type> 1580 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 1581 <default_value>0</default_value> 1582 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 1583 <default_speed_value>0</default_speed_value> 1584 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 1585 <range>-3.14159265 3.14159265</range> 1586 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 1587 <clamped>true</clamped> 1588 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 1589 <locked>false</locked> 1590 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 1591 <prescribed_function /> 1592 <!--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.--> 1593 <prescribed>false</prescribed> 1594 </Coordinate> 1595 </objects> 1596 <groups /> 1597 </CoordinateSet> 1598 <!--Whether the joint transform defines parent->child or child->parent.--> 1599 <reverse>false</reverse> 1600 <!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.--> 1601 <SpatialTransform> 1602 <!--3 Axes for rotations are listed first.--> 1603 <TransformAxis name="rotation1"> 1604 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1605 <coordinates>shoulder_flexion_r</coordinates> 1606 <!--Rotation or translation axis for the transform.--> 1607 <axis>0 0 1</axis> 1608 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1609 <function> 1610 <LinearFunction> 1611 <coefficients> 1 0</coefficients> 1612 </LinearFunction> 1613 </function> 1614 </TransformAxis> 1615 <TransformAxis name="rotation2"> 1616 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1617 <coordinates>shoulder_rotation_r</coordinates> 1618 <!--Rotation or translation axis for the transform.--> 1619 <axis>0 1 0</axis> 1620 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1621 <function> 1622 <LinearFunction> 1623 <coefficients> 1 0</coefficients> 1624 </LinearFunction> 1625 </function> 1626 </TransformAxis> 1627 <TransformAxis name="rotation3"> 1628 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1629 <coordinates></coordinates> 1630 <!--Rotation or translation axis for the transform.--> 1631 <axis>1 0 0</axis> 1632 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1633 <function> 1634 <Constant> 1635 <value>0</value> 1636 </Constant> 1637 </function> 1638 </TransformAxis> 1639 <!--3 Axes for translations are listed next.--> 1640 <TransformAxis name="translation1"> 1641 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1642 <coordinates></coordinates> 1643 <!--Rotation or translation axis for the transform.--> 1644 <axis>1 0 0</axis> 1645 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1646 <function> 1647 <Constant> 1648 <value>0</value> 1649 </Constant> 1650 </function> 1651 </TransformAxis> 1652 <TransformAxis name="translation2"> 1653 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1654 <coordinates></coordinates> 1655 <!--Rotation or translation axis for the transform.--> 1656 <axis>0 1 0</axis> 1657 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1658 <function> 1659 <Constant> 1660 <value>0</value> 1661 </Constant> 1662 </function> 1663 </TransformAxis> 1664 <TransformAxis name="translation3"> 1665 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1666 <coordinates></coordinates> 1667 <!--Rotation or translation axis for the transform.--> 1668 <axis>0 0 1</axis> 1669 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1670 <function> 1671 <Constant> 1672 <value>0</value> 1673 </Constant> 1674 </function> 1675 </TransformAxis> 1676 </SpatialTransform> 1677 </CustomJoint> 1678 </Joint> 1679 <VisibleObject> 1680 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1681 <GeometrySet> 1682 <objects> 1683 <DisplayGeometry> 1684 <!--Name of geometry file .vtp, .stl, .obj--> 1685 <geometry_file>humerus.vtp</geometry_file> 1686 <!--Color used to display the geometry when visible--> 1687 <color> 1 1 1</color> 1688 <!--Name of texture file .jpg, .bmp--> 1689 <texture_file /> 1690 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1691 <transform> -0 0 -0 0 0 0</transform> 1692 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1693 <scale_factors> 1 1 1</scale_factors> 1694 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1695 <display_preference>4</display_preference> 1696 <!--Display opacity between 0.0 and 1.0--> 1697 <opacity>1</opacity> 1698 </DisplayGeometry> 1699 </objects> 1700 <groups /> 1701 </GeometrySet> 1702 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1703 <scale_factors> 1 1 1</scale_factors> 1704 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1705 <transform> -0 0 -0 0 0 0</transform> 1706 <!--Whether to show a coordinate frame--> 1707 <show_axes>false</show_axes> 1708 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1709 <display_preference>4</display_preference> 1710 </VisibleObject> 1711 <WrapObjectSet> 1712 <objects /> 1713 <groups /> 1714 </WrapObjectSet> 1715 </Body> 1716 <Body name="humerus_l"> 1717 <mass>1.9241</mass> 1718 <mass_center> -0.005 -0.1676 0.008</mass_center> 1719 <inertia_xx>0.0132</inertia_xx> 1720 <inertia_yy>0.0041</inertia_yy> 1721 <inertia_zz>0.0117</inertia_zz> 1722 <inertia_xy>0</inertia_xy> 1723 <inertia_xz>0</inertia_xz> 1724 <inertia_yz>0</inertia_yz> 1725 <!--Joint that connects this body with the parent body.--> 1726 <Joint> 1727 <CustomJoint name="shoulder_l"> 1728 <!--Name of the parent body to which this joint connects its owner body.--> 1729 <parent_body>scapula_l</parent_body> 1730 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1731 <location_in_parent>-0.00955 -0.034 -0.009</location_in_parent> 1732 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1733 <orientation_in_parent>0 0 0</orientation_in_parent> 1734 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1735 <location>0 0 0</location> 1736 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1737 <orientation>0 0 0</orientation> 1738 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1739 <CoordinateSet> 1740 <objects> 1741 <Coordinate name="shoulder_flexion_l"> 1742 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 1743 <motion_type>rotational</motion_type> 1744 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 1745 <default_value>1.32441915</default_value> 1746 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 1747 <default_speed_value>0</default_speed_value> 1748 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 1749 <range>-3.14159265 3.14159265</range> 1750 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 1751 <clamped>true</clamped> 1752 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 1753 <locked>false</locked> 1754 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 1755 <prescribed_function /> 1756 <!--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.--> 1757 <prescribed>false</prescribed> 1758 </Coordinate> 1759 <Coordinate name="shoulder_rotation_l"> 1760 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 1761 <motion_type>rotational</motion_type> 1762 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 1763 <default_value>0</default_value> 1764 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 1765 <default_speed_value>0</default_speed_value> 1766 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 1767 <range>-3.14159265 3.14159265</range> 1768 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 1769 <clamped>true</clamped> 1770 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 1771 <locked>false</locked> 1772 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 1773 <prescribed_function /> 1774 <!--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.--> 1775 <prescribed>false</prescribed> 1776 </Coordinate> 1777 </objects> 1778 <groups /> 1779 </CoordinateSet> 1780 <!--Whether the joint transform defines parent->child or child->parent.--> 1781 <reverse>false</reverse> 1782 <!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.--> 1783 <SpatialTransform> 1784 <!--3 Axes for rotations are listed first.--> 1785 <TransformAxis name="rotation1"> 1786 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1787 <coordinates>shoulder_flexion_l</coordinates> 1788 <!--Rotation or translation axis for the transform.--> 1789 <axis>0 0 1</axis> 1790 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1791 <function> 1792 <LinearFunction> 1793 <coefficients> 1 0</coefficients> 1794 </LinearFunction> 1795 </function> 1796 </TransformAxis> 1797 <TransformAxis name="rotation2"> 1798 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1799 <coordinates>shoulder_rotation_l</coordinates> 1800 <!--Rotation or translation axis for the transform.--> 1801 <axis>0 -1 0</axis> 1802 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1803 <function> 1804 <LinearFunction> 1805 <coefficients> 1 0</coefficients> 1806 </LinearFunction> 1807 </function> 1808 </TransformAxis> 1809 <TransformAxis name="rotation3"> 1810 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1811 <coordinates></coordinates> 1812 <!--Rotation or translation axis for the transform.--> 1813 <axis>1 0 0</axis> 1814 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1815 <function> 1816 <Constant> 1817 <value>0</value> 1818 </Constant> 1819 </function> 1820 </TransformAxis> 1821 <!--3 Axes for translations are listed next.--> 1822 <TransformAxis name="translation1"> 1823 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1824 <coordinates></coordinates> 1825 <!--Rotation or translation axis for the transform.--> 1826 <axis>1 0 0</axis> 1827 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1828 <function> 1829 <Constant> 1830 <value>0</value> 1831 </Constant> 1832 </function> 1833 </TransformAxis> 1834 <TransformAxis name="translation2"> 1835 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1836 <coordinates></coordinates> 1837 <!--Rotation or translation axis for the transform.--> 1838 <axis>0 1 0</axis> 1839 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1840 <function> 1841 <Constant> 1842 <value>0</value> 1843 </Constant> 1844 </function> 1845 </TransformAxis> 1846 <TransformAxis name="translation3"> 1847 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 1848 <coordinates></coordinates> 1849 <!--Rotation or translation axis for the transform.--> 1850 <axis>0 0 1</axis> 1851 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 1852 <function> 1853 <Constant> 1854 <value>0</value> 1855 </Constant> 1856 </function> 1857 </TransformAxis> 1858 </SpatialTransform> 1859 </CustomJoint> 1860 </Joint> 1861 <VisibleObject> 1862 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1863 <GeometrySet> 1864 <objects> 1865 <DisplayGeometry> 1866 <!--Name of geometry file .vtp, .stl, .obj--> 1867 <geometry_file>humerus_l.vtp</geometry_file> 1868 <!--Color used to display the geometry when visible--> 1869 <color> 1 1 1</color> 1870 <!--Name of texture file .jpg, .bmp--> 1871 <texture_file /> 1872 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1873 <transform> -0 0 -0 0 0 0</transform> 1874 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1875 <scale_factors> 1 1 1</scale_factors> 1876 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1877 <display_preference>4</display_preference> 1878 <!--Display opacity between 0.0 and 1.0--> 1879 <opacity>1</opacity> 1880 </DisplayGeometry> 1881 </objects> 1882 <groups /> 1883 </GeometrySet> 1884 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1885 <scale_factors> 1 1 1</scale_factors> 1886 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1887 <transform> -0 0 -0 0 0 0</transform> 1888 <!--Whether to show a coordinate frame--> 1889 <show_axes>false</show_axes> 1890 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1891 <display_preference>4</display_preference> 1892 </VisibleObject> 1893 <WrapObjectSet> 1894 <objects /> 1895 <groups /> 1896 </WrapObjectSet> 1897 </Body> 1898 <Body name="ulna_r"> 1899 <mass>1.1502</mass> 1900 <mass_center> 0.01 -0.116 0.015</mass_center> 1901 <inertia_xx>0.0056</inertia_xx> 1902 <inertia_yy>0.0011</inertia_yy> 1903 <inertia_zz>0.0052</inertia_zz> 1904 <inertia_xy>0</inertia_xy> 1905 <inertia_xz>0</inertia_xz> 1906 <inertia_yz>0</inertia_yz> 1907 <!--Joint that connects this body with the parent body.--> 1908 <Joint> 1909 <PinJoint name="elbow_r"> 1910 <!--Name of the parent body to which this joint connects its owner body.--> 1911 <parent_body>humerus_r</parent_body> 1912 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 1913 <location_in_parent>0.0061 -0.2904 -0.0123</location_in_parent> 1914 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 1915 <orientation_in_parent>0 0 0</orientation_in_parent> 1916 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 1917 <location>0 0 0</location> 1918 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 1919 <orientation>0 0 0</orientation> 1920 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 1921 <CoordinateSet> 1922 <objects> 1923 <Coordinate name="elbow_flexion_r"> 1924 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 1925 <motion_type>rotational</motion_type> 1926 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 1927 <default_value>1e-009</default_value> 1928 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 1929 <default_speed_value>0</default_speed_value> 1930 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 1931 <range>0 2.26892803</range> 1932 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 1933 <clamped>true</clamped> 1934 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 1935 <locked>false</locked> 1936 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 1937 <prescribed_function /> 1938 <!--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.--> 1939 <prescribed>false</prescribed> 1940 </Coordinate> 1941 </objects> 1942 <groups /> 1943 </CoordinateSet> 1944 <!--Whether the joint transform defines parent->child or child->parent.--> 1945 <reverse>false</reverse> 1946 </PinJoint> 1947 </Joint> 1948 <VisibleObject> 1949 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 1950 <GeometrySet> 1951 <objects> 1952 <DisplayGeometry> 1953 <!--Name of geometry file .vtp, .stl, .obj--> 1954 <geometry_file>ulna.vtp</geometry_file> 1955 <!--Color used to display the geometry when visible--> 1956 <color> 1 1 1</color> 1957 <!--Name of texture file .jpg, .bmp--> 1958 <texture_file /> 1959 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1960 <transform> -0 0 -0 0 0 0</transform> 1961 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1962 <scale_factors> 1 1 1</scale_factors> 1963 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 1964 <display_preference>4</display_preference> 1965 <!--Display opacity between 0.0 and 1.0--> 1966 <opacity>1</opacity> 1967 </DisplayGeometry> 1968 </objects> 1969 <groups /> 1970 </GeometrySet> 1971 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 1972 <scale_factors> 1 1 1</scale_factors> 1973 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 1974 <transform> -0 0 -0 0 0 0</transform> 1975 <!--Whether to show a coordinate frame--> 1976 <show_axes>false</show_axes> 1977 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 1978 <display_preference>4</display_preference> 1979 </VisibleObject> 1980 <WrapObjectSet> 1981 <objects /> 1982 <groups /> 1983 </WrapObjectSet> 1984 </Body> 1985 <Body name="ulna_l"> 1986 <mass>1.1502</mass> 1987 <mass_center> 0.01 -0.116 -0.015</mass_center> 1988 <inertia_xx>0.0056</inertia_xx> 1989 <inertia_yy>0.0011</inertia_yy> 1990 <inertia_zz>0.0052</inertia_zz> 1991 <inertia_xy>0</inertia_xy> 1992 <inertia_xz>0</inertia_xz> 1993 <inertia_yz>0</inertia_yz> 1994 <!--Joint that connects this body with the parent body.--> 1995 <Joint> 1996 <PinJoint name="elbow_l"> 1997 <!--Name of the parent body to which this joint connects its owner body.--> 1998 <parent_body>humerus_l</parent_body> 1999 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2000 <location_in_parent>0.0061 -0.2904 0.0123</location_in_parent> 2001 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2002 <orientation_in_parent>0 0 0</orientation_in_parent> 2003 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2004 <location>0 0 0</location> 2005 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2006 <orientation>0 0 0</orientation> 2007 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2008 <CoordinateSet> 2009 <objects> 2010 <Coordinate name="elbow_flexion_l"> 2011 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 2012 <motion_type>rotational</motion_type> 2013 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 2014 <default_value>1e-009</default_value> 2015 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 2016 <default_speed_value>0</default_speed_value> 2017 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 2018 <range>0 2.26892803</range> 2019 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 2020 <clamped>true</clamped> 2021 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 2022 <locked>false</locked> 2023 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 2024 <prescribed_function /> 2025 <!--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.--> 2026 <prescribed>false</prescribed> 2027 </Coordinate> 2028 </objects> 2029 <groups /> 2030 </CoordinateSet> 2031 <!--Whether the joint transform defines parent->child or child->parent.--> 2032 <reverse>false</reverse> 2033 </PinJoint> 2034 </Joint> 2035 <VisibleObject> 2036 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2037 <GeometrySet> 2038 <objects> 2039 <DisplayGeometry> 2040 <!--Name of geometry file .vtp, .stl, .obj--> 2041 <geometry_file>ulna_l.vtp</geometry_file> 2042 <!--Color used to display the geometry when visible--> 2043 <color> 1 1 1</color> 2044 <!--Name of texture file .jpg, .bmp--> 2045 <texture_file /> 2046 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2047 <transform> -0 0 -0 0 0 0</transform> 2048 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2049 <scale_factors> 1 1 1</scale_factors> 2050 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2051 <display_preference>4</display_preference> 2052 <!--Display opacity between 0.0 and 1.0--> 2053 <opacity>1</opacity> 2054 </DisplayGeometry> 2055 </objects> 2056 <groups /> 2057 </GeometrySet> 2058 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2059 <scale_factors> 1 1 1</scale_factors> 2060 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2061 <transform> -0 0 -0 0 0 0</transform> 2062 <!--Whether to show a coordinate frame--> 2063 <show_axes>false</show_axes> 2064 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2065 <display_preference>4</display_preference> 2066 </VisibleObject> 2067 <WrapObjectSet> 2068 <objects /> 2069 <groups /> 2070 </WrapObjectSet> 2071 </Body> 2072 <Body name="radius_r"> 2073 <mass>0</mass> 2074 <mass_center> 0 0 0</mass_center> 2075 <inertia_xx>0</inertia_xx> 2076 <inertia_yy>0</inertia_yy> 2077 <inertia_zz>0</inertia_zz> 2078 <inertia_xy>0</inertia_xy> 2079 <inertia_xz>0</inertia_xz> 2080 <inertia_yz>0</inertia_yz> 2081 <!--Joint that connects this body with the parent body.--> 2082 <Joint> 2083 <CustomJoint name="radioulnar"> 2084 <!--Name of the parent body to which this joint connects its owner body.--> 2085 <parent_body>ulna_r</parent_body> 2086 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2087 <location_in_parent>0.0004 -0.011503 0.019999</location_in_parent> 2088 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2089 <orientation_in_parent>0 0 0</orientation_in_parent> 2090 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2091 <location>0 0 0</location> 2092 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2093 <orientation>0 0 0</orientation> 2094 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2095 <CoordinateSet> 2096 <objects> 2097 <Coordinate name="pro_sup_r"> 2098 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 2099 <motion_type>rotational</motion_type> 2100 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 2101 <default_value>1.57079632</default_value> 2102 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 2103 <default_speed_value>0</default_speed_value> 2104 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 2105 <range>-1.57079633 1.57079633</range> 2106 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 2107 <clamped>false</clamped> 2108 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 2109 <locked>false</locked> 2110 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 2111 <prescribed_function /> 2112 <!--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.--> 2113 <prescribed>false</prescribed> 2114 </Coordinate> 2115 </objects> 2116 <groups /> 2117 </CoordinateSet> 2118 <!--Whether the joint transform defines parent->child or child->parent.--> 2119 <reverse>false</reverse> 2120 <!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.--> 2121 <SpatialTransform> 2122 <!--3 Axes for rotations are listed first.--> 2123 <TransformAxis name="rotation1"> 2124 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2125 <coordinates>pro_sup_r</coordinates> 2126 <!--Rotation or translation axis for the transform.--> 2127 <axis>-0.01716099 0.99266564 -0.11966796</axis> 2128 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2129 <function> 2130 <LinearFunction> 2131 <coefficients> 1 0</coefficients> 2132 </LinearFunction> 2133 </function> 2134 </TransformAxis> 2135 <TransformAxis name="rotation2"> 2136 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2137 <coordinates></coordinates> 2138 <!--Rotation or translation axis for the transform.--> 2139 <axis>0 1 0</axis> 2140 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2141 <function> 2142 <Constant> 2143 <value>0</value> 2144 </Constant> 2145 </function> 2146 </TransformAxis> 2147 <TransformAxis name="rotation3"> 2148 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2149 <coordinates></coordinates> 2150 <!--Rotation or translation axis for the transform.--> 2151 <axis>-0.11966796 0 0.01716099</axis> 2152 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2153 <function> 2154 <Constant> 2155 <value>0</value> 2156 </Constant> 2157 </function> 2158 </TransformAxis> 2159 <!--3 Axes for translations are listed next.--> 2160 <TransformAxis name="translation1"> 2161 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2162 <coordinates></coordinates> 2163 <!--Rotation or translation axis for the transform.--> 2164 <axis>1 0 0</axis> 2165 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2166 <function> 2167 <Constant> 2168 <value>0</value> 2169 </Constant> 2170 </function> 2171 </TransformAxis> 2172 <TransformAxis name="translation2"> 2173 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2174 <coordinates></coordinates> 2175 <!--Rotation or translation axis for the transform.--> 2176 <axis>0 1 0</axis> 2177 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2178 <function> 2179 <Constant> 2180 <value>0</value> 2181 </Constant> 2182 </function> 2183 </TransformAxis> 2184 <TransformAxis name="translation3"> 2185 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2186 <coordinates></coordinates> 2187 <!--Rotation or translation axis for the transform.--> 2188 <axis>0 0 1</axis> 2189 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2190 <function> 2191 <Constant> 2192 <value>0</value> 2193 </Constant> 2194 </function> 2195 </TransformAxis> 2196 </SpatialTransform> 2197 </CustomJoint> 2198 </Joint> 2199 <VisibleObject> 2200 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2201 <GeometrySet> 2202 <objects> 2203 <DisplayGeometry> 2204 <!--Name of geometry file .vtp, .stl, .obj--> 2205 <geometry_file>radius.vtp</geometry_file> 2206 <!--Color used to display the geometry when visible--> 2207 <color> 1 1 1</color> 2208 <!--Name of texture file .jpg, .bmp--> 2209 <texture_file /> 2210 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2211 <transform> -0 0 -0 0 0 0</transform> 2212 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2213 <scale_factors> 1 1 1</scale_factors> 2214 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2215 <display_preference>4</display_preference> 2216 <!--Display opacity between 0.0 and 1.0--> 2217 <opacity>1</opacity> 2218 </DisplayGeometry> 2219 </objects> 2220 <groups /> 2221 </GeometrySet> 2222 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2223 <scale_factors> 1 1 1</scale_factors> 2224 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2225 <transform> -0 0 -0 0 0 0</transform> 2226 <!--Whether to show a coordinate frame--> 2227 <show_axes>false</show_axes> 2228 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2229 <display_preference>4</display_preference> 2230 </VisibleObject> 2231 <WrapObjectSet> 2232 <objects /> 2233 <groups /> 2234 </WrapObjectSet> 2235 </Body> 2236 <Body name="radius_l"> 2237 <mass>0</mass> 2238 <mass_center> 0 0 0</mass_center> 2239 <inertia_xx>0</inertia_xx> 2240 <inertia_yy>0</inertia_yy> 2241 <inertia_zz>0</inertia_zz> 2242 <inertia_xy>0</inertia_xy> 2243 <inertia_xz>0</inertia_xz> 2244 <inertia_yz>0</inertia_yz> 2245 <!--Joint that connects this body with the parent body.--> 2246 <Joint> 2247 <CustomJoint name="radioulnar_l"> 2248 <!--Name of the parent body to which this joint connects its owner body.--> 2249 <parent_body>ulna_l</parent_body> 2250 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2251 <location_in_parent>0.0004 -0.011503 -0.019999</location_in_parent> 2252 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2253 <orientation_in_parent>0 0 0</orientation_in_parent> 2254 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2255 <location>0 0 0</location> 2256 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2257 <orientation>0 0 0</orientation> 2258 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2259 <CoordinateSet> 2260 <objects> 2261 <Coordinate name="pro_sup_l"> 2262 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 2263 <motion_type>rotational</motion_type> 2264 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 2265 <default_value>1.57079632</default_value> 2266 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 2267 <default_speed_value>0</default_speed_value> 2268 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 2269 <range>-1.57079633 1.57079633</range> 2270 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 2271 <clamped>false</clamped> 2272 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 2273 <locked>false</locked> 2274 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 2275 <prescribed_function /> 2276 <!--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.--> 2277 <prescribed>false</prescribed> 2278 </Coordinate> 2279 </objects> 2280 <groups /> 2281 </CoordinateSet> 2282 <!--Whether the joint transform defines parent->child or child->parent.--> 2283 <reverse>false</reverse> 2284 <!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.--> 2285 <SpatialTransform> 2286 <!--3 Axes for rotations are listed first.--> 2287 <TransformAxis name="rotation1"> 2288 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2289 <coordinates>pro_sup_l</coordinates> 2290 <!--Rotation or translation axis for the transform.--> 2291 <axis>0.01716099 -0.99266564 -0.11966796</axis> 2292 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2293 <function> 2294 <LinearFunction> 2295 <coefficients> 1 0</coefficients> 2296 </LinearFunction> 2297 </function> 2298 </TransformAxis> 2299 <TransformAxis name="rotation2"> 2300 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2301 <coordinates></coordinates> 2302 <!--Rotation or translation axis for the transform.--> 2303 <axis>0 1 0</axis> 2304 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2305 <function> 2306 <Constant> 2307 <value>0</value> 2308 </Constant> 2309 </function> 2310 </TransformAxis> 2311 <TransformAxis name="rotation3"> 2312 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2313 <coordinates></coordinates> 2314 <!--Rotation or translation axis for the transform.--> 2315 <axis>-0.11966796 0 -0.01716099</axis> 2316 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2317 <function> 2318 <Constant> 2319 <value>0</value> 2320 </Constant> 2321 </function> 2322 </TransformAxis> 2323 <!--3 Axes for translations are listed next.--> 2324 <TransformAxis name="translation1"> 2325 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2326 <coordinates></coordinates> 2327 <!--Rotation or translation axis for the transform.--> 2328 <axis>1 0 0</axis> 2329 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2330 <function> 2331 <Constant> 2332 <value>0</value> 2333 </Constant> 2334 </function> 2335 </TransformAxis> 2336 <TransformAxis name="translation2"> 2337 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2338 <coordinates></coordinates> 2339 <!--Rotation or translation axis for the transform.--> 2340 <axis>0 1 0</axis> 2341 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2342 <function> 2343 <Constant> 2344 <value>0</value> 2345 </Constant> 2346 </function> 2347 </TransformAxis> 2348 <TransformAxis name="translation3"> 2349 <!--Names of the coordinates that serve as the independent variables of the transform function.--> 2350 <coordinates></coordinates> 2351 <!--Rotation or translation axis for the transform.--> 2352 <axis>0 0 1</axis> 2353 <!--Transform function of the generalized coordinates used to represent the amount of transformation along a specified axis.--> 2354 <function> 2355 <Constant> 2356 <value>0</value> 2357 </Constant> 2358 </function> 2359 </TransformAxis> 2360 </SpatialTransform> 2361 </CustomJoint> 2362 </Joint> 2363 <VisibleObject> 2364 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2365 <GeometrySet> 2366 <objects> 2367 <DisplayGeometry> 2368 <!--Name of geometry file .vtp, .stl, .obj--> 2369 <geometry_file>radius_l.vtp</geometry_file> 2370 <!--Color used to display the geometry when visible--> 2371 <color> 1 1 1</color> 2372 <!--Name of texture file .jpg, .bmp--> 2373 <texture_file /> 2374 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2375 <transform> -0 0 -0 0 0 0</transform> 2376 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2377 <scale_factors> 1 1 1</scale_factors> 2378 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2379 <display_preference>4</display_preference> 2380 <!--Display opacity between 0.0 and 1.0--> 2381 <opacity>1</opacity> 2382 </DisplayGeometry> 2383 </objects> 2384 <groups /> 2385 </GeometrySet> 2386 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2387 <scale_factors> 1 1 1</scale_factors> 2388 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2389 <transform> -0 0 -0 0 0 0</transform> 2390 <!--Whether to show a coordinate frame--> 2391 <show_axes>false</show_axes> 2392 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2393 <display_preference>4</display_preference> 2394 </VisibleObject> 2395 <WrapObjectSet> 2396 <objects /> 2397 <groups /> 2398 </WrapObjectSet> 2399 </Body> 2400 <Body name="lunate_r"> 2401 <mass>0.4331</mass> 2402 <mass_center> 0.01 -0.0636 0</mass_center> 2403 <inertia_xx>0.0011</inertia_xx> 2404 <inertia_yy>0.0004513</inertia_yy> 2405 <inertia_zz>0.00073861</inertia_zz> 2406 <inertia_xy>0</inertia_xy> 2407 <inertia_xz>0</inertia_xz> 2408 <inertia_yz>0</inertia_yz> 2409 <!--Joint that connects this body with the parent body.--> 2410 <Joint> 2411 <PinJoint name="radiocarpal"> 2412 <!--Name of the parent body to which this joint connects its owner body.--> 2413 <parent_body>radius_r</parent_body> 2414 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2415 <location_in_parent>0.018 -0.242 0.025</location_in_parent> 2416 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2417 <orientation_in_parent>0 1.57079633 0</orientation_in_parent> 2418 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2419 <location>0 0 0</location> 2420 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2421 <orientation>0 1.57079633 0</orientation> 2422 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2423 <CoordinateSet> 2424 <objects> 2425 <Coordinate name="wrist_flexion_r"> 2426 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 2427 <motion_type>rotational</motion_type> 2428 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 2429 <default_value>-1.57079632</default_value> 2430 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 2431 <default_speed_value>0</default_speed_value> 2432 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 2433 <range>-1.57079633 1.57079633</range> 2434 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 2435 <clamped>true</clamped> 2436 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 2437 <locked>true</locked> 2438 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 2439 <prescribed_function /> 2440 <!--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.--> 2441 <prescribed>false</prescribed> 2442 </Coordinate> 2443 </objects> 2444 <groups /> 2445 </CoordinateSet> 2446 <!--Whether the joint transform defines parent->child or child->parent.--> 2447 <reverse>false</reverse> 2448 </PinJoint> 2449 </Joint> 2450 <VisibleObject> 2451 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2452 <GeometrySet> 2453 <objects> 2454 <DisplayGeometry> 2455 <!--Name of geometry file .vtp, .stl, .obj--> 2456 <geometry_file>lunate.vtp</geometry_file> 2457 <!--Color used to display the geometry when visible--> 2458 <color> 1 1 1</color> 2459 <!--Name of texture file .jpg, .bmp--> 2460 <texture_file /> 2461 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2462 <transform> -0 0 -0 0 0 0</transform> 2463 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2464 <scale_factors> 1 1 1</scale_factors> 2465 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2466 <display_preference>4</display_preference> 2467 <!--Display opacity between 0.0 and 1.0--> 2468 <opacity>1</opacity> 2469 </DisplayGeometry> 2470 </objects> 2471 <groups /> 2472 </GeometrySet> 2473 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2474 <scale_factors> 1 1 1</scale_factors> 2475 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2476 <transform> -0 0 -0 0 0 0</transform> 2477 <!--Whether to show a coordinate frame--> 2478 <show_axes>false</show_axes> 2479 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2480 <display_preference>4</display_preference> 2481 </VisibleObject> 2482 <WrapObjectSet> 2483 <objects /> 2484 <groups /> 2485 </WrapObjectSet> 2486 </Body> 2487 <Body name="scaphoid_r"> 2488 <mass>0</mass> 2489 <mass_center> 0 0 0</mass_center> 2490 <inertia_xx>0</inertia_xx> 2491 <inertia_yy>0</inertia_yy> 2492 <inertia_zz>0</inertia_zz> 2493 <inertia_xy>0</inertia_xy> 2494 <inertia_xz>0</inertia_xz> 2495 <inertia_yz>0</inertia_yz> 2496 <!--Joint that connects this body with the parent body.--> 2497 <Joint> 2498 <WeldJoint name="lun_scaph_r"> 2499 <!--Name of the parent body to which this joint connects its owner body.--> 2500 <parent_body>lunate_r</parent_body> 2501 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2502 <location_in_parent>0.012345 -0.004464 -0.001254</location_in_parent> 2503 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2504 <orientation_in_parent>0 0 0</orientation_in_parent> 2505 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2506 <location>0 0 0</location> 2507 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2508 <orientation>0 0 0</orientation> 2509 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2510 <CoordinateSet> 2511 <objects /> 2512 <groups /> 2513 </CoordinateSet> 2514 <!--Whether the joint transform defines parent->child or child->parent.--> 2515 <reverse>false</reverse> 2516 </WeldJoint> 2517 </Joint> 2518 <VisibleObject> 2519 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2520 <GeometrySet> 2521 <objects> 2522 <DisplayGeometry> 2523 <!--Name of geometry file .vtp, .stl, .obj--> 2524 <geometry_file>scaphoid.vtp</geometry_file> 2525 <!--Color used to display the geometry when visible--> 2526 <color> 1 1 1</color> 2527 <!--Name of texture file .jpg, .bmp--> 2528 <texture_file /> 2529 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2530 <transform> -0 0 -0 0 0 0</transform> 2531 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2532 <scale_factors> 1 1 1</scale_factors> 2533 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2534 <display_preference>4</display_preference> 2535 <!--Display opacity between 0.0 and 1.0--> 2536 <opacity>1</opacity> 2537 </DisplayGeometry> 2538 </objects> 2539 <groups /> 2540 </GeometrySet> 2541 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2542 <scale_factors> 1 1 1</scale_factors> 2543 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2544 <transform> -0 0 -0 0 0 0</transform> 2545 <!--Whether to show a coordinate frame--> 2546 <show_axes>false</show_axes> 2547 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2548 <display_preference>4</display_preference> 2549 </VisibleObject> 2550 <WrapObjectSet> 2551 <objects /> 2552 <groups /> 2553 </WrapObjectSet> 2554 </Body> 2555 <Body name="pisiform_r"> 2556 <mass>0</mass> 2557 <mass_center> 0 0 0</mass_center> 2558 <inertia_xx>0</inertia_xx> 2559 <inertia_yy>0</inertia_yy> 2560 <inertia_zz>0</inertia_zz> 2561 <inertia_xy>0</inertia_xy> 2562 <inertia_xz>0</inertia_xz> 2563 <inertia_yz>0</inertia_yz> 2564 <!--Joint that connects this body with the parent body.--> 2565 <Joint> 2566 <WeldJoint name="lun_pis_r"> 2567 <!--Name of the parent body to which this joint connects its owner body.--> 2568 <parent_body>lunate_r</parent_body> 2569 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2570 <location_in_parent>-0.013388 -0.009886 -0.010593</location_in_parent> 2571 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2572 <orientation_in_parent>0 0 0</orientation_in_parent> 2573 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2574 <location>0 0 0</location> 2575 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2576 <orientation>0 0 0</orientation> 2577 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2578 <CoordinateSet> 2579 <objects /> 2580 <groups /> 2581 </CoordinateSet> 2582 <!--Whether the joint transform defines parent->child or child->parent.--> 2583 <reverse>false</reverse> 2584 </WeldJoint> 2585 </Joint> 2586 <VisibleObject> 2587 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2588 <GeometrySet> 2589 <objects> 2590 <DisplayGeometry> 2591 <!--Name of geometry file .vtp, .stl, .obj--> 2592 <geometry_file>pisiform.vtp</geometry_file> 2593 <!--Color used to display the geometry when visible--> 2594 <color> 1 1 1</color> 2595 <!--Name of texture file .jpg, .bmp--> 2596 <texture_file /> 2597 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2598 <transform> -0 0 -0 0 0 0</transform> 2599 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2600 <scale_factors> 1 1 1</scale_factors> 2601 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2602 <display_preference>4</display_preference> 2603 <!--Display opacity between 0.0 and 1.0--> 2604 <opacity>1</opacity> 2605 </DisplayGeometry> 2606 </objects> 2607 <groups /> 2608 </GeometrySet> 2609 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2610 <scale_factors> 1 1 1</scale_factors> 2611 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2612 <transform> -0 0 -0 0 0 0</transform> 2613 <!--Whether to show a coordinate frame--> 2614 <show_axes>false</show_axes> 2615 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2616 <display_preference>4</display_preference> 2617 </VisibleObject> 2618 <WrapObjectSet> 2619 <objects /> 2620 <groups /> 2621 </WrapObjectSet> 2622 </Body> 2623 <Body name="triquetrum_r"> 2624 <mass>0</mass> 2625 <mass_center> 0 0 0</mass_center> 2626 <inertia_xx>0</inertia_xx> 2627 <inertia_yy>0</inertia_yy> 2628 <inertia_zz>0</inertia_zz> 2629 <inertia_xy>0</inertia_xy> 2630 <inertia_xz>0</inertia_xz> 2631 <inertia_yz>0</inertia_yz> 2632 <!--Joint that connects this body with the parent body.--> 2633 <Joint> 2634 <WeldJoint name="lun_triq_r"> 2635 <!--Name of the parent body to which this joint connects its owner body.--> 2636 <parent_body>lunate_r</parent_body> 2637 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2638 <location_in_parent>-0.010784 -0.007499 -0.001289</location_in_parent> 2639 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2640 <orientation_in_parent>0 0 0</orientation_in_parent> 2641 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2642 <location>0 0 0</location> 2643 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2644 <orientation>0 0 0</orientation> 2645 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2646 <CoordinateSet> 2647 <objects /> 2648 <groups /> 2649 </CoordinateSet> 2650 <!--Whether the joint transform defines parent->child or child->parent.--> 2651 <reverse>false</reverse> 2652 </WeldJoint> 2653 </Joint> 2654 <VisibleObject> 2655 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2656 <GeometrySet> 2657 <objects> 2658 <DisplayGeometry> 2659 <!--Name of geometry file .vtp, .stl, .obj--> 2660 <geometry_file>triquetrum.vtp</geometry_file> 2661 <!--Color used to display the geometry when visible--> 2662 <color> 1 1 1</color> 2663 <!--Name of texture file .jpg, .bmp--> 2664 <texture_file /> 2665 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2666 <transform> -0 0 -0 0 0 0</transform> 2667 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2668 <scale_factors> 1 1 1</scale_factors> 2669 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2670 <display_preference>4</display_preference> 2671 <!--Display opacity between 0.0 and 1.0--> 2672 <opacity>1</opacity> 2673 </DisplayGeometry> 2674 </objects> 2675 <groups /> 2676 </GeometrySet> 2677 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2678 <scale_factors> 1 1 1</scale_factors> 2679 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2680 <transform> -0 0 -0 0 0 0</transform> 2681 <!--Whether to show a coordinate frame--> 2682 <show_axes>false</show_axes> 2683 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2684 <display_preference>4</display_preference> 2685 </VisibleObject> 2686 <WrapObjectSet> 2687 <objects /> 2688 <groups /> 2689 </WrapObjectSet> 2690 </Body> 2691 <Body name="capitate_r"> 2692 <mass>0</mass> 2693 <mass_center> 0 0 0</mass_center> 2694 <inertia_xx>0</inertia_xx> 2695 <inertia_yy>0</inertia_yy> 2696 <inertia_zz>0</inertia_zz> 2697 <inertia_xy>0</inertia_xy> 2698 <inertia_xz>0</inertia_xz> 2699 <inertia_yz>0</inertia_yz> 2700 <!--Joint that connects this body with the parent body.--> 2701 <Joint> 2702 <WeldJoint name="proximal_distal_r"> 2703 <!--Name of the parent body to which this joint connects its owner body.--> 2704 <parent_body>lunate_r</parent_body> 2705 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2706 <location_in_parent>0.003992 -0.015054 0.002327</location_in_parent> 2707 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2708 <orientation_in_parent>0 0 0</orientation_in_parent> 2709 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2710 <location>0 0 0</location> 2711 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2712 <orientation>0 0 0</orientation> 2713 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2714 <CoordinateSet> 2715 <objects /> 2716 <groups /> 2717 </CoordinateSet> 2718 <!--Whether the joint transform defines parent->child or child->parent.--> 2719 <reverse>false</reverse> 2720 </WeldJoint> 2721 </Joint> 2722 <VisibleObject> 2723 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2724 <GeometrySet> 2725 <objects> 2726 <DisplayGeometry> 2727 <!--Name of geometry file .vtp, .stl, .obj--> 2728 <geometry_file>capitate.vtp</geometry_file> 2729 <!--Color used to display the geometry when visible--> 2730 <color> 1 1 1</color> 2731 <!--Name of texture file .jpg, .bmp--> 2732 <texture_file /> 2733 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2734 <transform> -0 0 -0 0 0 0</transform> 2735 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2736 <scale_factors> 1 1 1</scale_factors> 2737 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2738 <display_preference>4</display_preference> 2739 <!--Display opacity between 0.0 and 1.0--> 2740 <opacity>1</opacity> 2741 </DisplayGeometry> 2742 </objects> 2743 <groups /> 2744 </GeometrySet> 2745 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2746 <scale_factors> 1 1 1</scale_factors> 2747 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2748 <transform> -0 0 -0 0 0 0</transform> 2749 <!--Whether to show a coordinate frame--> 2750 <show_axes>false</show_axes> 2751 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2752 <display_preference>4</display_preference> 2753 </VisibleObject> 2754 <WrapObjectSet> 2755 <objects /> 2756 <groups /> 2757 </WrapObjectSet> 2758 </Body> 2759 <Body name="trapezium_r"> 2760 <mass>0</mass> 2761 <mass_center> 0 0 0</mass_center> 2762 <inertia_xx>0</inertia_xx> 2763 <inertia_yy>0</inertia_yy> 2764 <inertia_zz>0</inertia_zz> 2765 <inertia_xy>0</inertia_xy> 2766 <inertia_xz>0</inertia_xz> 2767 <inertia_yz>0</inertia_yz> 2768 <!--Joint that connects this body with the parent body.--> 2769 <Joint> 2770 <WeldJoint name="cap_trpzm"> 2771 <!--Name of the parent body to which this joint connects its owner body.--> 2772 <parent_body>capitate_r</parent_body> 2773 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2774 <location_in_parent>0.015293 -0.004569 -0.010308</location_in_parent> 2775 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2776 <orientation_in_parent>0 0 0</orientation_in_parent> 2777 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2778 <location>0 0 0</location> 2779 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2780 <orientation>0 0 0</orientation> 2781 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2782 <CoordinateSet> 2783 <objects /> 2784 <groups /> 2785 </CoordinateSet> 2786 <!--Whether the joint transform defines parent->child or child->parent.--> 2787 <reverse>false</reverse> 2788 </WeldJoint> 2789 </Joint> 2790 <VisibleObject> 2791 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2792 <GeometrySet> 2793 <objects> 2794 <DisplayGeometry> 2795 <!--Name of geometry file .vtp, .stl, .obj--> 2796 <geometry_file>trapezium.vtp</geometry_file> 2797 <!--Color used to display the geometry when visible--> 2798 <color> 1 1 1</color> 2799 <!--Name of texture file .jpg, .bmp--> 2800 <texture_file /> 2801 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2802 <transform> -0 0 -0 0 0 0</transform> 2803 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2804 <scale_factors> 1 1 1</scale_factors> 2805 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2806 <display_preference>4</display_preference> 2807 <!--Display opacity between 0.0 and 1.0--> 2808 <opacity>1</opacity> 2809 </DisplayGeometry> 2810 </objects> 2811 <groups /> 2812 </GeometrySet> 2813 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2814 <scale_factors> 1 1 1</scale_factors> 2815 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2816 <transform> -0 0 -0 0 0 0</transform> 2817 <!--Whether to show a coordinate frame--> 2818 <show_axes>false</show_axes> 2819 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2820 <display_preference>4</display_preference> 2821 </VisibleObject> 2822 <WrapObjectSet> 2823 <objects /> 2824 <groups /> 2825 </WrapObjectSet> 2826 </Body> 2827 <Body name="trapezoid_r"> 2828 <mass>0</mass> 2829 <mass_center> 0 0 0</mass_center> 2830 <inertia_xx>0</inertia_xx> 2831 <inertia_yy>0</inertia_yy> 2832 <inertia_zz>0</inertia_zz> 2833 <inertia_xy>0</inertia_xy> 2834 <inertia_xz>0</inertia_xz> 2835 <inertia_yz>0</inertia_yz> 2836 <!--Joint that connects this body with the parent body.--> 2837 <Joint> 2838 <WeldJoint name="cap_trpzd"> 2839 <!--Name of the parent body to which this joint connects its owner body.--> 2840 <parent_body>capitate_r</parent_body> 2841 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2842 <location_in_parent>0.009143 -0.004062 -0.002464</location_in_parent> 2843 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2844 <orientation_in_parent>0 0 0</orientation_in_parent> 2845 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2846 <location>0 0 0</location> 2847 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2848 <orientation>0 0 0</orientation> 2849 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2850 <CoordinateSet> 2851 <objects /> 2852 <groups /> 2853 </CoordinateSet> 2854 <!--Whether the joint transform defines parent->child or child->parent.--> 2855 <reverse>false</reverse> 2856 </WeldJoint> 2857 </Joint> 2858 <VisibleObject> 2859 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2860 <GeometrySet> 2861 <objects> 2862 <DisplayGeometry> 2863 <!--Name of geometry file .vtp, .stl, .obj--> 2864 <geometry_file>trapezoid.vtp</geometry_file> 2865 <!--Color used to display the geometry when visible--> 2866 <color> 1 1 1</color> 2867 <!--Name of texture file .jpg, .bmp--> 2868 <texture_file /> 2869 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2870 <transform> -0 0 -0 0 0 0</transform> 2871 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2872 <scale_factors> 1 1 1</scale_factors> 2873 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2874 <display_preference>4</display_preference> 2875 <!--Display opacity between 0.0 and 1.0--> 2876 <opacity>1</opacity> 2877 </DisplayGeometry> 2878 </objects> 2879 <groups /> 2880 </GeometrySet> 2881 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2882 <scale_factors> 1 1 1</scale_factors> 2883 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2884 <transform> -0 0 -0 0 0 0</transform> 2885 <!--Whether to show a coordinate frame--> 2886 <show_axes>false</show_axes> 2887 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2888 <display_preference>4</display_preference> 2889 </VisibleObject> 2890 <WrapObjectSet> 2891 <objects /> 2892 <groups /> 2893 </WrapObjectSet> 2894 </Body> 2895 <Body name="hamate_r"> 2896 <mass>0</mass> 2897 <mass_center> 0 0 0</mass_center> 2898 <inertia_xx>0</inertia_xx> 2899 <inertia_yy>0</inertia_yy> 2900 <inertia_zz>0</inertia_zz> 2901 <inertia_xy>0</inertia_xy> 2902 <inertia_xz>0</inertia_xz> 2903 <inertia_yz>0</inertia_yz> 2904 <!--Joint that connects this body with the parent body.--> 2905 <Joint> 2906 <WeldJoint name="cap_ham"> 2907 <!--Name of the parent body to which this joint connects its owner body.--> 2908 <parent_body>capitate_r</parent_body> 2909 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2910 <location_in_parent>-0.010969 -0.002495 -0.00075</location_in_parent> 2911 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2912 <orientation_in_parent>0 0 0</orientation_in_parent> 2913 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2914 <location>0 0 0</location> 2915 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2916 <orientation>0 0 0</orientation> 2917 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2918 <CoordinateSet> 2919 <objects /> 2920 <groups /> 2921 </CoordinateSet> 2922 <!--Whether the joint transform defines parent->child or child->parent.--> 2923 <reverse>false</reverse> 2924 </WeldJoint> 2925 </Joint> 2926 <VisibleObject> 2927 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2928 <GeometrySet> 2929 <objects> 2930 <DisplayGeometry> 2931 <!--Name of geometry file .vtp, .stl, .obj--> 2932 <geometry_file>hamate.vtp</geometry_file> 2933 <!--Color used to display the geometry when visible--> 2934 <color> 1 1 1</color> 2935 <!--Name of texture file .jpg, .bmp--> 2936 <texture_file /> 2937 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2938 <transform> -0 0 -0 0 0 0</transform> 2939 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2940 <scale_factors> 1 1 1</scale_factors> 2941 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 2942 <display_preference>4</display_preference> 2943 <!--Display opacity between 0.0 and 1.0--> 2944 <opacity>1</opacity> 2945 </DisplayGeometry> 2946 </objects> 2947 <groups /> 2948 </GeometrySet> 2949 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 2950 <scale_factors> 1 1 1</scale_factors> 2951 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 2952 <transform> -0 0 -0 0 0 0</transform> 2953 <!--Whether to show a coordinate frame--> 2954 <show_axes>false</show_axes> 2955 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 2956 <display_preference>4</display_preference> 2957 </VisibleObject> 2958 <WrapObjectSet> 2959 <objects /> 2960 <groups /> 2961 </WrapObjectSet> 2962 </Body> 2963 <Body name="firstmc_r"> 2964 <mass>0</mass> 2965 <mass_center> 0 0 0</mass_center> 2966 <inertia_xx>0</inertia_xx> 2967 <inertia_yy>0</inertia_yy> 2968 <inertia_zz>0</inertia_zz> 2969 <inertia_xy>0</inertia_xy> 2970 <inertia_xz>0</inertia_xz> 2971 <inertia_yz>0</inertia_yz> 2972 <!--Joint that connects this body with the parent body.--> 2973 <Joint> 2974 <WeldJoint name="CMC1b"> 2975 <!--Name of the parent body to which this joint connects its owner body.--> 2976 <parent_body>trapezium_r</parent_body> 2977 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 2978 <location_in_parent>0.0072 -0.0054 -0.0025</location_in_parent> 2979 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 2980 <orientation_in_parent>0.11200511 -0.8080464 0.45582263</orientation_in_parent> 2981 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 2982 <location>0 0 0</location> 2983 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 2984 <orientation>0 0 0</orientation> 2985 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 2986 <CoordinateSet> 2987 <objects /> 2988 <groups /> 2989 </CoordinateSet> 2990 <!--Whether the joint transform defines parent->child or child->parent.--> 2991 <reverse>false</reverse> 2992 </WeldJoint> 2993 </Joint> 2994 <VisibleObject> 2995 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 2996 <GeometrySet> 2997 <objects> 2998 <DisplayGeometry> 2999 <!--Name of geometry file .vtp, .stl, .obj--> 3000 <geometry_file>1mc.vtp</geometry_file> 3001 <!--Color used to display the geometry when visible--> 3002 <color> 1 1 1</color> 3003 <!--Name of texture file .jpg, .bmp--> 3004 <texture_file /> 3005 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3006 <transform> -0 0 -0 0 0 0</transform> 3007 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3008 <scale_factors> 1 1 1</scale_factors> 3009 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3010 <display_preference>4</display_preference> 3011 <!--Display opacity between 0.0 and 1.0--> 3012 <opacity>1</opacity> 3013 </DisplayGeometry> 3014 </objects> 3015 <groups /> 3016 </GeometrySet> 3017 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3018 <scale_factors> 1 1 1</scale_factors> 3019 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3020 <transform> -0 0 -0 0 0 0</transform> 3021 <!--Whether to show a coordinate frame--> 3022 <show_axes>false</show_axes> 3023 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3024 <display_preference>4</display_preference> 3025 </VisibleObject> 3026 <WrapObjectSet> 3027 <objects /> 3028 <groups /> 3029 </WrapObjectSet> 3030 </Body> 3031 <Body name="secondmc_r"> 3032 <mass>0</mass> 3033 <mass_center> 0 0 0</mass_center> 3034 <inertia_xx>0</inertia_xx> 3035 <inertia_yy>0</inertia_yy> 3036 <inertia_zz>0</inertia_zz> 3037 <inertia_xy>0</inertia_xy> 3038 <inertia_xz>0</inertia_xz> 3039 <inertia_yz>0</inertia_yz> 3040 <!--Joint that connects this body with the parent body.--> 3041 <Joint> 3042 <WeldJoint name="CMC2"> 3043 <!--Name of the parent body to which this joint connects its owner body.--> 3044 <parent_body>capitate_r</parent_body> 3045 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3046 <location_in_parent>0.014685 -0.03762 0.005032</location_in_parent> 3047 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3048 <orientation_in_parent>0 0 0</orientation_in_parent> 3049 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3050 <location>0 0 0</location> 3051 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3052 <orientation>0 0 0</orientation> 3053 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3054 <CoordinateSet> 3055 <objects /> 3056 <groups /> 3057 </CoordinateSet> 3058 <!--Whether the joint transform defines parent->child or child->parent.--> 3059 <reverse>false</reverse> 3060 </WeldJoint> 3061 </Joint> 3062 <VisibleObject> 3063 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3064 <GeometrySet> 3065 <objects> 3066 <DisplayGeometry> 3067 <!--Name of geometry file .vtp, .stl, .obj--> 3068 <geometry_file>2mc.vtp</geometry_file> 3069 <!--Color used to display the geometry when visible--> 3070 <color> 1 1 1</color> 3071 <!--Name of texture file .jpg, .bmp--> 3072 <texture_file /> 3073 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3074 <transform> -0 0 -0 0 0 0</transform> 3075 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3076 <scale_factors> 1 1 1</scale_factors> 3077 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3078 <display_preference>4</display_preference> 3079 <!--Display opacity between 0.0 and 1.0--> 3080 <opacity>1</opacity> 3081 </DisplayGeometry> 3082 </objects> 3083 <groups /> 3084 </GeometrySet> 3085 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3086 <scale_factors> 1 1 1</scale_factors> 3087 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3088 <transform> -0 0 -0 0 0 0</transform> 3089 <!--Whether to show a coordinate frame--> 3090 <show_axes>false</show_axes> 3091 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3092 <display_preference>4</display_preference> 3093 </VisibleObject> 3094 <WrapObjectSet> 3095 <objects /> 3096 <groups /> 3097 </WrapObjectSet> 3098 </Body> 3099 <Body name="thirdmc_r"> 3100 <mass>0</mass> 3101 <mass_center> 0 0 0</mass_center> 3102 <inertia_xx>0</inertia_xx> 3103 <inertia_yy>0</inertia_yy> 3104 <inertia_zz>0</inertia_zz> 3105 <inertia_xy>0</inertia_xy> 3106 <inertia_xz>0</inertia_xz> 3107 <inertia_yz>0</inertia_yz> 3108 <!--Joint that connects this body with the parent body.--> 3109 <Joint> 3110 <WeldJoint name="CMC3"> 3111 <!--Name of the parent body to which this joint connects its owner body.--> 3112 <parent_body>capitate_r</parent_body> 3113 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3114 <location_in_parent>0.000477 -0.039239 0.007377</location_in_parent> 3115 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3116 <orientation_in_parent>0 0 0</orientation_in_parent> 3117 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3118 <location>0 0 0</location> 3119 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3120 <orientation>0 0 0</orientation> 3121 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3122 <CoordinateSet> 3123 <objects /> 3124 <groups /> 3125 </CoordinateSet> 3126 <!--Whether the joint transform defines parent->child or child->parent.--> 3127 <reverse>false</reverse> 3128 </WeldJoint> 3129 </Joint> 3130 <VisibleObject> 3131 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3132 <GeometrySet> 3133 <objects> 3134 <DisplayGeometry> 3135 <!--Name of geometry file .vtp, .stl, .obj--> 3136 <geometry_file>3mc.vtp</geometry_file> 3137 <!--Color used to display the geometry when visible--> 3138 <color> 1 1 1</color> 3139 <!--Name of texture file .jpg, .bmp--> 3140 <texture_file /> 3141 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3142 <transform> -0 0 -0 0 0 0</transform> 3143 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3144 <scale_factors> 1 1 1</scale_factors> 3145 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3146 <display_preference>4</display_preference> 3147 <!--Display opacity between 0.0 and 1.0--> 3148 <opacity>1</opacity> 3149 </DisplayGeometry> 3150 </objects> 3151 <groups /> 3152 </GeometrySet> 3153 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3154 <scale_factors> 1 1 1</scale_factors> 3155 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3156 <transform> -0 0 -0 0 0 0</transform> 3157 <!--Whether to show a coordinate frame--> 3158 <show_axes>false</show_axes> 3159 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3160 <display_preference>4</display_preference> 3161 </VisibleObject> 3162 <WrapObjectSet> 3163 <objects /> 3164 <groups /> 3165 </WrapObjectSet> 3166 </Body> 3167 <Body name="fourthmc_r"> 3168 <mass>0</mass> 3169 <mass_center> 0 0 0</mass_center> 3170 <inertia_xx>0</inertia_xx> 3171 <inertia_yy>0</inertia_yy> 3172 <inertia_zz>0</inertia_zz> 3173 <inertia_xy>0</inertia_xy> 3174 <inertia_xz>0</inertia_xz> 3175 <inertia_yz>0</inertia_yz> 3176 <!--Joint that connects this body with the parent body.--> 3177 <Joint> 3178 <WeldJoint name="CMC4"> 3179 <!--Name of the parent body to which this joint connects its owner body.--> 3180 <parent_body>capitate_r</parent_body> 3181 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3182 <location_in_parent>-0.012046 -0.040519 0.003513</location_in_parent> 3183 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3184 <orientation_in_parent>0 0 0</orientation_in_parent> 3185 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3186 <location>0 0 0</location> 3187 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3188 <orientation>0 0 0</orientation> 3189 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3190 <CoordinateSet> 3191 <objects /> 3192 <groups /> 3193 </CoordinateSet> 3194 <!--Whether the joint transform defines parent->child or child->parent.--> 3195 <reverse>false</reverse> 3196 </WeldJoint> 3197 </Joint> 3198 <VisibleObject> 3199 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3200 <GeometrySet> 3201 <objects> 3202 <DisplayGeometry> 3203 <!--Name of geometry file .vtp, .stl, .obj--> 3204 <geometry_file>4mc.vtp</geometry_file> 3205 <!--Color used to display the geometry when visible--> 3206 <color> 1 1 1</color> 3207 <!--Name of texture file .jpg, .bmp--> 3208 <texture_file /> 3209 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3210 <transform> -0 0 -0 0 0 0</transform> 3211 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3212 <scale_factors> 1 1 1</scale_factors> 3213 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3214 <display_preference>4</display_preference> 3215 <!--Display opacity between 0.0 and 1.0--> 3216 <opacity>1</opacity> 3217 </DisplayGeometry> 3218 </objects> 3219 <groups /> 3220 </GeometrySet> 3221 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3222 <scale_factors> 1 1 1</scale_factors> 3223 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3224 <transform> -0 0 -0 0 0 0</transform> 3225 <!--Whether to show a coordinate frame--> 3226 <show_axes>false</show_axes> 3227 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3228 <display_preference>4</display_preference> 3229 </VisibleObject> 3230 <WrapObjectSet> 3231 <objects /> 3232 <groups /> 3233 </WrapObjectSet> 3234 </Body> 3235 <Body name="fifthmc_r"> 3236 <mass>0</mass> 3237 <mass_center> 0 0 0</mass_center> 3238 <inertia_xx>0</inertia_xx> 3239 <inertia_yy>0</inertia_yy> 3240 <inertia_zz>0</inertia_zz> 3241 <inertia_xy>0</inertia_xy> 3242 <inertia_xz>0</inertia_xz> 3243 <inertia_yz>0</inertia_yz> 3244 <!--Joint that connects this body with the parent body.--> 3245 <Joint> 3246 <WeldJoint name="CMC5"> 3247 <!--Name of the parent body to which this joint connects its owner body.--> 3248 <parent_body>capitate_r</parent_body> 3249 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3250 <location_in_parent>-0.021896 -0.034683 -0.004218</location_in_parent> 3251 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3252 <orientation_in_parent>0 0 0</orientation_in_parent> 3253 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3254 <location>0 0 0</location> 3255 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3256 <orientation>0 0 0</orientation> 3257 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3258 <CoordinateSet> 3259 <objects /> 3260 <groups /> 3261 </CoordinateSet> 3262 <!--Whether the joint transform defines parent->child or child->parent.--> 3263 <reverse>false</reverse> 3264 </WeldJoint> 3265 </Joint> 3266 <VisibleObject> 3267 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3268 <GeometrySet> 3269 <objects> 3270 <DisplayGeometry> 3271 <!--Name of geometry file .vtp, .stl, .obj--> 3272 <geometry_file>5mc.vtp</geometry_file> 3273 <!--Color used to display the geometry when visible--> 3274 <color> 1 1 1</color> 3275 <!--Name of texture file .jpg, .bmp--> 3276 <texture_file /> 3277 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3278 <transform> -0 0 -0 0 0 0</transform> 3279 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3280 <scale_factors> 1 1 1</scale_factors> 3281 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3282 <display_preference>4</display_preference> 3283 <!--Display opacity between 0.0 and 1.0--> 3284 <opacity>1</opacity> 3285 </DisplayGeometry> 3286 </objects> 3287 <groups /> 3288 </GeometrySet> 3289 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3290 <scale_factors> 1 1 1</scale_factors> 3291 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3292 <transform> -0 0 -0 0 0 0</transform> 3293 <!--Whether to show a coordinate frame--> 3294 <show_axes>false</show_axes> 3295 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3296 <display_preference>4</display_preference> 3297 </VisibleObject> 3298 <WrapObjectSet> 3299 <objects /> 3300 <groups /> 3301 </WrapObjectSet> 3302 </Body> 3303 <Body name="proximal_thumb_r"> 3304 <mass>0</mass> 3305 <mass_center> 0 0 0</mass_center> 3306 <inertia_xx>0</inertia_xx> 3307 <inertia_yy>0</inertia_yy> 3308 <inertia_zz>0</inertia_zz> 3309 <inertia_xy>0</inertia_xy> 3310 <inertia_xz>0</inertia_xz> 3311 <inertia_yz>0</inertia_yz> 3312 <!--Joint that connects this body with the parent body.--> 3313 <Joint> 3314 <WeldJoint name="MCP"> 3315 <!--Name of the parent body to which this joint connects its owner body.--> 3316 <parent_body>firstmc_r</parent_body> 3317 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3318 <location_in_parent>0.0165 -0.0292 -0.0127</location_in_parent> 3319 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3320 <orientation_in_parent>0 0 0</orientation_in_parent> 3321 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3322 <location>0 0 0</location> 3323 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3324 <orientation>0 0 0</orientation> 3325 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3326 <CoordinateSet> 3327 <objects /> 3328 <groups /> 3329 </CoordinateSet> 3330 <!--Whether the joint transform defines parent->child or child->parent.--> 3331 <reverse>false</reverse> 3332 </WeldJoint> 3333 </Joint> 3334 <VisibleObject> 3335 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3336 <GeometrySet> 3337 <objects> 3338 <DisplayGeometry> 3339 <!--Name of geometry file .vtp, .stl, .obj--> 3340 <geometry_file>thumbprox.vtp</geometry_file> 3341 <!--Color used to display the geometry when visible--> 3342 <color> 1 1 1</color> 3343 <!--Name of texture file .jpg, .bmp--> 3344 <texture_file /> 3345 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3346 <transform> -0 0 -0 0 0 0</transform> 3347 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3348 <scale_factors> 1 1 1</scale_factors> 3349 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3350 <display_preference>4</display_preference> 3351 <!--Display opacity between 0.0 and 1.0--> 3352 <opacity>1</opacity> 3353 </DisplayGeometry> 3354 </objects> 3355 <groups /> 3356 </GeometrySet> 3357 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3358 <scale_factors> 1 1 1</scale_factors> 3359 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3360 <transform> -0 0 -0 0 0 0</transform> 3361 <!--Whether to show a coordinate frame--> 3362 <show_axes>false</show_axes> 3363 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3364 <display_preference>4</display_preference> 3365 </VisibleObject> 3366 <WrapObjectSet> 3367 <objects /> 3368 <groups /> 3369 </WrapObjectSet> 3370 </Body> 3371 <Body name="distal_thumb_r"> 3372 <mass>0</mass> 3373 <mass_center> 0 0 0</mass_center> 3374 <inertia_xx>0</inertia_xx> 3375 <inertia_yy>0</inertia_yy> 3376 <inertia_zz>0</inertia_zz> 3377 <inertia_xy>0</inertia_xy> 3378 <inertia_xz>0</inertia_xz> 3379 <inertia_yz>0</inertia_yz> 3380 <!--Joint that connects this body with the parent body.--> 3381 <Joint> 3382 <WeldJoint name="IP"> 3383 <!--Name of the parent body to which this joint connects its owner body.--> 3384 <parent_body>proximal_thumb_r</parent_body> 3385 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3386 <location_in_parent>0.014 -0.0259 -0.0101</location_in_parent> 3387 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3388 <orientation_in_parent>0 0 0</orientation_in_parent> 3389 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3390 <location>0 0 0</location> 3391 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3392 <orientation>0 0 0</orientation> 3393 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3394 <CoordinateSet> 3395 <objects /> 3396 <groups /> 3397 </CoordinateSet> 3398 <!--Whether the joint transform defines parent->child or child->parent.--> 3399 <reverse>false</reverse> 3400 </WeldJoint> 3401 </Joint> 3402 <VisibleObject> 3403 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3404 <GeometrySet> 3405 <objects> 3406 <DisplayGeometry> 3407 <!--Name of geometry file .vtp, .stl, .obj--> 3408 <geometry_file>thumbdist.vtp</geometry_file> 3409 <!--Color used to display the geometry when visible--> 3410 <color> 1 1 1</color> 3411 <!--Name of texture file .jpg, .bmp--> 3412 <texture_file /> 3413 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3414 <transform> -0 0 -0 0 0 0</transform> 3415 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3416 <scale_factors> 1 1 1</scale_factors> 3417 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3418 <display_preference>4</display_preference> 3419 <!--Display opacity between 0.0 and 1.0--> 3420 <opacity>1</opacity> 3421 </DisplayGeometry> 3422 </objects> 3423 <groups /> 3424 </GeometrySet> 3425 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3426 <scale_factors> 1 1 1</scale_factors> 3427 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3428 <transform> -0 0 -0 0 0 0</transform> 3429 <!--Whether to show a coordinate frame--> 3430 <show_axes>false</show_axes> 3431 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3432 <display_preference>4</display_preference> 3433 </VisibleObject> 3434 <WrapObjectSet> 3435 <objects /> 3436 <groups /> 3437 </WrapObjectSet> 3438 </Body> 3439 <Body name="2proxph_r"> 3440 <mass>0</mass> 3441 <mass_center> 0 0 0</mass_center> 3442 <inertia_xx>0</inertia_xx> 3443 <inertia_yy>0</inertia_yy> 3444 <inertia_zz>0</inertia_zz> 3445 <inertia_xy>0</inertia_xy> 3446 <inertia_xz>0</inertia_xz> 3447 <inertia_yz>0</inertia_yz> 3448 <!--Joint that connects this body with the parent body.--> 3449 <Joint> 3450 <WeldJoint name="2MCP"> 3451 <!--Name of the parent body to which this joint connects its owner body.--> 3452 <parent_body>secondmc_r</parent_body> 3453 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3454 <location_in_parent>0.003501 -0.028243 0.00362</location_in_parent> 3455 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3456 <orientation_in_parent>0 0 0</orientation_in_parent> 3457 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3458 <location>0 0 0</location> 3459 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3460 <orientation>0 0 0</orientation> 3461 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3462 <CoordinateSet> 3463 <objects /> 3464 <groups /> 3465 </CoordinateSet> 3466 <!--Whether the joint transform defines parent->child or child->parent.--> 3467 <reverse>false</reverse> 3468 </WeldJoint> 3469 </Joint> 3470 <VisibleObject> 3471 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3472 <GeometrySet> 3473 <objects> 3474 <DisplayGeometry> 3475 <!--Name of geometry file .vtp, .stl, .obj--> 3476 <geometry_file>2proxph.vtp</geometry_file> 3477 <!--Color used to display the geometry when visible--> 3478 <color> 1 1 1</color> 3479 <!--Name of texture file .jpg, .bmp--> 3480 <texture_file /> 3481 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3482 <transform> -0 0 -0 0 0 0</transform> 3483 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3484 <scale_factors> 1 1 1</scale_factors> 3485 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3486 <display_preference>4</display_preference> 3487 <!--Display opacity between 0.0 and 1.0--> 3488 <opacity>1</opacity> 3489 </DisplayGeometry> 3490 </objects> 3491 <groups /> 3492 </GeometrySet> 3493 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3494 <scale_factors> 1 1 1</scale_factors> 3495 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3496 <transform> -0 0 -0 0 0 0</transform> 3497 <!--Whether to show a coordinate frame--> 3498 <show_axes>false</show_axes> 3499 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3500 <display_preference>4</display_preference> 3501 </VisibleObject> 3502 <WrapObjectSet> 3503 <objects /> 3504 <groups /> 3505 </WrapObjectSet> 3506 </Body> 3507 <Body name="2midph_r"> 3508 <mass>0</mass> 3509 <mass_center> 0 0 0</mass_center> 3510 <inertia_xx>0</inertia_xx> 3511 <inertia_yy>0</inertia_yy> 3512 <inertia_zz>0</inertia_zz> 3513 <inertia_xy>0</inertia_xy> 3514 <inertia_xz>0</inertia_xz> 3515 <inertia_yz>0</inertia_yz> 3516 <!--Joint that connects this body with the parent body.--> 3517 <Joint> 3518 <WeldJoint name="2prox-midph"> 3519 <!--Name of the parent body to which this joint connects its owner body.--> 3520 <parent_body>2proxph_r</parent_body> 3521 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3522 <location_in_parent>0.007517 -0.041273 0.007326</location_in_parent> 3523 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3524 <orientation_in_parent>0 0 0</orientation_in_parent> 3525 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3526 <location>0 0 0</location> 3527 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3528 <orientation>0 0 0</orientation> 3529 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3530 <CoordinateSet> 3531 <objects /> 3532 <groups /> 3533 </CoordinateSet> 3534 <!--Whether the joint transform defines parent->child or child->parent.--> 3535 <reverse>false</reverse> 3536 </WeldJoint> 3537 </Joint> 3538 <VisibleObject> 3539 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3540 <GeometrySet> 3541 <objects> 3542 <DisplayGeometry> 3543 <!--Name of geometry file .vtp, .stl, .obj--> 3544 <geometry_file>2midph.vtp</geometry_file> 3545 <!--Color used to display the geometry when visible--> 3546 <color> 1 1 1</color> 3547 <!--Name of texture file .jpg, .bmp--> 3548 <texture_file /> 3549 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3550 <transform> -0 0 -0 0 0 0</transform> 3551 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3552 <scale_factors> 1 1 1</scale_factors> 3553 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3554 <display_preference>4</display_preference> 3555 <!--Display opacity between 0.0 and 1.0--> 3556 <opacity>1</opacity> 3557 </DisplayGeometry> 3558 </objects> 3559 <groups /> 3560 </GeometrySet> 3561 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3562 <scale_factors> 1 1 1</scale_factors> 3563 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3564 <transform> -0 0 -0 0 0 0</transform> 3565 <!--Whether to show a coordinate frame--> 3566 <show_axes>false</show_axes> 3567 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3568 <display_preference>4</display_preference> 3569 </VisibleObject> 3570 <WrapObjectSet> 3571 <objects /> 3572 <groups /> 3573 </WrapObjectSet> 3574 </Body> 3575 <Body name="2distph_r"> 3576 <mass>0</mass> 3577 <mass_center> 0 0 0</mass_center> 3578 <inertia_xx>0</inertia_xx> 3579 <inertia_yy>0</inertia_yy> 3580 <inertia_zz>0</inertia_zz> 3581 <inertia_xy>0</inertia_xy> 3582 <inertia_xz>0</inertia_xz> 3583 <inertia_yz>0</inertia_yz> 3584 <!--Joint that connects this body with the parent body.--> 3585 <Joint> 3586 <WeldJoint name="2mid-distph"> 3587 <!--Name of the parent body to which this joint connects its owner body.--> 3588 <parent_body>2midph_r</parent_body> 3589 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3590 <location_in_parent>0.003333 -0.024888 0.00122</location_in_parent> 3591 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3592 <orientation_in_parent>0 0 0</orientation_in_parent> 3593 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3594 <location>0 0 0</location> 3595 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3596 <orientation>0 0 0</orientation> 3597 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3598 <CoordinateSet> 3599 <objects /> 3600 <groups /> 3601 </CoordinateSet> 3602 <!--Whether the joint transform defines parent->child or child->parent.--> 3603 <reverse>false</reverse> 3604 </WeldJoint> 3605 </Joint> 3606 <VisibleObject> 3607 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3608 <GeometrySet> 3609 <objects> 3610 <DisplayGeometry> 3611 <!--Name of geometry file .vtp, .stl, .obj--> 3612 <geometry_file>2distph.vtp</geometry_file> 3613 <!--Color used to display the geometry when visible--> 3614 <color> 1 1 1</color> 3615 <!--Name of texture file .jpg, .bmp--> 3616 <texture_file /> 3617 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3618 <transform> -0 0 -0 0 0 0</transform> 3619 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3620 <scale_factors> 1 1 1</scale_factors> 3621 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3622 <display_preference>4</display_preference> 3623 <!--Display opacity between 0.0 and 1.0--> 3624 <opacity>1</opacity> 3625 </DisplayGeometry> 3626 </objects> 3627 <groups /> 3628 </GeometrySet> 3629 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3630 <scale_factors> 1 1 1</scale_factors> 3631 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3632 <transform> -0 0 -0 0 0 0</transform> 3633 <!--Whether to show a coordinate frame--> 3634 <show_axes>false</show_axes> 3635 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3636 <display_preference>4</display_preference> 3637 </VisibleObject> 3638 <WrapObjectSet> 3639 <objects /> 3640 <groups /> 3641 </WrapObjectSet> 3642 </Body> 3643 <Body name="3proxph_r"> 3644 <mass>0</mass> 3645 <mass_center> 0 0 0</mass_center> 3646 <inertia_xx>0</inertia_xx> 3647 <inertia_yy>0</inertia_yy> 3648 <inertia_zz>0</inertia_zz> 3649 <inertia_xy>0</inertia_xy> 3650 <inertia_xz>0</inertia_xz> 3651 <inertia_yz>0</inertia_yz> 3652 <!--Joint that connects this body with the parent body.--> 3653 <Joint> 3654 <WeldJoint name="3MCP"> 3655 <!--Name of the parent body to which this joint connects its owner body.--> 3656 <parent_body>thirdmc_r</parent_body> 3657 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3658 <location_in_parent>0.00024 -0.02629 0.001778</location_in_parent> 3659 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3660 <orientation_in_parent>0 0 0</orientation_in_parent> 3661 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3662 <location>0 0 0</location> 3663 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3664 <orientation>0 0 0</orientation> 3665 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3666 <CoordinateSet> 3667 <objects /> 3668 <groups /> 3669 </CoordinateSet> 3670 <!--Whether the joint transform defines parent->child or child->parent.--> 3671 <reverse>false</reverse> 3672 </WeldJoint> 3673 </Joint> 3674 <VisibleObject> 3675 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3676 <GeometrySet> 3677 <objects> 3678 <DisplayGeometry> 3679 <!--Name of geometry file .vtp, .stl, .obj--> 3680 <geometry_file>3proxph.vtp</geometry_file> 3681 <!--Color used to display the geometry when visible--> 3682 <color> 1 1 1</color> 3683 <!--Name of texture file .jpg, .bmp--> 3684 <texture_file /> 3685 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3686 <transform> -0 0 -0 0 0 0</transform> 3687 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3688 <scale_factors> 1 1 1</scale_factors> 3689 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3690 <display_preference>4</display_preference> 3691 <!--Display opacity between 0.0 and 1.0--> 3692 <opacity>1</opacity> 3693 </DisplayGeometry> 3694 </objects> 3695 <groups /> 3696 </GeometrySet> 3697 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3698 <scale_factors> 1 1 1</scale_factors> 3699 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3700 <transform> -0 0 -0 0 0 0</transform> 3701 <!--Whether to show a coordinate frame--> 3702 <show_axes>false</show_axes> 3703 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3704 <display_preference>4</display_preference> 3705 </VisibleObject> 3706 <WrapObjectSet> 3707 <objects /> 3708 <groups /> 3709 </WrapObjectSet> 3710 </Body> 3711 <Body name="3midph_r"> 3712 <mass>0</mass> 3713 <mass_center> 0 0 0</mass_center> 3714 <inertia_xx>0</inertia_xx> 3715 <inertia_yy>0</inertia_yy> 3716 <inertia_zz>0</inertia_zz> 3717 <inertia_xy>0</inertia_xy> 3718 <inertia_xz>0</inertia_xz> 3719 <inertia_yz>0</inertia_yz> 3720 <!--Joint that connects this body with the parent body.--> 3721 <Joint> 3722 <WeldJoint name="3prox-midph"> 3723 <!--Name of the parent body to which this joint connects its owner body.--> 3724 <parent_body>3proxph_r</parent_body> 3725 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3726 <location_in_parent>0.00165 -0.044211 0.00623</location_in_parent> 3727 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3728 <orientation_in_parent>0 0 0</orientation_in_parent> 3729 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3730 <location>0 0 0</location> 3731 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3732 <orientation>0 0 0</orientation> 3733 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3734 <CoordinateSet> 3735 <objects /> 3736 <groups /> 3737 </CoordinateSet> 3738 <!--Whether the joint transform defines parent->child or child->parent.--> 3739 <reverse>false</reverse> 3740 </WeldJoint> 3741 </Joint> 3742 <VisibleObject> 3743 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3744 <GeometrySet> 3745 <objects> 3746 <DisplayGeometry> 3747 <!--Name of geometry file .vtp, .stl, .obj--> 3748 <geometry_file>3midph.vtp</geometry_file> 3749 <!--Color used to display the geometry when visible--> 3750 <color> 1 1 1</color> 3751 <!--Name of texture file .jpg, .bmp--> 3752 <texture_file /> 3753 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3754 <transform> -0 0 -0 0 0 0</transform> 3755 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3756 <scale_factors> 1 1 1</scale_factors> 3757 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3758 <display_preference>4</display_preference> 3759 <!--Display opacity between 0.0 and 1.0--> 3760 <opacity>1</opacity> 3761 </DisplayGeometry> 3762 </objects> 3763 <groups /> 3764 </GeometrySet> 3765 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3766 <scale_factors> 1 1 1</scale_factors> 3767 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3768 <transform> -0 0 -0 0 0 0</transform> 3769 <!--Whether to show a coordinate frame--> 3770 <show_axes>false</show_axes> 3771 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3772 <display_preference>4</display_preference> 3773 </VisibleObject> 3774 <WrapObjectSet> 3775 <objects /> 3776 <groups /> 3777 </WrapObjectSet> 3778 </Body> 3779 <Body name="3distph_r"> 3780 <mass>0</mass> 3781 <mass_center> 0 0 0</mass_center> 3782 <inertia_xx>0</inertia_xx> 3783 <inertia_yy>0</inertia_yy> 3784 <inertia_zz>0</inertia_zz> 3785 <inertia_xy>0</inertia_xy> 3786 <inertia_xz>0</inertia_xz> 3787 <inertia_yz>0</inertia_yz> 3788 <!--Joint that connects this body with the parent body.--> 3789 <Joint> 3790 <WeldJoint name="3mid-distph"> 3791 <!--Name of the parent body to which this joint connects its owner body.--> 3792 <parent_body>3midph_r</parent_body> 3793 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3794 <location_in_parent>0.001365 -0.029047 0.001954</location_in_parent> 3795 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3796 <orientation_in_parent>0 0 0</orientation_in_parent> 3797 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3798 <location>0 0 0</location> 3799 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3800 <orientation>0 0 0</orientation> 3801 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3802 <CoordinateSet> 3803 <objects /> 3804 <groups /> 3805 </CoordinateSet> 3806 <!--Whether the joint transform defines parent->child or child->parent.--> 3807 <reverse>false</reverse> 3808 </WeldJoint> 3809 </Joint> 3810 <VisibleObject> 3811 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3812 <GeometrySet> 3813 <objects> 3814 <DisplayGeometry> 3815 <!--Name of geometry file .vtp, .stl, .obj--> 3816 <geometry_file>3distph.vtp</geometry_file> 3817 <!--Color used to display the geometry when visible--> 3818 <color> 1 1 1</color> 3819 <!--Name of texture file .jpg, .bmp--> 3820 <texture_file /> 3821 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3822 <transform> -0 0 -0 0 0 0</transform> 3823 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3824 <scale_factors> 1 1 1</scale_factors> 3825 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3826 <display_preference>4</display_preference> 3827 <!--Display opacity between 0.0 and 1.0--> 3828 <opacity>1</opacity> 3829 </DisplayGeometry> 3830 </objects> 3831 <groups /> 3832 </GeometrySet> 3833 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3834 <scale_factors> 1 1 1</scale_factors> 3835 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3836 <transform> -0 0 -0 0 0 0</transform> 3837 <!--Whether to show a coordinate frame--> 3838 <show_axes>false</show_axes> 3839 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3840 <display_preference>4</display_preference> 3841 </VisibleObject> 3842 <WrapObjectSet> 3843 <objects /> 3844 <groups /> 3845 </WrapObjectSet> 3846 </Body> 3847 <Body name="4proxph_r"> 3848 <mass>0</mass> 3849 <mass_center> 0 0 0</mass_center> 3850 <inertia_xx>0</inertia_xx> 3851 <inertia_yy>0</inertia_yy> 3852 <inertia_zz>0</inertia_zz> 3853 <inertia_xy>0</inertia_xy> 3854 <inertia_xz>0</inertia_xz> 3855 <inertia_yz>0</inertia_yz> 3856 <!--Joint that connects this body with the parent body.--> 3857 <Joint> 3858 <WeldJoint name="4MCP"> 3859 <!--Name of the parent body to which this joint connects its owner body.--> 3860 <parent_body>fourthmc_r</parent_body> 3861 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3862 <location_in_parent>-0.00183 -0.023689 -0.000173</location_in_parent> 3863 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3864 <orientation_in_parent>0 0 0</orientation_in_parent> 3865 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3866 <location>0 0 0</location> 3867 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3868 <orientation>0 0 0</orientation> 3869 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3870 <CoordinateSet> 3871 <objects /> 3872 <groups /> 3873 </CoordinateSet> 3874 <!--Whether the joint transform defines parent->child or child->parent.--> 3875 <reverse>false</reverse> 3876 </WeldJoint> 3877 </Joint> 3878 <VisibleObject> 3879 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3880 <GeometrySet> 3881 <objects> 3882 <DisplayGeometry> 3883 <!--Name of geometry file .vtp, .stl, .obj--> 3884 <geometry_file>4proxph.vtp</geometry_file> 3885 <!--Color used to display the geometry when visible--> 3886 <color> 1 1 1</color> 3887 <!--Name of texture file .jpg, .bmp--> 3888 <texture_file /> 3889 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3890 <transform> -0 0 -0 0 0 0</transform> 3891 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3892 <scale_factors> 1 1 1</scale_factors> 3893 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3894 <display_preference>4</display_preference> 3895 <!--Display opacity between 0.0 and 1.0--> 3896 <opacity>1</opacity> 3897 </DisplayGeometry> 3898 </objects> 3899 <groups /> 3900 </GeometrySet> 3901 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3902 <scale_factors> 1 1 1</scale_factors> 3903 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3904 <transform> -0 0 -0 0 0 0</transform> 3905 <!--Whether to show a coordinate frame--> 3906 <show_axes>false</show_axes> 3907 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3908 <display_preference>4</display_preference> 3909 </VisibleObject> 3910 <WrapObjectSet> 3911 <objects /> 3912 <groups /> 3913 </WrapObjectSet> 3914 </Body> 3915 <Body name="4midph_r"> 3916 <mass>0</mass> 3917 <mass_center> 0 0 0</mass_center> 3918 <inertia_xx>0</inertia_xx> 3919 <inertia_yy>0</inertia_yy> 3920 <inertia_zz>0</inertia_zz> 3921 <inertia_xy>0</inertia_xy> 3922 <inertia_xz>0</inertia_xz> 3923 <inertia_yz>0</inertia_yz> 3924 <!--Joint that connects this body with the parent body.--> 3925 <Joint> 3926 <WeldJoint name="4prox-midph"> 3927 <!--Name of the parent body to which this joint connects its owner body.--> 3928 <parent_body>4proxph_r</parent_body> 3929 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3930 <location_in_parent>-0.003528 -0.040255 0.001345</location_in_parent> 3931 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 3932 <orientation_in_parent>0 0 0</orientation_in_parent> 3933 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 3934 <location>0 0 0</location> 3935 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 3936 <orientation>0 0 0</orientation> 3937 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 3938 <CoordinateSet> 3939 <objects /> 3940 <groups /> 3941 </CoordinateSet> 3942 <!--Whether the joint transform defines parent->child or child->parent.--> 3943 <reverse>false</reverse> 3944 </WeldJoint> 3945 </Joint> 3946 <VisibleObject> 3947 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 3948 <GeometrySet> 3949 <objects> 3950 <DisplayGeometry> 3951 <!--Name of geometry file .vtp, .stl, .obj--> 3952 <geometry_file>4midph.vtp</geometry_file> 3953 <!--Color used to display the geometry when visible--> 3954 <color> 1 1 1</color> 3955 <!--Name of texture file .jpg, .bmp--> 3956 <texture_file /> 3957 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3958 <transform> -0 0 -0 0 0 0</transform> 3959 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3960 <scale_factors> 1 1 1</scale_factors> 3961 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 3962 <display_preference>4</display_preference> 3963 <!--Display opacity between 0.0 and 1.0--> 3964 <opacity>1</opacity> 3965 </DisplayGeometry> 3966 </objects> 3967 <groups /> 3968 </GeometrySet> 3969 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 3970 <scale_factors> 1 1 1</scale_factors> 3971 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 3972 <transform> -0 0 -0 0 0 0</transform> 3973 <!--Whether to show a coordinate frame--> 3974 <show_axes>false</show_axes> 3975 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 3976 <display_preference>4</display_preference> 3977 </VisibleObject> 3978 <WrapObjectSet> 3979 <objects /> 3980 <groups /> 3981 </WrapObjectSet> 3982 </Body> 3983 <Body name="4distph_r"> 3984 <mass>0</mass> 3985 <mass_center> 0 0 0</mass_center> 3986 <inertia_xx>0</inertia_xx> 3987 <inertia_yy>0</inertia_yy> 3988 <inertia_zz>0</inertia_zz> 3989 <inertia_xy>0</inertia_xy> 3990 <inertia_xz>0</inertia_xz> 3991 <inertia_yz>0</inertia_yz> 3992 <!--Joint that connects this body with the parent body.--> 3993 <Joint> 3994 <WeldJoint name="4mid-distph"> 3995 <!--Name of the parent body to which this joint connects its owner body.--> 3996 <parent_body>4midph_r</parent_body> 3997 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 3998 <location_in_parent>-0.002317 -0.024789 0.000563</location_in_parent> 3999 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4000 <orientation_in_parent>0 0 0</orientation_in_parent> 4001 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4002 <location>0 0 0</location> 4003 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4004 <orientation>0 0 0</orientation> 4005 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4006 <CoordinateSet> 4007 <objects /> 4008 <groups /> 4009 </CoordinateSet> 4010 <!--Whether the joint transform defines parent->child or child->parent.--> 4011 <reverse>false</reverse> 4012 </WeldJoint> 4013 </Joint> 4014 <VisibleObject> 4015 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4016 <GeometrySet> 4017 <objects> 4018 <DisplayGeometry> 4019 <!--Name of geometry file .vtp, .stl, .obj--> 4020 <geometry_file>4distph.vtp</geometry_file> 4021 <!--Color used to display the geometry when visible--> 4022 <color> 1 1 1</color> 4023 <!--Name of texture file .jpg, .bmp--> 4024 <texture_file /> 4025 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4026 <transform> -0 0 -0 0 0 0</transform> 4027 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4028 <scale_factors> 1 1 1</scale_factors> 4029 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4030 <display_preference>4</display_preference> 4031 <!--Display opacity between 0.0 and 1.0--> 4032 <opacity>1</opacity> 4033 </DisplayGeometry> 4034 </objects> 4035 <groups /> 4036 </GeometrySet> 4037 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4038 <scale_factors> 1 1 1</scale_factors> 4039 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4040 <transform> -0 0 -0 0 0 0</transform> 4041 <!--Whether to show a coordinate frame--> 4042 <show_axes>false</show_axes> 4043 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4044 <display_preference>4</display_preference> 4045 </VisibleObject> 4046 <WrapObjectSet> 4047 <objects /> 4048 <groups /> 4049 </WrapObjectSet> 4050 </Body> 4051 <Body name="5proxph_r"> 4052 <mass>0</mass> 4053 <mass_center> 0 0 0</mass_center> 4054 <inertia_xx>0</inertia_xx> 4055 <inertia_yy>0</inertia_yy> 4056 <inertia_zz>0</inertia_zz> 4057 <inertia_xy>0</inertia_xy> 4058 <inertia_xz>0</inertia_xz> 4059 <inertia_yz>0</inertia_yz> 4060 <!--Joint that connects this body with the parent body.--> 4061 <Joint> 4062 <WeldJoint name="5MCP"> 4063 <!--Name of the parent body to which this joint connects its owner body.--> 4064 <parent_body>fifthmc_r</parent_body> 4065 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4066 <location_in_parent>-0.001597 -0.021431 -0.001496</location_in_parent> 4067 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4068 <orientation_in_parent>0 0 0</orientation_in_parent> 4069 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4070 <location>0 0 0</location> 4071 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4072 <orientation>0 0 0</orientation> 4073 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4074 <CoordinateSet> 4075 <objects /> 4076 <groups /> 4077 </CoordinateSet> 4078 <!--Whether the joint transform defines parent->child or child->parent.--> 4079 <reverse>false</reverse> 4080 </WeldJoint> 4081 </Joint> 4082 <VisibleObject> 4083 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4084 <GeometrySet> 4085 <objects> 4086 <DisplayGeometry> 4087 <!--Name of geometry file .vtp, .stl, .obj--> 4088 <geometry_file>5proxph.vtp</geometry_file> 4089 <!--Color used to display the geometry when visible--> 4090 <color> 1 1 1</color> 4091 <!--Name of texture file .jpg, .bmp--> 4092 <texture_file /> 4093 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4094 <transform> -0 0 -0 0 0 0</transform> 4095 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4096 <scale_factors> 1 1 1</scale_factors> 4097 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4098 <display_preference>4</display_preference> 4099 <!--Display opacity between 0.0 and 1.0--> 4100 <opacity>1</opacity> 4101 </DisplayGeometry> 4102 </objects> 4103 <groups /> 4104 </GeometrySet> 4105 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4106 <scale_factors> 1 1 1</scale_factors> 4107 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4108 <transform> -0 0 -0 0 0 0</transform> 4109 <!--Whether to show a coordinate frame--> 4110 <show_axes>false</show_axes> 4111 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4112 <display_preference>4</display_preference> 4113 </VisibleObject> 4114 <WrapObjectSet> 4115 <objects /> 4116 <groups /> 4117 </WrapObjectSet> 4118 </Body> 4119 <Body name="5midph_r"> 4120 <mass>0</mass> 4121 <mass_center> 0 0 0</mass_center> 4122 <inertia_xx>0</inertia_xx> 4123 <inertia_yy>0</inertia_yy> 4124 <inertia_zz>0</inertia_zz> 4125 <inertia_xy>0</inertia_xy> 4126 <inertia_xz>0</inertia_xz> 4127 <inertia_yz>0</inertia_yz> 4128 <!--Joint that connects this body with the parent body.--> 4129 <Joint> 4130 <WeldJoint name="5prox-midph"> 4131 <!--Name of the parent body to which this joint connects its owner body.--> 4132 <parent_body>5proxph_r</parent_body> 4133 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4134 <location_in_parent>-0.005279 -0.035563 -0.002879</location_in_parent> 4135 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4136 <orientation_in_parent>0 0 0</orientation_in_parent> 4137 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4138 <location>0 0 0</location> 4139 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4140 <orientation>0 0 0</orientation> 4141 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4142 <CoordinateSet> 4143 <objects /> 4144 <groups /> 4145 </CoordinateSet> 4146 <!--Whether the joint transform defines parent->child or child->parent.--> 4147 <reverse>false</reverse> 4148 </WeldJoint> 4149 </Joint> 4150 <VisibleObject> 4151 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4152 <GeometrySet> 4153 <objects> 4154 <DisplayGeometry> 4155 <!--Name of geometry file .vtp, .stl, .obj--> 4156 <geometry_file>5midph.vtp</geometry_file> 4157 <!--Color used to display the geometry when visible--> 4158 <color> 1 1 1</color> 4159 <!--Name of texture file .jpg, .bmp--> 4160 <texture_file /> 4161 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4162 <transform> -0 0 -0 0 0 0</transform> 4163 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4164 <scale_factors> 1 1 1</scale_factors> 4165 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4166 <display_preference>4</display_preference> 4167 <!--Display opacity between 0.0 and 1.0--> 4168 <opacity>1</opacity> 4169 </DisplayGeometry> 4170 </objects> 4171 <groups /> 4172 </GeometrySet> 4173 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4174 <scale_factors> 1 1 1</scale_factors> 4175 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4176 <transform> -0 0 -0 0 0 0</transform> 4177 <!--Whether to show a coordinate frame--> 4178 <show_axes>false</show_axes> 4179 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4180 <display_preference>4</display_preference> 4181 </VisibleObject> 4182 <WrapObjectSet> 4183 <objects /> 4184 <groups /> 4185 </WrapObjectSet> 4186 </Body> 4187 <Body name="5distph_r"> 4188 <mass>0</mass> 4189 <mass_center> 0 0 0</mass_center> 4190 <inertia_xx>0</inertia_xx> 4191 <inertia_yy>0</inertia_yy> 4192 <inertia_zz>0</inertia_zz> 4193 <inertia_xy>0</inertia_xy> 4194 <inertia_xz>0</inertia_xz> 4195 <inertia_yz>0</inertia_yz> 4196 <!--Joint that connects this body with the parent body.--> 4197 <Joint> 4198 <WeldJoint name="5mid-distph"> 4199 <!--Name of the parent body to which this joint connects its owner body.--> 4200 <parent_body>5midph_r</parent_body> 4201 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4202 <location_in_parent>-0.002871 -0.020677 -0.002243</location_in_parent> 4203 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4204 <orientation_in_parent>0 0 0</orientation_in_parent> 4205 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4206 <location>0 0 0</location> 4207 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4208 <orientation>0 0 0</orientation> 4209 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4210 <CoordinateSet> 4211 <objects /> 4212 <groups /> 4213 </CoordinateSet> 4214 <!--Whether the joint transform defines parent->child or child->parent.--> 4215 <reverse>false</reverse> 4216 </WeldJoint> 4217 </Joint> 4218 <VisibleObject> 4219 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4220 <GeometrySet> 4221 <objects> 4222 <DisplayGeometry> 4223 <!--Name of geometry file .vtp, .stl, .obj--> 4224 <geometry_file>5distph.vtp</geometry_file> 4225 <!--Color used to display the geometry when visible--> 4226 <color> 1 1 1</color> 4227 <!--Name of texture file .jpg, .bmp--> 4228 <texture_file /> 4229 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4230 <transform> -0 0 -0 0 0 0</transform> 4231 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4232 <scale_factors> 1 1 1</scale_factors> 4233 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4234 <display_preference>4</display_preference> 4235 <!--Display opacity between 0.0 and 1.0--> 4236 <opacity>1</opacity> 4237 </DisplayGeometry> 4238 </objects> 4239 <groups /> 4240 </GeometrySet> 4241 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4242 <scale_factors> 1 1 1</scale_factors> 4243 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4244 <transform> -0 0 -0 0 0 0</transform> 4245 <!--Whether to show a coordinate frame--> 4246 <show_axes>false</show_axes> 4247 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4248 <display_preference>4</display_preference> 4249 </VisibleObject> 4250 <WrapObjectSet> 4251 <objects /> 4252 <groups /> 4253 </WrapObjectSet> 4254 </Body> 4255 <Body name="lunate_l"> 4256 <mass>0.4331</mass> 4257 <mass_center> 0.01 -0.0636 0</mass_center> 4258 <inertia_xx>0.0011</inertia_xx> 4259 <inertia_yy>0.0004513</inertia_yy> 4260 <inertia_zz>0.00073861</inertia_zz> 4261 <inertia_xy>0</inertia_xy> 4262 <inertia_xz>0</inertia_xz> 4263 <inertia_yz>0</inertia_yz> 4264 <!--Joint that connects this body with the parent body.--> 4265 <Joint> 4266 <PinJoint name="radiocarpal_l"> 4267 <!--Name of the parent body to which this joint connects its owner body.--> 4268 <parent_body>radius_l</parent_body> 4269 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4270 <location_in_parent>0.018 -0.242 -0.025</location_in_parent> 4271 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4272 <orientation_in_parent>0 -1.57079633 0</orientation_in_parent> 4273 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4274 <location>0 0 0</location> 4275 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4276 <orientation>0 -1.57079633 0</orientation> 4277 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4278 <CoordinateSet> 4279 <objects> 4280 <Coordinate name="wrist_flexion_l"> 4281 <!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.--> 4282 <motion_type>rotational</motion_type> 4283 <!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.--> 4284 <default_value>-1.57079632</default_value> 4285 <!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.--> 4286 <default_speed_value>0</default_speed_value> 4287 <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.--> 4288 <range>-1.57079633 1.57079633</range> 4289 <!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.--> 4290 <clamped>true</clamped> 4291 <!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.--> 4292 <locked>true</locked> 4293 <!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.--> 4294 <prescribed_function /> 4295 <!--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.--> 4296 <prescribed>false</prescribed> 4297 </Coordinate> 4298 </objects> 4299 <groups /> 4300 </CoordinateSet> 4301 <!--Whether the joint transform defines parent->child or child->parent.--> 4302 <reverse>false</reverse> 4303 </PinJoint> 4304 </Joint> 4305 <VisibleObject> 4306 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4307 <GeometrySet> 4308 <objects> 4309 <DisplayGeometry> 4310 <!--Name of geometry file .vtp, .stl, .obj--> 4311 <geometry_file>lunate_l.vtp</geometry_file> 4312 <!--Color used to display the geometry when visible--> 4313 <color> 1 1 1</color> 4314 <!--Name of texture file .jpg, .bmp--> 4315 <texture_file /> 4316 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4317 <transform> -0 0 -0 0 0 0</transform> 4318 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4319 <scale_factors> 1 1 1</scale_factors> 4320 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4321 <display_preference>4</display_preference> 4322 <!--Display opacity between 0.0 and 1.0--> 4323 <opacity>1</opacity> 4324 </DisplayGeometry> 4325 </objects> 4326 <groups /> 4327 </GeometrySet> 4328 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4329 <scale_factors> 1 1 1</scale_factors> 4330 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4331 <transform> -0 0 -0 0 0 0</transform> 4332 <!--Whether to show a coordinate frame--> 4333 <show_axes>false</show_axes> 4334 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4335 <display_preference>4</display_preference> 4336 </VisibleObject> 4337 <WrapObjectSet> 4338 <objects /> 4339 <groups /> 4340 </WrapObjectSet> 4341 </Body> 4342 <Body name="scaphoid_l"> 4343 <mass>0</mass> 4344 <mass_center> 0 0 0</mass_center> 4345 <inertia_xx>0</inertia_xx> 4346 <inertia_yy>0</inertia_yy> 4347 <inertia_zz>0</inertia_zz> 4348 <inertia_xy>0</inertia_xy> 4349 <inertia_xz>0</inertia_xz> 4350 <inertia_yz>0</inertia_yz> 4351 <!--Joint that connects this body with the parent body.--> 4352 <Joint> 4353 <WeldJoint name="lun_scaph_l"> 4354 <!--Name of the parent body to which this joint connects its owner body.--> 4355 <parent_body>lunate_l</parent_body> 4356 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4357 <location_in_parent>0.012345 -0.004464 0.001254</location_in_parent> 4358 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4359 <orientation_in_parent>0 0 0</orientation_in_parent> 4360 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4361 <location>0 0 0</location> 4362 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4363 <orientation>0 0 0</orientation> 4364 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4365 <CoordinateSet> 4366 <objects /> 4367 <groups /> 4368 </CoordinateSet> 4369 <!--Whether the joint transform defines parent->child or child->parent.--> 4370 <reverse>false</reverse> 4371 </WeldJoint> 4372 </Joint> 4373 <VisibleObject> 4374 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4375 <GeometrySet> 4376 <objects> 4377 <DisplayGeometry> 4378 <!--Name of geometry file .vtp, .stl, .obj--> 4379 <geometry_file>scaphoid_l.vtp</geometry_file> 4380 <!--Color used to display the geometry when visible--> 4381 <color> 1 1 1</color> 4382 <!--Name of texture file .jpg, .bmp--> 4383 <texture_file /> 4384 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4385 <transform> -0 0 -0 0 0 0</transform> 4386 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4387 <scale_factors> 1 1 1</scale_factors> 4388 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4389 <display_preference>4</display_preference> 4390 <!--Display opacity between 0.0 and 1.0--> 4391 <opacity>1</opacity> 4392 </DisplayGeometry> 4393 </objects> 4394 <groups /> 4395 </GeometrySet> 4396 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4397 <scale_factors> 1 1 1</scale_factors> 4398 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4399 <transform> -0 0 -0 0 0 0</transform> 4400 <!--Whether to show a coordinate frame--> 4401 <show_axes>false</show_axes> 4402 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4403 <display_preference>4</display_preference> 4404 </VisibleObject> 4405 <WrapObjectSet> 4406 <objects /> 4407 <groups /> 4408 </WrapObjectSet> 4409 </Body> 4410 <Body name="pisiform_l"> 4411 <mass>0</mass> 4412 <mass_center> 0 0 0</mass_center> 4413 <inertia_xx>0</inertia_xx> 4414 <inertia_yy>0</inertia_yy> 4415 <inertia_zz>0</inertia_zz> 4416 <inertia_xy>0</inertia_xy> 4417 <inertia_xz>0</inertia_xz> 4418 <inertia_yz>0</inertia_yz> 4419 <!--Joint that connects this body with the parent body.--> 4420 <Joint> 4421 <WeldJoint name="lun_pis_l"> 4422 <!--Name of the parent body to which this joint connects its owner body.--> 4423 <parent_body>lunate_l</parent_body> 4424 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4425 <location_in_parent>-0.013388 -0.009886 0.010593</location_in_parent> 4426 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4427 <orientation_in_parent>0 0 0</orientation_in_parent> 4428 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4429 <location>0 0 0</location> 4430 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4431 <orientation>0 0 0</orientation> 4432 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4433 <CoordinateSet> 4434 <objects /> 4435 <groups /> 4436 </CoordinateSet> 4437 <!--Whether the joint transform defines parent->child or child->parent.--> 4438 <reverse>false</reverse> 4439 </WeldJoint> 4440 </Joint> 4441 <VisibleObject> 4442 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4443 <GeometrySet> 4444 <objects> 4445 <DisplayGeometry> 4446 <!--Name of geometry file .vtp, .stl, .obj--> 4447 <geometry_file>pisiform_l.vtp</geometry_file> 4448 <!--Color used to display the geometry when visible--> 4449 <color> 1 1 1</color> 4450 <!--Name of texture file .jpg, .bmp--> 4451 <texture_file /> 4452 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4453 <transform> -0 0 -0 0 0 0</transform> 4454 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4455 <scale_factors> 1 1 1</scale_factors> 4456 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4457 <display_preference>4</display_preference> 4458 <!--Display opacity between 0.0 and 1.0--> 4459 <opacity>1</opacity> 4460 </DisplayGeometry> 4461 </objects> 4462 <groups /> 4463 </GeometrySet> 4464 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4465 <scale_factors> 1 1 1</scale_factors> 4466 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4467 <transform> -0 0 -0 0 0 0</transform> 4468 <!--Whether to show a coordinate frame--> 4469 <show_axes>false</show_axes> 4470 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4471 <display_preference>4</display_preference> 4472 </VisibleObject> 4473 <WrapObjectSet> 4474 <objects /> 4475 <groups /> 4476 </WrapObjectSet> 4477 </Body> 4478 <Body name="triquetrum_l"> 4479 <mass>0</mass> 4480 <mass_center> 0 0 0</mass_center> 4481 <inertia_xx>0</inertia_xx> 4482 <inertia_yy>0</inertia_yy> 4483 <inertia_zz>0</inertia_zz> 4484 <inertia_xy>0</inertia_xy> 4485 <inertia_xz>0</inertia_xz> 4486 <inertia_yz>0</inertia_yz> 4487 <!--Joint that connects this body with the parent body.--> 4488 <Joint> 4489 <WeldJoint name="lun_triq_l"> 4490 <!--Name of the parent body to which this joint connects its owner body.--> 4491 <parent_body>lunate_l</parent_body> 4492 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4493 <location_in_parent>-0.010784 -0.007499 0.001289</location_in_parent> 4494 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4495 <orientation_in_parent>0 0 0</orientation_in_parent> 4496 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4497 <location>0 0 0</location> 4498 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4499 <orientation>0 0 0</orientation> 4500 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4501 <CoordinateSet> 4502 <objects /> 4503 <groups /> 4504 </CoordinateSet> 4505 <!--Whether the joint transform defines parent->child or child->parent.--> 4506 <reverse>false</reverse> 4507 </WeldJoint> 4508 </Joint> 4509 <VisibleObject> 4510 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4511 <GeometrySet> 4512 <objects> 4513 <DisplayGeometry> 4514 <!--Name of geometry file .vtp, .stl, .obj--> 4515 <geometry_file>triquetrum_l.vtp</geometry_file> 4516 <!--Color used to display the geometry when visible--> 4517 <color> 1 1 1</color> 4518 <!--Name of texture file .jpg, .bmp--> 4519 <texture_file /> 4520 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4521 <transform> -0 0 -0 0 0 0</transform> 4522 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4523 <scale_factors> 1 1 1</scale_factors> 4524 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4525 <display_preference>4</display_preference> 4526 <!--Display opacity between 0.0 and 1.0--> 4527 <opacity>1</opacity> 4528 </DisplayGeometry> 4529 </objects> 4530 <groups /> 4531 </GeometrySet> 4532 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4533 <scale_factors> 1 1 1</scale_factors> 4534 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4535 <transform> -0 0 -0 0 0 0</transform> 4536 <!--Whether to show a coordinate frame--> 4537 <show_axes>false</show_axes> 4538 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4539 <display_preference>4</display_preference> 4540 </VisibleObject> 4541 <WrapObjectSet> 4542 <objects /> 4543 <groups /> 4544 </WrapObjectSet> 4545 </Body> 4546 <Body name="capitate_l"> 4547 <mass>0</mass> 4548 <mass_center> 0 0 0</mass_center> 4549 <inertia_xx>0</inertia_xx> 4550 <inertia_yy>0</inertia_yy> 4551 <inertia_zz>0</inertia_zz> 4552 <inertia_xy>0</inertia_xy> 4553 <inertia_xz>0</inertia_xz> 4554 <inertia_yz>0</inertia_yz> 4555 <!--Joint that connects this body with the parent body.--> 4556 <Joint> 4557 <WeldJoint name="proximal_distal_l"> 4558 <!--Name of the parent body to which this joint connects its owner body.--> 4559 <parent_body>lunate_l</parent_body> 4560 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4561 <location_in_parent>0.003992 -0.015054 -0.002327</location_in_parent> 4562 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4563 <orientation_in_parent>0 0 0</orientation_in_parent> 4564 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4565 <location>0 0 0</location> 4566 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4567 <orientation>0 0 0</orientation> 4568 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4569 <CoordinateSet> 4570 <objects /> 4571 <groups /> 4572 </CoordinateSet> 4573 <!--Whether the joint transform defines parent->child or child->parent.--> 4574 <reverse>false</reverse> 4575 </WeldJoint> 4576 </Joint> 4577 <VisibleObject> 4578 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4579 <GeometrySet> 4580 <objects> 4581 <DisplayGeometry> 4582 <!--Name of geometry file .vtp, .stl, .obj--> 4583 <geometry_file>capitate_l.vtp</geometry_file> 4584 <!--Color used to display the geometry when visible--> 4585 <color> 1 1 1</color> 4586 <!--Name of texture file .jpg, .bmp--> 4587 <texture_file /> 4588 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4589 <transform> -0 0 -0 0 0 0</transform> 4590 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4591 <scale_factors> 1 1 1</scale_factors> 4592 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4593 <display_preference>4</display_preference> 4594 <!--Display opacity between 0.0 and 1.0--> 4595 <opacity>1</opacity> 4596 </DisplayGeometry> 4597 </objects> 4598 <groups /> 4599 </GeometrySet> 4600 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4601 <scale_factors> 1 1 1</scale_factors> 4602 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4603 <transform> -0 0 -0 0 0 0</transform> 4604 <!--Whether to show a coordinate frame--> 4605 <show_axes>false</show_axes> 4606 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4607 <display_preference>4</display_preference> 4608 </VisibleObject> 4609 <WrapObjectSet> 4610 <objects /> 4611 <groups /> 4612 </WrapObjectSet> 4613 </Body> 4614 <Body name="trapezium_l"> 4615 <mass>0</mass> 4616 <mass_center> 0 0 0</mass_center> 4617 <inertia_xx>0</inertia_xx> 4618 <inertia_yy>0</inertia_yy> 4619 <inertia_zz>0</inertia_zz> 4620 <inertia_xy>0</inertia_xy> 4621 <inertia_xz>0</inertia_xz> 4622 <inertia_yz>0</inertia_yz> 4623 <!--Joint that connects this body with the parent body.--> 4624 <Joint> 4625 <WeldJoint name="cap_trpzm_l"> 4626 <!--Name of the parent body to which this joint connects its owner body.--> 4627 <parent_body>capitate_l</parent_body> 4628 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4629 <location_in_parent>0.015293 -0.004569 0.010308</location_in_parent> 4630 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4631 <orientation_in_parent>0 0 0</orientation_in_parent> 4632 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4633 <location>0 0 0</location> 4634 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4635 <orientation>0 0 0</orientation> 4636 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4637 <CoordinateSet> 4638 <objects /> 4639 <groups /> 4640 </CoordinateSet> 4641 <!--Whether the joint transform defines parent->child or child->parent.--> 4642 <reverse>false</reverse> 4643 </WeldJoint> 4644 </Joint> 4645 <VisibleObject> 4646 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4647 <GeometrySet> 4648 <objects> 4649 <DisplayGeometry> 4650 <!--Name of geometry file .vtp, .stl, .obj--> 4651 <geometry_file>trapezium_l.vtp</geometry_file> 4652 <!--Color used to display the geometry when visible--> 4653 <color> 1 1 1</color> 4654 <!--Name of texture file .jpg, .bmp--> 4655 <texture_file /> 4656 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4657 <transform> -0 0 -0 0 0 0</transform> 4658 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4659 <scale_factors> 1 1 1</scale_factors> 4660 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4661 <display_preference>4</display_preference> 4662 <!--Display opacity between 0.0 and 1.0--> 4663 <opacity>1</opacity> 4664 </DisplayGeometry> 4665 </objects> 4666 <groups /> 4667 </GeometrySet> 4668 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4669 <scale_factors> 1 1 1</scale_factors> 4670 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4671 <transform> -0 0 -0 0 0 0</transform> 4672 <!--Whether to show a coordinate frame--> 4673 <show_axes>false</show_axes> 4674 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4675 <display_preference>4</display_preference> 4676 </VisibleObject> 4677 <WrapObjectSet> 4678 <objects /> 4679 <groups /> 4680 </WrapObjectSet> 4681 </Body> 4682 <Body name="trapezoid_l"> 4683 <mass>0</mass> 4684 <mass_center> 0 0 0</mass_center> 4685 <inertia_xx>0</inertia_xx> 4686 <inertia_yy>0</inertia_yy> 4687 <inertia_zz>0</inertia_zz> 4688 <inertia_xy>0</inertia_xy> 4689 <inertia_xz>0</inertia_xz> 4690 <inertia_yz>0</inertia_yz> 4691 <!--Joint that connects this body with the parent body.--> 4692 <Joint> 4693 <WeldJoint name="cap_trpzd_l"> 4694 <!--Name of the parent body to which this joint connects its owner body.--> 4695 <parent_body>capitate_l</parent_body> 4696 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4697 <location_in_parent>0.009143 -0.004062 0.002464</location_in_parent> 4698 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4699 <orientation_in_parent>0 0 0</orientation_in_parent> 4700 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4701 <location>0 0 0</location> 4702 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4703 <orientation>0 0 0</orientation> 4704 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4705 <CoordinateSet> 4706 <objects /> 4707 <groups /> 4708 </CoordinateSet> 4709 <!--Whether the joint transform defines parent->child or child->parent.--> 4710 <reverse>false</reverse> 4711 </WeldJoint> 4712 </Joint> 4713 <VisibleObject> 4714 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4715 <GeometrySet> 4716 <objects> 4717 <DisplayGeometry> 4718 <!--Name of geometry file .vtp, .stl, .obj--> 4719 <geometry_file>trapezoid_l.vtp</geometry_file> 4720 <!--Color used to display the geometry when visible--> 4721 <color> 1 1 1</color> 4722 <!--Name of texture file .jpg, .bmp--> 4723 <texture_file /> 4724 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4725 <transform> -0 0 -0 0 0 0</transform> 4726 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4727 <scale_factors> 1 1 1</scale_factors> 4728 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4729 <display_preference>4</display_preference> 4730 <!--Display opacity between 0.0 and 1.0--> 4731 <opacity>1</opacity> 4732 </DisplayGeometry> 4733 </objects> 4734 <groups /> 4735 </GeometrySet> 4736 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4737 <scale_factors> 1 1 1</scale_factors> 4738 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4739 <transform> -0 0 -0 0 0 0</transform> 4740 <!--Whether to show a coordinate frame--> 4741 <show_axes>false</show_axes> 4742 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4743 <display_preference>4</display_preference> 4744 </VisibleObject> 4745 <WrapObjectSet> 4746 <objects /> 4747 <groups /> 4748 </WrapObjectSet> 4749 </Body> 4750 <Body name="hamate_l"> 4751 <mass>0</mass> 4752 <mass_center> 0 0 0</mass_center> 4753 <inertia_xx>0</inertia_xx> 4754 <inertia_yy>0</inertia_yy> 4755 <inertia_zz>0</inertia_zz> 4756 <inertia_xy>0</inertia_xy> 4757 <inertia_xz>0</inertia_xz> 4758 <inertia_yz>0</inertia_yz> 4759 <!--Joint that connects this body with the parent body.--> 4760 <Joint> 4761 <WeldJoint name="cap_ham_l"> 4762 <!--Name of the parent body to which this joint connects its owner body.--> 4763 <parent_body>capitate_l</parent_body> 4764 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4765 <location_in_parent>-0.010969 -0.002495 0.00075</location_in_parent> 4766 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4767 <orientation_in_parent>0 0 0</orientation_in_parent> 4768 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4769 <location>0 0 0</location> 4770 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4771 <orientation>0 0 0</orientation> 4772 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4773 <CoordinateSet> 4774 <objects /> 4775 <groups /> 4776 </CoordinateSet> 4777 <!--Whether the joint transform defines parent->child or child->parent.--> 4778 <reverse>false</reverse> 4779 </WeldJoint> 4780 </Joint> 4781 <VisibleObject> 4782 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4783 <GeometrySet> 4784 <objects> 4785 <DisplayGeometry> 4786 <!--Name of geometry file .vtp, .stl, .obj--> 4787 <geometry_file>hamate_l.vtp</geometry_file> 4788 <!--Color used to display the geometry when visible--> 4789 <color> 1 1 1</color> 4790 <!--Name of texture file .jpg, .bmp--> 4791 <texture_file /> 4792 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4793 <transform> -0 0 -0 0 0 0</transform> 4794 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4795 <scale_factors> 1 1 1</scale_factors> 4796 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4797 <display_preference>4</display_preference> 4798 <!--Display opacity between 0.0 and 1.0--> 4799 <opacity>1</opacity> 4800 </DisplayGeometry> 4801 </objects> 4802 <groups /> 4803 </GeometrySet> 4804 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4805 <scale_factors> 1 1 1</scale_factors> 4806 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4807 <transform> -0 0 -0 0 0 0</transform> 4808 <!--Whether to show a coordinate frame--> 4809 <show_axes>false</show_axes> 4810 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4811 <display_preference>4</display_preference> 4812 </VisibleObject> 4813 <WrapObjectSet> 4814 <objects /> 4815 <groups /> 4816 </WrapObjectSet> 4817 </Body> 4818 <Body name="firstmc_l"> 4819 <mass>0</mass> 4820 <mass_center> 0 0 0</mass_center> 4821 <inertia_xx>0</inertia_xx> 4822 <inertia_yy>0</inertia_yy> 4823 <inertia_zz>0</inertia_zz> 4824 <inertia_xy>0</inertia_xy> 4825 <inertia_xz>0</inertia_xz> 4826 <inertia_yz>0</inertia_yz> 4827 <!--Joint that connects this body with the parent body.--> 4828 <Joint> 4829 <WeldJoint name="CMC1b_l"> 4830 <!--Name of the parent body to which this joint connects its owner body.--> 4831 <parent_body>trapezium_l</parent_body> 4832 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4833 <location_in_parent>0.0072 -0.0054 0.0025</location_in_parent> 4834 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4835 <orientation_in_parent>-0.11200511 0.8080464 0.45582263</orientation_in_parent> 4836 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4837 <location>0 0 0</location> 4838 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4839 <orientation>0 0 0</orientation> 4840 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4841 <CoordinateSet> 4842 <objects /> 4843 <groups /> 4844 </CoordinateSet> 4845 <!--Whether the joint transform defines parent->child or child->parent.--> 4846 <reverse>false</reverse> 4847 </WeldJoint> 4848 </Joint> 4849 <VisibleObject> 4850 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4851 <GeometrySet> 4852 <objects> 4853 <DisplayGeometry> 4854 <!--Name of geometry file .vtp, .stl, .obj--> 4855 <geometry_file>1mc_l.vtp</geometry_file> 4856 <!--Color used to display the geometry when visible--> 4857 <color> 1 1 1</color> 4858 <!--Name of texture file .jpg, .bmp--> 4859 <texture_file /> 4860 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4861 <transform> -0 0 -0 0 0 0</transform> 4862 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4863 <scale_factors> 1 1 1</scale_factors> 4864 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4865 <display_preference>4</display_preference> 4866 <!--Display opacity between 0.0 and 1.0--> 4867 <opacity>1</opacity> 4868 </DisplayGeometry> 4869 </objects> 4870 <groups /> 4871 </GeometrySet> 4872 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4873 <scale_factors> 1 1 1</scale_factors> 4874 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4875 <transform> -0 0 -0 0 0 0</transform> 4876 <!--Whether to show a coordinate frame--> 4877 <show_axes>false</show_axes> 4878 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4879 <display_preference>4</display_preference> 4880 </VisibleObject> 4881 <WrapObjectSet> 4882 <objects /> 4883 <groups /> 4884 </WrapObjectSet> 4885 </Body> 4886 <Body name="secondmc_l"> 4887 <mass>0</mass> 4888 <mass_center> 0 0 0</mass_center> 4889 <inertia_xx>0</inertia_xx> 4890 <inertia_yy>0</inertia_yy> 4891 <inertia_zz>0</inertia_zz> 4892 <inertia_xy>0</inertia_xy> 4893 <inertia_xz>0</inertia_xz> 4894 <inertia_yz>0</inertia_yz> 4895 <!--Joint that connects this body with the parent body.--> 4896 <Joint> 4897 <WeldJoint name="CMC2_l"> 4898 <!--Name of the parent body to which this joint connects its owner body.--> 4899 <parent_body>capitate_l</parent_body> 4900 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4901 <location_in_parent>0.014685 -0.03762 -0.005032</location_in_parent> 4902 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4903 <orientation_in_parent>0 0 0</orientation_in_parent> 4904 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4905 <location>0 0 0</location> 4906 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4907 <orientation>0 0 0</orientation> 4908 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4909 <CoordinateSet> 4910 <objects /> 4911 <groups /> 4912 </CoordinateSet> 4913 <!--Whether the joint transform defines parent->child or child->parent.--> 4914 <reverse>false</reverse> 4915 </WeldJoint> 4916 </Joint> 4917 <VisibleObject> 4918 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4919 <GeometrySet> 4920 <objects> 4921 <DisplayGeometry> 4922 <!--Name of geometry file .vtp, .stl, .obj--> 4923 <geometry_file>2mc_l.vtp</geometry_file> 4924 <!--Color used to display the geometry when visible--> 4925 <color> 1 1 1</color> 4926 <!--Name of texture file .jpg, .bmp--> 4927 <texture_file /> 4928 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4929 <transform> -0 0 -0 0 0 0</transform> 4930 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4931 <scale_factors> 1 1 1</scale_factors> 4932 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 4933 <display_preference>4</display_preference> 4934 <!--Display opacity between 0.0 and 1.0--> 4935 <opacity>1</opacity> 4936 </DisplayGeometry> 4937 </objects> 4938 <groups /> 4939 </GeometrySet> 4940 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4941 <scale_factors> 1 1 1</scale_factors> 4942 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4943 <transform> -0 0 -0 0 0 0</transform> 4944 <!--Whether to show a coordinate frame--> 4945 <show_axes>false</show_axes> 4946 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 4947 <display_preference>4</display_preference> 4948 </VisibleObject> 4949 <WrapObjectSet> 4950 <objects /> 4951 <groups /> 4952 </WrapObjectSet> 4953 </Body> 4954 <Body name="thirdmc_l"> 4955 <mass>0</mass> 4956 <mass_center> 0 0 0</mass_center> 4957 <inertia_xx>0</inertia_xx> 4958 <inertia_yy>0</inertia_yy> 4959 <inertia_zz>0</inertia_zz> 4960 <inertia_xy>0</inertia_xy> 4961 <inertia_xz>0</inertia_xz> 4962 <inertia_yz>0</inertia_yz> 4963 <!--Joint that connects this body with the parent body.--> 4964 <Joint> 4965 <WeldJoint name="CMC3_l"> 4966 <!--Name of the parent body to which this joint connects its owner body.--> 4967 <parent_body>capitate_l</parent_body> 4968 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 4969 <location_in_parent>0.000477 -0.039239 -0.007377</location_in_parent> 4970 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 4971 <orientation_in_parent>0 0 0</orientation_in_parent> 4972 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 4973 <location>0 0 0</location> 4974 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 4975 <orientation>0 0 0</orientation> 4976 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 4977 <CoordinateSet> 4978 <objects /> 4979 <groups /> 4980 </CoordinateSet> 4981 <!--Whether the joint transform defines parent->child or child->parent.--> 4982 <reverse>false</reverse> 4983 </WeldJoint> 4984 </Joint> 4985 <VisibleObject> 4986 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 4987 <GeometrySet> 4988 <objects> 4989 <DisplayGeometry> 4990 <!--Name of geometry file .vtp, .stl, .obj--> 4991 <geometry_file>3mc_l.vtp</geometry_file> 4992 <!--Color used to display the geometry when visible--> 4993 <color> 1 1 1</color> 4994 <!--Name of texture file .jpg, .bmp--> 4995 <texture_file /> 4996 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 4997 <transform> -0 0 -0 0 0 0</transform> 4998 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 4999 <scale_factors> 1 1 1</scale_factors> 5000 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5001 <display_preference>4</display_preference> 5002 <!--Display opacity between 0.0 and 1.0--> 5003 <opacity>1</opacity> 5004 </DisplayGeometry> 5005 </objects> 5006 <groups /> 5007 </GeometrySet> 5008 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5009 <scale_factors> 1 1 1</scale_factors> 5010 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5011 <transform> -0 0 -0 0 0 0</transform> 5012 <!--Whether to show a coordinate frame--> 5013 <show_axes>false</show_axes> 5014 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5015 <display_preference>4</display_preference> 5016 </VisibleObject> 5017 <WrapObjectSet> 5018 <objects /> 5019 <groups /> 5020 </WrapObjectSet> 5021 </Body> 5022 <Body name="fourthmc_l"> 5023 <mass>0</mass> 5024 <mass_center> 0 0 0</mass_center> 5025 <inertia_xx>0</inertia_xx> 5026 <inertia_yy>0</inertia_yy> 5027 <inertia_zz>0</inertia_zz> 5028 <inertia_xy>0</inertia_xy> 5029 <inertia_xz>0</inertia_xz> 5030 <inertia_yz>0</inertia_yz> 5031 <!--Joint that connects this body with the parent body.--> 5032 <Joint> 5033 <WeldJoint name="CMC4_l"> 5034 <!--Name of the parent body to which this joint connects its owner body.--> 5035 <parent_body>capitate_l</parent_body> 5036 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5037 <location_in_parent>-0.012046 -0.040519 -0.003513</location_in_parent> 5038 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5039 <orientation_in_parent>0 0 0</orientation_in_parent> 5040 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5041 <location>0 0 0</location> 5042 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5043 <orientation>0 0 0</orientation> 5044 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5045 <CoordinateSet> 5046 <objects /> 5047 <groups /> 5048 </CoordinateSet> 5049 <!--Whether the joint transform defines parent->child or child->parent.--> 5050 <reverse>false</reverse> 5051 </WeldJoint> 5052 </Joint> 5053 <VisibleObject> 5054 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5055 <GeometrySet> 5056 <objects> 5057 <DisplayGeometry> 5058 <!--Name of geometry file .vtp, .stl, .obj--> 5059 <geometry_file>4mc_l.vtp</geometry_file> 5060 <!--Color used to display the geometry when visible--> 5061 <color> 1 1 1</color> 5062 <!--Name of texture file .jpg, .bmp--> 5063 <texture_file /> 5064 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5065 <transform> -0 0 -0 0 0 0</transform> 5066 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5067 <scale_factors> 1 1 1</scale_factors> 5068 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5069 <display_preference>4</display_preference> 5070 <!--Display opacity between 0.0 and 1.0--> 5071 <opacity>1</opacity> 5072 </DisplayGeometry> 5073 </objects> 5074 <groups /> 5075 </GeometrySet> 5076 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5077 <scale_factors> 1 1 1</scale_factors> 5078 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5079 <transform> -0 0 -0 0 0 0</transform> 5080 <!--Whether to show a coordinate frame--> 5081 <show_axes>false</show_axes> 5082 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5083 <display_preference>4</display_preference> 5084 </VisibleObject> 5085 <WrapObjectSet> 5086 <objects /> 5087 <groups /> 5088 </WrapObjectSet> 5089 </Body> 5090 <Body name="fifthmc_l"> 5091 <mass>0</mass> 5092 <mass_center> 0 0 0</mass_center> 5093 <inertia_xx>0</inertia_xx> 5094 <inertia_yy>0</inertia_yy> 5095 <inertia_zz>0</inertia_zz> 5096 <inertia_xy>0</inertia_xy> 5097 <inertia_xz>0</inertia_xz> 5098 <inertia_yz>0</inertia_yz> 5099 <!--Joint that connects this body with the parent body.--> 5100 <Joint> 5101 <WeldJoint name="CMC5_l"> 5102 <!--Name of the parent body to which this joint connects its owner body.--> 5103 <parent_body>capitate_l</parent_body> 5104 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5105 <location_in_parent>-0.021896 -0.034683 0.004218</location_in_parent> 5106 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5107 <orientation_in_parent>0 0 0</orientation_in_parent> 5108 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5109 <location>0 0 0</location> 5110 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5111 <orientation>0 0 0</orientation> 5112 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5113 <CoordinateSet> 5114 <objects /> 5115 <groups /> 5116 </CoordinateSet> 5117 <!--Whether the joint transform defines parent->child or child->parent.--> 5118 <reverse>false</reverse> 5119 </WeldJoint> 5120 </Joint> 5121 <VisibleObject> 5122 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5123 <GeometrySet> 5124 <objects> 5125 <DisplayGeometry> 5126 <!--Name of geometry file .vtp, .stl, .obj--> 5127 <geometry_file>5mc_l.vtp</geometry_file> 5128 <!--Color used to display the geometry when visible--> 5129 <color> 1 1 1</color> 5130 <!--Name of texture file .jpg, .bmp--> 5131 <texture_file /> 5132 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5133 <transform> -0 0 -0 0 0 0</transform> 5134 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5135 <scale_factors> 1 1 1</scale_factors> 5136 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5137 <display_preference>4</display_preference> 5138 <!--Display opacity between 0.0 and 1.0--> 5139 <opacity>1</opacity> 5140 </DisplayGeometry> 5141 </objects> 5142 <groups /> 5143 </GeometrySet> 5144 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5145 <scale_factors> 1 1 1</scale_factors> 5146 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5147 <transform> -0 0 -0 0 0 0</transform> 5148 <!--Whether to show a coordinate frame--> 5149 <show_axes>false</show_axes> 5150 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5151 <display_preference>4</display_preference> 5152 </VisibleObject> 5153 <WrapObjectSet> 5154 <objects /> 5155 <groups /> 5156 </WrapObjectSet> 5157 </Body> 5158 <Body name="proximal_thumb_l"> 5159 <mass>0</mass> 5160 <mass_center> 0 0 0</mass_center> 5161 <inertia_xx>0</inertia_xx> 5162 <inertia_yy>0</inertia_yy> 5163 <inertia_zz>0</inertia_zz> 5164 <inertia_xy>0</inertia_xy> 5165 <inertia_xz>0</inertia_xz> 5166 <inertia_yz>0</inertia_yz> 5167 <!--Joint that connects this body with the parent body.--> 5168 <Joint> 5169 <WeldJoint name="MCP_l"> 5170 <!--Name of the parent body to which this joint connects its owner body.--> 5171 <parent_body>firstmc_l</parent_body> 5172 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5173 <location_in_parent>0.0165 -0.0292 0.0127</location_in_parent> 5174 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5175 <orientation_in_parent>0 0 0</orientation_in_parent> 5176 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5177 <location>0 0 0</location> 5178 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5179 <orientation>0 0 0</orientation> 5180 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5181 <CoordinateSet> 5182 <objects /> 5183 <groups /> 5184 </CoordinateSet> 5185 <!--Whether the joint transform defines parent->child or child->parent.--> 5186 <reverse>false</reverse> 5187 </WeldJoint> 5188 </Joint> 5189 <VisibleObject> 5190 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5191 <GeometrySet> 5192 <objects> 5193 <DisplayGeometry> 5194 <!--Name of geometry file .vtp, .stl, .obj--> 5195 <geometry_file>thumbprox_l.vtp</geometry_file> 5196 <!--Color used to display the geometry when visible--> 5197 <color> 1 1 1</color> 5198 <!--Name of texture file .jpg, .bmp--> 5199 <texture_file /> 5200 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5201 <transform> -0 0 -0 0 0 0</transform> 5202 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5203 <scale_factors> 1 1 1</scale_factors> 5204 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5205 <display_preference>4</display_preference> 5206 <!--Display opacity between 0.0 and 1.0--> 5207 <opacity>1</opacity> 5208 </DisplayGeometry> 5209 </objects> 5210 <groups /> 5211 </GeometrySet> 5212 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5213 <scale_factors> 1 1 1</scale_factors> 5214 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5215 <transform> -0 0 -0 0 0 0</transform> 5216 <!--Whether to show a coordinate frame--> 5217 <show_axes>false</show_axes> 5218 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5219 <display_preference>4</display_preference> 5220 </VisibleObject> 5221 <WrapObjectSet> 5222 <objects /> 5223 <groups /> 5224 </WrapObjectSet> 5225 </Body> 5226 <Body name="distal_thumb_l"> 5227 <mass>0</mass> 5228 <mass_center> 0 0 0</mass_center> 5229 <inertia_xx>0</inertia_xx> 5230 <inertia_yy>0</inertia_yy> 5231 <inertia_zz>0</inertia_zz> 5232 <inertia_xy>0</inertia_xy> 5233 <inertia_xz>0</inertia_xz> 5234 <inertia_yz>0</inertia_yz> 5235 <!--Joint that connects this body with the parent body.--> 5236 <Joint> 5237 <WeldJoint name="IP_l"> 5238 <!--Name of the parent body to which this joint connects its owner body.--> 5239 <parent_body>proximal_thumb_l</parent_body> 5240 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5241 <location_in_parent>0.014 -0.0259 0.0101</location_in_parent> 5242 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5243 <orientation_in_parent>0 0 0</orientation_in_parent> 5244 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5245 <location>0 0 0</location> 5246 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5247 <orientation>0 0 0</orientation> 5248 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5249 <CoordinateSet> 5250 <objects /> 5251 <groups /> 5252 </CoordinateSet> 5253 <!--Whether the joint transform defines parent->child or child->parent.--> 5254 <reverse>false</reverse> 5255 </WeldJoint> 5256 </Joint> 5257 <VisibleObject> 5258 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5259 <GeometrySet> 5260 <objects> 5261 <DisplayGeometry> 5262 <!--Name of geometry file .vtp, .stl, .obj--> 5263 <geometry_file>thumbdist_l.vtp</geometry_file> 5264 <!--Color used to display the geometry when visible--> 5265 <color> 1 1 1</color> 5266 <!--Name of texture file .jpg, .bmp--> 5267 <texture_file /> 5268 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5269 <transform> -0 0 -0 0 0 0</transform> 5270 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5271 <scale_factors> 1 1 1</scale_factors> 5272 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5273 <display_preference>4</display_preference> 5274 <!--Display opacity between 0.0 and 1.0--> 5275 <opacity>1</opacity> 5276 </DisplayGeometry> 5277 </objects> 5278 <groups /> 5279 </GeometrySet> 5280 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5281 <scale_factors> 1 1 1</scale_factors> 5282 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5283 <transform> -0 0 -0 0 0 0</transform> 5284 <!--Whether to show a coordinate frame--> 5285 <show_axes>false</show_axes> 5286 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5287 <display_preference>4</display_preference> 5288 </VisibleObject> 5289 <WrapObjectSet> 5290 <objects /> 5291 <groups /> 5292 </WrapObjectSet> 5293 </Body> 5294 <Body name="2proxph_l"> 5295 <mass>0</mass> 5296 <mass_center> 0 0 0</mass_center> 5297 <inertia_xx>0</inertia_xx> 5298 <inertia_yy>0</inertia_yy> 5299 <inertia_zz>0</inertia_zz> 5300 <inertia_xy>0</inertia_xy> 5301 <inertia_xz>0</inertia_xz> 5302 <inertia_yz>0</inertia_yz> 5303 <!--Joint that connects this body with the parent body.--> 5304 <Joint> 5305 <WeldJoint name="2MCP_l"> 5306 <!--Name of the parent body to which this joint connects its owner body.--> 5307 <parent_body>secondmc_l</parent_body> 5308 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5309 <location_in_parent>0.003501 -0.028243 -0.00362</location_in_parent> 5310 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5311 <orientation_in_parent>0 0 0</orientation_in_parent> 5312 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5313 <location>0 0 0</location> 5314 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5315 <orientation>0 0 0</orientation> 5316 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5317 <CoordinateSet> 5318 <objects /> 5319 <groups /> 5320 </CoordinateSet> 5321 <!--Whether the joint transform defines parent->child or child->parent.--> 5322 <reverse>false</reverse> 5323 </WeldJoint> 5324 </Joint> 5325 <VisibleObject> 5326 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5327 <GeometrySet> 5328 <objects> 5329 <DisplayGeometry> 5330 <!--Name of geometry file .vtp, .stl, .obj--> 5331 <geometry_file>2proxph_l.vtp</geometry_file> 5332 <!--Color used to display the geometry when visible--> 5333 <color> 1 1 1</color> 5334 <!--Name of texture file .jpg, .bmp--> 5335 <texture_file /> 5336 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5337 <transform> -0 0 -0 0 0 0</transform> 5338 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5339 <scale_factors> 1 1 1</scale_factors> 5340 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5341 <display_preference>4</display_preference> 5342 <!--Display opacity between 0.0 and 1.0--> 5343 <opacity>1</opacity> 5344 </DisplayGeometry> 5345 </objects> 5346 <groups /> 5347 </GeometrySet> 5348 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5349 <scale_factors> 1 1 1</scale_factors> 5350 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5351 <transform> -0 0 -0 0 0 0</transform> 5352 <!--Whether to show a coordinate frame--> 5353 <show_axes>false</show_axes> 5354 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5355 <display_preference>4</display_preference> 5356 </VisibleObject> 5357 <WrapObjectSet> 5358 <objects /> 5359 <groups /> 5360 </WrapObjectSet> 5361 </Body> 5362 <Body name="2midph_l"> 5363 <mass>0</mass> 5364 <mass_center> 0 0 0</mass_center> 5365 <inertia_xx>0</inertia_xx> 5366 <inertia_yy>0</inertia_yy> 5367 <inertia_zz>0</inertia_zz> 5368 <inertia_xy>0</inertia_xy> 5369 <inertia_xz>0</inertia_xz> 5370 <inertia_yz>0</inertia_yz> 5371 <!--Joint that connects this body with the parent body.--> 5372 <Joint> 5373 <WeldJoint name="2prox-midph_l"> 5374 <!--Name of the parent body to which this joint connects its owner body.--> 5375 <parent_body>2proxph_l</parent_body> 5376 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5377 <location_in_parent>0.007517 -0.041273 -0.007326</location_in_parent> 5378 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5379 <orientation_in_parent>0 0 0</orientation_in_parent> 5380 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5381 <location>0 0 0</location> 5382 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5383 <orientation>0 0 0</orientation> 5384 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5385 <CoordinateSet> 5386 <objects /> 5387 <groups /> 5388 </CoordinateSet> 5389 <!--Whether the joint transform defines parent->child or child->parent.--> 5390 <reverse>false</reverse> 5391 </WeldJoint> 5392 </Joint> 5393 <VisibleObject> 5394 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5395 <GeometrySet> 5396 <objects> 5397 <DisplayGeometry> 5398 <!--Name of geometry file .vtp, .stl, .obj--> 5399 <geometry_file>2midph_l.vtp</geometry_file> 5400 <!--Color used to display the geometry when visible--> 5401 <color> 1 1 1</color> 5402 <!--Name of texture file .jpg, .bmp--> 5403 <texture_file /> 5404 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5405 <transform> -0 0 -0 0 0 0</transform> 5406 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5407 <scale_factors> 1 1 1</scale_factors> 5408 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5409 <display_preference>4</display_preference> 5410 <!--Display opacity between 0.0 and 1.0--> 5411 <opacity>1</opacity> 5412 </DisplayGeometry> 5413 </objects> 5414 <groups /> 5415 </GeometrySet> 5416 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5417 <scale_factors> 1 1 1</scale_factors> 5418 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5419 <transform> -0 0 -0 0 0 0</transform> 5420 <!--Whether to show a coordinate frame--> 5421 <show_axes>false</show_axes> 5422 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5423 <display_preference>4</display_preference> 5424 </VisibleObject> 5425 <WrapObjectSet> 5426 <objects /> 5427 <groups /> 5428 </WrapObjectSet> 5429 </Body> 5430 <Body name="2distph_l"> 5431 <mass>0</mass> 5432 <mass_center> 0 0 0</mass_center> 5433 <inertia_xx>0</inertia_xx> 5434 <inertia_yy>0</inertia_yy> 5435 <inertia_zz>0</inertia_zz> 5436 <inertia_xy>0</inertia_xy> 5437 <inertia_xz>0</inertia_xz> 5438 <inertia_yz>0</inertia_yz> 5439 <!--Joint that connects this body with the parent body.--> 5440 <Joint> 5441 <WeldJoint name="2mid-distph_l"> 5442 <!--Name of the parent body to which this joint connects its owner body.--> 5443 <parent_body>2midph_l</parent_body> 5444 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5445 <location_in_parent>0.003333 -0.024888 -0.00122</location_in_parent> 5446 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5447 <orientation_in_parent>0 0 0</orientation_in_parent> 5448 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5449 <location>0 0 0</location> 5450 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5451 <orientation>0 0 0</orientation> 5452 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5453 <CoordinateSet> 5454 <objects /> 5455 <groups /> 5456 </CoordinateSet> 5457 <!--Whether the joint transform defines parent->child or child->parent.--> 5458 <reverse>false</reverse> 5459 </WeldJoint> 5460 </Joint> 5461 <VisibleObject> 5462 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5463 <GeometrySet> 5464 <objects> 5465 <DisplayGeometry> 5466 <!--Name of geometry file .vtp, .stl, .obj--> 5467 <geometry_file>2distph_l.vtp</geometry_file> 5468 <!--Color used to display the geometry when visible--> 5469 <color> 1 1 1</color> 5470 <!--Name of texture file .jpg, .bmp--> 5471 <texture_file /> 5472 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5473 <transform> -0 0 -0 0 0 0</transform> 5474 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5475 <scale_factors> 1 1 1</scale_factors> 5476 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5477 <display_preference>4</display_preference> 5478 <!--Display opacity between 0.0 and 1.0--> 5479 <opacity>1</opacity> 5480 </DisplayGeometry> 5481 </objects> 5482 <groups /> 5483 </GeometrySet> 5484 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5485 <scale_factors> 1 1 1</scale_factors> 5486 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5487 <transform> -0 0 -0 0 0 0</transform> 5488 <!--Whether to show a coordinate frame--> 5489 <show_axes>false</show_axes> 5490 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5491 <display_preference>4</display_preference> 5492 </VisibleObject> 5493 <WrapObjectSet> 5494 <objects /> 5495 <groups /> 5496 </WrapObjectSet> 5497 </Body> 5498 <Body name="3proxph_l"> 5499 <mass>0</mass> 5500 <mass_center> 0 0 0</mass_center> 5501 <inertia_xx>0</inertia_xx> 5502 <inertia_yy>0</inertia_yy> 5503 <inertia_zz>0</inertia_zz> 5504 <inertia_xy>0</inertia_xy> 5505 <inertia_xz>0</inertia_xz> 5506 <inertia_yz>0</inertia_yz> 5507 <!--Joint that connects this body with the parent body.--> 5508 <Joint> 5509 <WeldJoint name="3MCP_l"> 5510 <!--Name of the parent body to which this joint connects its owner body.--> 5511 <parent_body>thirdmc_l</parent_body> 5512 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5513 <location_in_parent>0.00024 -0.02629 -0.001778</location_in_parent> 5514 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5515 <orientation_in_parent>0 0 0</orientation_in_parent> 5516 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5517 <location>0 0 0</location> 5518 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5519 <orientation>0 0 0</orientation> 5520 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5521 <CoordinateSet> 5522 <objects /> 5523 <groups /> 5524 </CoordinateSet> 5525 <!--Whether the joint transform defines parent->child or child->parent.--> 5526 <reverse>false</reverse> 5527 </WeldJoint> 5528 </Joint> 5529 <VisibleObject> 5530 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5531 <GeometrySet> 5532 <objects> 5533 <DisplayGeometry> 5534 <!--Name of geometry file .vtp, .stl, .obj--> 5535 <geometry_file>3proxph_l.vtp</geometry_file> 5536 <!--Color used to display the geometry when visible--> 5537 <color> 1 1 1</color> 5538 <!--Name of texture file .jpg, .bmp--> 5539 <texture_file /> 5540 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5541 <transform> -0 0 -0 0 0 0</transform> 5542 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5543 <scale_factors> 1 1 1</scale_factors> 5544 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5545 <display_preference>4</display_preference> 5546 <!--Display opacity between 0.0 and 1.0--> 5547 <opacity>1</opacity> 5548 </DisplayGeometry> 5549 </objects> 5550 <groups /> 5551 </GeometrySet> 5552 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5553 <scale_factors> 1 1 1</scale_factors> 5554 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5555 <transform> -0 0 -0 0 0 0</transform> 5556 <!--Whether to show a coordinate frame--> 5557 <show_axes>false</show_axes> 5558 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5559 <display_preference>4</display_preference> 5560 </VisibleObject> 5561 <WrapObjectSet> 5562 <objects /> 5563 <groups /> 5564 </WrapObjectSet> 5565 </Body> 5566 <Body name="3midph_l"> 5567 <mass>0</mass> 5568 <mass_center> 0 0 0</mass_center> 5569 <inertia_xx>0</inertia_xx> 5570 <inertia_yy>0</inertia_yy> 5571 <inertia_zz>0</inertia_zz> 5572 <inertia_xy>0</inertia_xy> 5573 <inertia_xz>0</inertia_xz> 5574 <inertia_yz>0</inertia_yz> 5575 <!--Joint that connects this body with the parent body.--> 5576 <Joint> 5577 <WeldJoint name="3prox-midph_l"> 5578 <!--Name of the parent body to which this joint connects its owner body.--> 5579 <parent_body>3proxph_l</parent_body> 5580 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5581 <location_in_parent>0.00165 -0.044211 -0.00623</location_in_parent> 5582 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5583 <orientation_in_parent>0 0 0</orientation_in_parent> 5584 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5585 <location>0 0 0</location> 5586 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5587 <orientation>0 0 0</orientation> 5588 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5589 <CoordinateSet> 5590 <objects /> 5591 <groups /> 5592 </CoordinateSet> 5593 <!--Whether the joint transform defines parent->child or child->parent.--> 5594 <reverse>false</reverse> 5595 </WeldJoint> 5596 </Joint> 5597 <VisibleObject> 5598 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5599 <GeometrySet> 5600 <objects> 5601 <DisplayGeometry> 5602 <!--Name of geometry file .vtp, .stl, .obj--> 5603 <geometry_file>3midph_l.vtp</geometry_file> 5604 <!--Color used to display the geometry when visible--> 5605 <color> 1 1 1</color> 5606 <!--Name of texture file .jpg, .bmp--> 5607 <texture_file /> 5608 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5609 <transform> -0 0 -0 0 0 0</transform> 5610 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5611 <scale_factors> 1 1 1</scale_factors> 5612 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5613 <display_preference>4</display_preference> 5614 <!--Display opacity between 0.0 and 1.0--> 5615 <opacity>1</opacity> 5616 </DisplayGeometry> 5617 </objects> 5618 <groups /> 5619 </GeometrySet> 5620 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5621 <scale_factors> 1 1 1</scale_factors> 5622 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5623 <transform> -0 0 -0 0 0 0</transform> 5624 <!--Whether to show a coordinate frame--> 5625 <show_axes>false</show_axes> 5626 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5627 <display_preference>4</display_preference> 5628 </VisibleObject> 5629 <WrapObjectSet> 5630 <objects /> 5631 <groups /> 5632 </WrapObjectSet> 5633 </Body> 5634 <Body name="3distph_l"> 5635 <mass>0</mass> 5636 <mass_center> 0 0 0</mass_center> 5637 <inertia_xx>0</inertia_xx> 5638 <inertia_yy>0</inertia_yy> 5639 <inertia_zz>0</inertia_zz> 5640 <inertia_xy>0</inertia_xy> 5641 <inertia_xz>0</inertia_xz> 5642 <inertia_yz>0</inertia_yz> 5643 <!--Joint that connects this body with the parent body.--> 5644 <Joint> 5645 <WeldJoint name="3mid-distph_l"> 5646 <!--Name of the parent body to which this joint connects its owner body.--> 5647 <parent_body>3midph_l</parent_body> 5648 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5649 <location_in_parent>0.001365 -0.029047 -0.001954</location_in_parent> 5650 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5651 <orientation_in_parent>0 0 0</orientation_in_parent> 5652 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5653 <location>0 0 0</location> 5654 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5655 <orientation>0 0 0</orientation> 5656 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5657 <CoordinateSet> 5658 <objects /> 5659 <groups /> 5660 </CoordinateSet> 5661 <!--Whether the joint transform defines parent->child or child->parent.--> 5662 <reverse>false</reverse> 5663 </WeldJoint> 5664 </Joint> 5665 <VisibleObject> 5666 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5667 <GeometrySet> 5668 <objects> 5669 <DisplayGeometry> 5670 <!--Name of geometry file .vtp, .stl, .obj--> 5671 <geometry_file>3distph_l.vtp</geometry_file> 5672 <!--Color used to display the geometry when visible--> 5673 <color> 1 1 1</color> 5674 <!--Name of texture file .jpg, .bmp--> 5675 <texture_file /> 5676 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5677 <transform> -0 0 -0 0 0 0</transform> 5678 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5679 <scale_factors> 1 1 1</scale_factors> 5680 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5681 <display_preference>4</display_preference> 5682 <!--Display opacity between 0.0 and 1.0--> 5683 <opacity>1</opacity> 5684 </DisplayGeometry> 5685 </objects> 5686 <groups /> 5687 </GeometrySet> 5688 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5689 <scale_factors> 1 1 1</scale_factors> 5690 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5691 <transform> -0 0 -0 0 0 0</transform> 5692 <!--Whether to show a coordinate frame--> 5693 <show_axes>false</show_axes> 5694 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5695 <display_preference>4</display_preference> 5696 </VisibleObject> 5697 <WrapObjectSet> 5698 <objects /> 5699 <groups /> 5700 </WrapObjectSet> 5701 </Body> 5702 <Body name="4proxph_l"> 5703 <mass>0</mass> 5704 <mass_center> 0 0 0</mass_center> 5705 <inertia_xx>0</inertia_xx> 5706 <inertia_yy>0</inertia_yy> 5707 <inertia_zz>0</inertia_zz> 5708 <inertia_xy>0</inertia_xy> 5709 <inertia_xz>0</inertia_xz> 5710 <inertia_yz>0</inertia_yz> 5711 <!--Joint that connects this body with the parent body.--> 5712 <Joint> 5713 <WeldJoint name="4MCP_l"> 5714 <!--Name of the parent body to which this joint connects its owner body.--> 5715 <parent_body>fourthmc_l</parent_body> 5716 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5717 <location_in_parent>-0.00183 -0.023689 0.000173</location_in_parent> 5718 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5719 <orientation_in_parent>0 0 0</orientation_in_parent> 5720 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5721 <location>0 0 0</location> 5722 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5723 <orientation>0 0 0</orientation> 5724 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5725 <CoordinateSet> 5726 <objects /> 5727 <groups /> 5728 </CoordinateSet> 5729 <!--Whether the joint transform defines parent->child or child->parent.--> 5730 <reverse>false</reverse> 5731 </WeldJoint> 5732 </Joint> 5733 <VisibleObject> 5734 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5735 <GeometrySet> 5736 <objects> 5737 <DisplayGeometry> 5738 <!--Name of geometry file .vtp, .stl, .obj--> 5739 <geometry_file>4proxph_l.vtp</geometry_file> 5740 <!--Color used to display the geometry when visible--> 5741 <color> 1 1 1</color> 5742 <!--Name of texture file .jpg, .bmp--> 5743 <texture_file /> 5744 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5745 <transform> -0 0 -0 0 0 0</transform> 5746 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5747 <scale_factors> 1 1 1</scale_factors> 5748 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5749 <display_preference>4</display_preference> 5750 <!--Display opacity between 0.0 and 1.0--> 5751 <opacity>1</opacity> 5752 </DisplayGeometry> 5753 </objects> 5754 <groups /> 5755 </GeometrySet> 5756 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5757 <scale_factors> 1 1 1</scale_factors> 5758 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5759 <transform> -0 0 -0 0 0 0</transform> 5760 <!--Whether to show a coordinate frame--> 5761 <show_axes>false</show_axes> 5762 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5763 <display_preference>4</display_preference> 5764 </VisibleObject> 5765 <WrapObjectSet> 5766 <objects /> 5767 <groups /> 5768 </WrapObjectSet> 5769 </Body> 5770 <Body name="4midph_l"> 5771 <mass>0</mass> 5772 <mass_center> 0 0 0</mass_center> 5773 <inertia_xx>0</inertia_xx> 5774 <inertia_yy>0</inertia_yy> 5775 <inertia_zz>0</inertia_zz> 5776 <inertia_xy>0</inertia_xy> 5777 <inertia_xz>0</inertia_xz> 5778 <inertia_yz>0</inertia_yz> 5779 <!--Joint that connects this body with the parent body.--> 5780 <Joint> 5781 <WeldJoint name="4prox-midph_l"> 5782 <!--Name of the parent body to which this joint connects its owner body.--> 5783 <parent_body>4proxph_l</parent_body> 5784 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5785 <location_in_parent>-0.003528 -0.040255 -0.001345</location_in_parent> 5786 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5787 <orientation_in_parent>0 0 0</orientation_in_parent> 5788 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5789 <location>0 0 0</location> 5790 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5791 <orientation>0 0 0</orientation> 5792 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5793 <CoordinateSet> 5794 <objects /> 5795 <groups /> 5796 </CoordinateSet> 5797 <!--Whether the joint transform defines parent->child or child->parent.--> 5798 <reverse>false</reverse> 5799 </WeldJoint> 5800 </Joint> 5801 <VisibleObject> 5802 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5803 <GeometrySet> 5804 <objects> 5805 <DisplayGeometry> 5806 <!--Name of geometry file .vtp, .stl, .obj--> 5807 <geometry_file>4midph_l.vtp</geometry_file> 5808 <!--Color used to display the geometry when visible--> 5809 <color> 1 1 1</color> 5810 <!--Name of texture file .jpg, .bmp--> 5811 <texture_file /> 5812 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5813 <transform> -0 0 -0 0 0 0</transform> 5814 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5815 <scale_factors> 1 1 1</scale_factors> 5816 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5817 <display_preference>4</display_preference> 5818 <!--Display opacity between 0.0 and 1.0--> 5819 <opacity>1</opacity> 5820 </DisplayGeometry> 5821 </objects> 5822 <groups /> 5823 </GeometrySet> 5824 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5825 <scale_factors> 1 1 1</scale_factors> 5826 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5827 <transform> -0 0 -0 0 0 0</transform> 5828 <!--Whether to show a coordinate frame--> 5829 <show_axes>false</show_axes> 5830 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5831 <display_preference>4</display_preference> 5832 </VisibleObject> 5833 <WrapObjectSet> 5834 <objects /> 5835 <groups /> 5836 </WrapObjectSet> 5837 </Body> 5838 <Body name="4distph_l"> 5839 <mass>0</mass> 5840 <mass_center> 0 0 0</mass_center> 5841 <inertia_xx>0</inertia_xx> 5842 <inertia_yy>0</inertia_yy> 5843 <inertia_zz>0</inertia_zz> 5844 <inertia_xy>0</inertia_xy> 5845 <inertia_xz>0</inertia_xz> 5846 <inertia_yz>0</inertia_yz> 5847 <!--Joint that connects this body with the parent body.--> 5848 <Joint> 5849 <WeldJoint name="4mid-distph_l"> 5850 <!--Name of the parent body to which this joint connects its owner body.--> 5851 <parent_body>4midph_l</parent_body> 5852 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5853 <location_in_parent>-0.002317 -0.024789 -0.000563</location_in_parent> 5854 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5855 <orientation_in_parent>0 0 0</orientation_in_parent> 5856 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5857 <location>0 0 0</location> 5858 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5859 <orientation>0 0 0</orientation> 5860 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5861 <CoordinateSet> 5862 <objects /> 5863 <groups /> 5864 </CoordinateSet> 5865 <!--Whether the joint transform defines parent->child or child->parent.--> 5866 <reverse>false</reverse> 5867 </WeldJoint> 5868 </Joint> 5869 <VisibleObject> 5870 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5871 <GeometrySet> 5872 <objects> 5873 <DisplayGeometry> 5874 <!--Name of geometry file .vtp, .stl, .obj--> 5875 <geometry_file>4distph_l.vtp</geometry_file> 5876 <!--Color used to display the geometry when visible--> 5877 <color> 1 1 1</color> 5878 <!--Name of texture file .jpg, .bmp--> 5879 <texture_file /> 5880 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5881 <transform> -0 0 -0 0 0 0</transform> 5882 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5883 <scale_factors> 1 1 1</scale_factors> 5884 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5885 <display_preference>4</display_preference> 5886 <!--Display opacity between 0.0 and 1.0--> 5887 <opacity>1</opacity> 5888 </DisplayGeometry> 5889 </objects> 5890 <groups /> 5891 </GeometrySet> 5892 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5893 <scale_factors> 1 1 1</scale_factors> 5894 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5895 <transform> -0 0 -0 0 0 0</transform> 5896 <!--Whether to show a coordinate frame--> 5897 <show_axes>false</show_axes> 5898 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5899 <display_preference>4</display_preference> 5900 </VisibleObject> 5901 <WrapObjectSet> 5902 <objects /> 5903 <groups /> 5904 </WrapObjectSet> 5905 </Body> 5906 <Body name="5proxph_l"> 5907 <mass>0</mass> 5908 <mass_center> 0 0 0</mass_center> 5909 <inertia_xx>0</inertia_xx> 5910 <inertia_yy>0</inertia_yy> 5911 <inertia_zz>0</inertia_zz> 5912 <inertia_xy>0</inertia_xy> 5913 <inertia_xz>0</inertia_xz> 5914 <inertia_yz>0</inertia_yz> 5915 <!--Joint that connects this body with the parent body.--> 5916 <Joint> 5917 <WeldJoint name="5MCP_l"> 5918 <!--Name of the parent body to which this joint connects its owner body.--> 5919 <parent_body>fifthmc_l</parent_body> 5920 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5921 <location_in_parent>-0.001597 -0.021431 0.001496</location_in_parent> 5922 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5923 <orientation_in_parent>0 0 0</orientation_in_parent> 5924 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5925 <location>0 0 0</location> 5926 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5927 <orientation>0 0 0</orientation> 5928 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5929 <CoordinateSet> 5930 <objects /> 5931 <groups /> 5932 </CoordinateSet> 5933 <!--Whether the joint transform defines parent->child or child->parent.--> 5934 <reverse>false</reverse> 5935 </WeldJoint> 5936 </Joint> 5937 <VisibleObject> 5938 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 5939 <GeometrySet> 5940 <objects> 5941 <DisplayGeometry> 5942 <!--Name of geometry file .vtp, .stl, .obj--> 5943 <geometry_file>5proxph_l.vtp</geometry_file> 5944 <!--Color used to display the geometry when visible--> 5945 <color> 1 1 1</color> 5946 <!--Name of texture file .jpg, .bmp--> 5947 <texture_file /> 5948 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5949 <transform> -0 0 -0 0 0 0</transform> 5950 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5951 <scale_factors> 1 1 1</scale_factors> 5952 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 5953 <display_preference>4</display_preference> 5954 <!--Display opacity between 0.0 and 1.0--> 5955 <opacity>1</opacity> 5956 </DisplayGeometry> 5957 </objects> 5958 <groups /> 5959 </GeometrySet> 5960 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 5961 <scale_factors> 1 1 1</scale_factors> 5962 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 5963 <transform> -0 0 -0 0 0 0</transform> 5964 <!--Whether to show a coordinate frame--> 5965 <show_axes>false</show_axes> 5966 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 5967 <display_preference>4</display_preference> 5968 </VisibleObject> 5969 <WrapObjectSet> 5970 <objects /> 5971 <groups /> 5972 </WrapObjectSet> 5973 </Body> 5974 <Body name="5midph_l"> 5975 <mass>0</mass> 5976 <mass_center> 0 0 0</mass_center> 5977 <inertia_xx>0</inertia_xx> 5978 <inertia_yy>0</inertia_yy> 5979 <inertia_zz>0</inertia_zz> 5980 <inertia_xy>0</inertia_xy> 5981 <inertia_xz>0</inertia_xz> 5982 <inertia_yz>0</inertia_yz> 5983 <!--Joint that connects this body with the parent body.--> 5984 <Joint> 5985 <WeldJoint name="5prox-midph_l"> 5986 <!--Name of the parent body to which this joint connects its owner body.--> 5987 <parent_body>5proxph_l</parent_body> 5988 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 5989 <location_in_parent>-0.005279 -0.035563 0.002879</location_in_parent> 5990 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 5991 <orientation_in_parent>0 0 0</orientation_in_parent> 5992 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 5993 <location>0 0 0</location> 5994 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 5995 <orientation>0 0 0</orientation> 5996 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 5997 <CoordinateSet> 5998 <objects /> 5999 <groups /> 6000 </CoordinateSet> 6001 <!--Whether the joint transform defines parent->child or child->parent.--> 6002 <reverse>false</reverse> 6003 </WeldJoint> 6004 </Joint> 6005 <VisibleObject> 6006 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6007 <GeometrySet> 6008 <objects> 6009 <DisplayGeometry> 6010 <!--Name of geometry file .vtp, .stl, .obj--> 6011 <geometry_file>5midph_l.vtp</geometry_file> 6012 <!--Color used to display the geometry when visible--> 6013 <color> 1 1 1</color> 6014 <!--Name of texture file .jpg, .bmp--> 6015 <texture_file /> 6016 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6017 <transform> -0 0 -0 0 0 0</transform> 6018 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6019 <scale_factors> 1 1 1</scale_factors> 6020 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 6021 <display_preference>4</display_preference> 6022 <!--Display opacity between 0.0 and 1.0--> 6023 <opacity>1</opacity> 6024 </DisplayGeometry> 6025 </objects> 6026 <groups /> 6027 </GeometrySet> 6028 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6029 <scale_factors> 1 1 1</scale_factors> 6030 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6031 <transform> -0 0 -0 0 0 0</transform> 6032 <!--Whether to show a coordinate frame--> 6033 <show_axes>false</show_axes> 6034 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6035 <display_preference>4</display_preference> 6036 </VisibleObject> 6037 <WrapObjectSet> 6038 <objects /> 6039 <groups /> 6040 </WrapObjectSet> 6041 </Body> 6042 <Body name="5distph_l"> 6043 <mass>0</mass> 6044 <mass_center> 0 0 0</mass_center> 6045 <inertia_xx>0</inertia_xx> 6046 <inertia_yy>0</inertia_yy> 6047 <inertia_zz>0</inertia_zz> 6048 <inertia_xy>0</inertia_xy> 6049 <inertia_xz>0</inertia_xz> 6050 <inertia_yz>0</inertia_yz> 6051 <!--Joint that connects this body with the parent body.--> 6052 <Joint> 6053 <WeldJoint name="5mid-distph_l"> 6054 <!--Name of the parent body to which this joint connects its owner body.--> 6055 <parent_body>5midph_l</parent_body> 6056 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 6057 <location_in_parent>-0.002871 -0.020677 0.002243</location_in_parent> 6058 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 6059 <orientation_in_parent>0 0 0</orientation_in_parent> 6060 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 6061 <location>0 0 0</location> 6062 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 6063 <orientation>0 0 0</orientation> 6064 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 6065 <CoordinateSet> 6066 <objects /> 6067 <groups /> 6068 </CoordinateSet> 6069 <!--Whether the joint transform defines parent->child or child->parent.--> 6070 <reverse>false</reverse> 6071 </WeldJoint> 6072 </Joint> 6073 <VisibleObject> 6074 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6075 <GeometrySet> 6076 <objects> 6077 <DisplayGeometry> 6078 <!--Name of geometry file .vtp, .stl, .obj--> 6079 <geometry_file>5distph_l.vtp</geometry_file> 6080 <!--Color used to display the geometry when visible--> 6081 <color> 1 1 1</color> 6082 <!--Name of texture file .jpg, .bmp--> 6083 <texture_file /> 6084 <!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6085 <transform> -0 0 -0 0 0 0</transform> 6086 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6087 <scale_factors> 1 1 1</scale_factors> 6088 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded--> 6089 <display_preference>4</display_preference> 6090 <!--Display opacity between 0.0 and 1.0--> 6091 <opacity>1</opacity> 6092 </DisplayGeometry> 6093 </objects> 6094 <groups /> 6095 </GeometrySet> 6096 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6097 <scale_factors> 1 1 1</scale_factors> 6098 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6099 <transform> -0 0 -0 0 0 0</transform> 6100 <!--Whether to show a coordinate frame--> 6101 <show_axes>false</show_axes> 6102 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6103 <display_preference>4</display_preference> 6104 </VisibleObject> 6105 <WrapObjectSet> 6106 <objects /> 6107 <groups /> 6108 </WrapObjectSet> 6109 </Body> 6110 <Body name="ForcePlateRightToe"> 6111 <mass>0</mass> 6112 <mass_center> 0 0 0</mass_center> 6113 <inertia_xx>0</inertia_xx> 6114 <inertia_yy>0</inertia_yy> 6115 <inertia_zz>0</inertia_zz> 6116 <inertia_xy>0</inertia_xy> 6117 <inertia_xz>0</inertia_xz> 6118 <inertia_yz>0</inertia_yz> 6119 <!--Joint that connects this body with the parent body.--> 6120 <Joint> 6121 <WeldJoint name="toe_forceSensor_r"> 6122 <!--Name of the parent body to which this joint connects its owner body.--> 6123 <parent_body>toes_r</parent_body> 6124 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 6125 <location_in_parent>0.075 0 -0.015</location_in_parent> 6126 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 6127 <orientation_in_parent>0 0 0</orientation_in_parent> 6128 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 6129 <location>0 0 0</location> 6130 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 6131 <orientation>0 0 0</orientation> 6132 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 6133 <CoordinateSet> 6134 <objects /> 6135 <groups /> 6136 </CoordinateSet> 6137 <!--Whether the joint transform defines parent->child or child->parent.--> 6138 <reverse>false</reverse> 6139 </WeldJoint> 6140 </Joint> 6141 <VisibleObject> 6142 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6143 <GeometrySet> 6144 <objects /> 6145 <groups /> 6146 </GeometrySet> 6147 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6148 <scale_factors> 1 1 1</scale_factors> 6149 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6150 <transform> -0 0 -0 0 0 0</transform> 6151 <!--Whether to show a coordinate frame--> 6152 <show_axes>false</show_axes> 6153 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6154 <display_preference>4</display_preference> 6155 </VisibleObject> 6156 <WrapObjectSet> 6157 <objects /> 6158 <groups /> 6159 </WrapObjectSet> 6160 </Body> 6161 <Body name="ForcePlateLeftToe"> 6162 <mass>0</mass> 6163 <mass_center> 0 0 0</mass_center> 6164 <inertia_xx>0</inertia_xx> 6165 <inertia_yy>0</inertia_yy> 6166 <inertia_zz>0</inertia_zz> 6167 <inertia_xy>0</inertia_xy> 6168 <inertia_xz>0</inertia_xz> 6169 <inertia_yz>0</inertia_yz> 6170 <!--Joint that connects this body with the parent body.--> 6171 <Joint> 6172 <WeldJoint name="toe_forceSensor_l"> 6173 <!--Name of the parent body to which this joint connects its owner body.--> 6174 <parent_body>toes_l</parent_body> 6175 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 6176 <location_in_parent>0.075 0 0.015</location_in_parent> 6177 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 6178 <orientation_in_parent>0 0 0</orientation_in_parent> 6179 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 6180 <location>0 0 0</location> 6181 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 6182 <orientation>0 0 0</orientation> 6183 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 6184 <CoordinateSet> 6185 <objects /> 6186 <groups /> 6187 </CoordinateSet> 6188 <!--Whether the joint transform defines parent->child or child->parent.--> 6189 <reverse>false</reverse> 6190 </WeldJoint> 6191 </Joint> 6192 <VisibleObject> 6193 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6194 <GeometrySet> 6195 <objects /> 6196 <groups /> 6197 </GeometrySet> 6198 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6199 <scale_factors> 1 1 1</scale_factors> 6200 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6201 <transform> -0 0 -0 0 0 0</transform> 6202 <!--Whether to show a coordinate frame--> 6203 <show_axes>false</show_axes> 6204 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6205 <display_preference>4</display_preference> 6206 </VisibleObject> 6207 <WrapObjectSet> 6208 <objects /> 6209 <groups /> 6210 </WrapObjectSet> 6211 </Body> 6212 <Body name="ForcePlateRightHand"> 6213 <mass>0</mass> 6214 <mass_center> 0 0 0</mass_center> 6215 <inertia_xx>0</inertia_xx> 6216 <inertia_yy>0</inertia_yy> 6217 <inertia_zz>0</inertia_zz> 6218 <inertia_xy>0</inertia_xy> 6219 <inertia_xz>0</inertia_xz> 6220 <inertia_yz>0</inertia_yz> 6221 <!--Joint that connects this body with the parent body.--> 6222 <Joint> 6223 <WeldJoint name="hand_forceSensor_r"> 6224 <!--Name of the parent body to which this joint connects its owner body.--> 6225 <parent_body>lunate_r</parent_body> 6226 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 6227 <location_in_parent>0 -0.05 -0.01</location_in_parent> 6228 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 6229 <orientation_in_parent>0 0 0</orientation_in_parent> 6230 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 6231 <location>0 0 0</location> 6232 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 6233 <orientation>0 0 0</orientation> 6234 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 6235 <CoordinateSet> 6236 <objects /> 6237 <groups /> 6238 </CoordinateSet> 6239 <!--Whether the joint transform defines parent->child or child->parent.--> 6240 <reverse>false</reverse> 6241 </WeldJoint> 6242 </Joint> 6243 <VisibleObject> 6244 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6245 <GeometrySet> 6246 <objects /> 6247 <groups /> 6248 </GeometrySet> 6249 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6250 <scale_factors> 1 1 1</scale_factors> 6251 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6252 <transform> -0 0 -0 0 0 0</transform> 6253 <!--Whether to show a coordinate frame--> 6254 <show_axes>false</show_axes> 6255 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6256 <display_preference>4</display_preference> 6257 </VisibleObject> 6258 <WrapObjectSet> 6259 <objects /> 6260 <groups /> 6261 </WrapObjectSet> 6262 </Body> 6263 <Body name="ForcePlateLeftHand"> 6264 <mass>0</mass> 6265 <mass_center> 0 0 0</mass_center> 6266 <inertia_xx>0</inertia_xx> 6267 <inertia_yy>0</inertia_yy> 6268 <inertia_zz>0</inertia_zz> 6269 <inertia_xy>0</inertia_xy> 6270 <inertia_xz>0</inertia_xz> 6271 <inertia_yz>0</inertia_yz> 6272 <!--Joint that connects this body with the parent body.--> 6273 <Joint> 6274 <WeldJoint name="hand_forceSensor_l"> 6275 <!--Name of the parent body to which this joint connects its owner body.--> 6276 <parent_body>lunate_l</parent_body> 6277 <!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).--> 6278 <location_in_parent>0 -0.05 0.01</location_in_parent> 6279 <!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).--> 6280 <orientation_in_parent>0 0 0</orientation_in_parent> 6281 <!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). --> 6282 <location>0 0 0</location> 6283 <!--Orientation of the joint in the owing body specified in the owning body reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. --> 6284 <orientation>0 0 0</orientation> 6285 <!--Set holding the generalized coordinates (q's) that parmeterize this joint.--> 6286 <CoordinateSet> 6287 <objects /> 6288 <groups /> 6289 </CoordinateSet> 6290 <!--Whether the joint transform defines parent->child or child->parent.--> 6291 <reverse>false</reverse> 6292 </WeldJoint> 6293 </Joint> 6294 <VisibleObject> 6295 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6296 <GeometrySet> 6297 <objects /> 6298 <groups /> 6299 </GeometrySet> 6300 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6301 <scale_factors> 1 1 1</scale_factors> 6302 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6303 <transform> -0 0 -0 0 0 0</transform> 6304 <!--Whether to show a coordinate frame--> 6305 <show_axes>false</show_axes> 6306 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6307 <display_preference>4</display_preference> 6308 </VisibleObject> 6309 <WrapObjectSet> 6310 <objects /> 6311 <groups /> 6312 </WrapObjectSet> 6313 </Body> 6314 </objects> 6315 <groups /> 6316 </BodySet> 6317 <!--Constraints in the model.--> 6318 <ConstraintSet> 6319 <objects> 6320 <PointConstraint name="rightToeOnGround"> 6321 <isDisabled>false</isDisabled> 6322 <body_1>ForcePlateRightToe</body_1> 6323 <body_2>ground</body_2> 6324 <location_body_1> 0 0 0</location_body_1> 6325 <location_body_2> -0.180233 0 0.0775</location_body_2> 6326 </PointConstraint> 6327 <PointConstraint name="leftToeOnGround"> 6328 <isDisabled>false</isDisabled> 6329 <body_1>ForcePlateLeftToe</body_1> 6330 <body_2>ground</body_2> 6331 <location_body_1> 0 0 0</location_body_1> 6332 <location_body_2> -0.180233 0 -0.0775</location_body_2> 6333 </PointConstraint> 6334 <PointConstraint name="rightHandOnGround"> 6335 <isDisabled>false</isDisabled> 6336 <body_1>ForcePlateRightHand</body_1> 6337 <body_2>ground</body_2> 6338 <location_body_1> 0 0 0</location_body_1> 6339 <location_body_2> 1.22072 0 0.195202</location_body_2> 6340 </PointConstraint> 6341 <PointConstraint name="leftHandOnGround"> 6342 <isDisabled>false</isDisabled> 6343 <body_1>ForcePlateLeftHand</body_1> 6344 <body_2>ground</body_2> 6345 <location_body_1> 0 0 0</location_body_1> 6346 <location_body_2> 1.22072 0 -0.195202</location_body_2> 6347 </PointConstraint> 6348 </objects> 6349 <groups /> 6350 </ConstraintSet> 6351 <!--Forces in the model.--> 6352 <ForceSet> 6353 <objects> 6354 <Thelen2003Muscle name="glut_med1_r"> 6355 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6356 <isDisabled>false</isDisabled> 6357 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6358 <min_control>0</min_control> 6359 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6360 <max_control>1</max_control> 6361 <!--The set of points defining the path of the muscle.--> 6362 <GeometryPath> 6363 <PathPointSet> 6364 <objects> 6365 <PathPoint name="glut_med1_r-P1"> 6366 <location> -0.0408 0.0304 0.1209</location> 6367 <body>pelvis</body> 6368 </PathPoint> 6369 <PathPoint name="glut_med1_r-P2"> 6370 <location> -0.0218 -0.0117 0.0555</location> 6371 <body>femur_r</body> 6372 </PathPoint> 6373 </objects> 6374 <groups /> 6375 </PathPointSet> 6376 <VisibleObject> 6377 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6378 <GeometrySet> 6379 <objects /> 6380 <groups /> 6381 </GeometrySet> 6382 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6383 <scale_factors> 1 1 1</scale_factors> 6384 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6385 <transform> -0 0 -0 0 0 0</transform> 6386 <!--Whether to show a coordinate frame--> 6387 <show_axes>false</show_axes> 6388 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6389 <display_preference>4</display_preference> 6390 </VisibleObject> 6391 <PathWrapSet> 6392 <objects /> 6393 <groups /> 6394 </PathWrapSet> 6395 </GeometryPath> 6396 <!--The maximum force this actuator can produce.--> 6397 <optimal_force>1</optimal_force> 6398 <!--Maximum isometric force that the fibers can generate--> 6399 <max_isometric_force>1119</max_isometric_force> 6400 <!--Optimal length of the muscle fibers--> 6401 <optimal_fiber_length>0.0535</optimal_fiber_length> 6402 <!--Resting length of the tendon--> 6403 <tendon_slack_length>0.078</tendon_slack_length> 6404 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6405 <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> 6406 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6407 <max_contraction_velocity>10</max_contraction_velocity> 6408 <!--time constant for ramping up muscle activation--> 6409 <activation_time_constant>0.01</activation_time_constant> 6410 <!--time constant for ramping down of muscle activation--> 6411 <deactivation_time_constant>0.04</deactivation_time_constant> 6412 <!--tendon strain at maximum isometric muscle force--> 6413 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6414 <!--passive muscle strain at maximum isometric muscle force--> 6415 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6416 <!--shape factor for Gaussian active muscle force-length relationship--> 6417 <KshapeActive>0.5</KshapeActive> 6418 <!--exponential shape factor for passive force-length relationship--> 6419 <KshapePassive>4</KshapePassive> 6420 <!--force-velocity shape factor--> 6421 <Af>0.3</Af> 6422 <!--maximum normalized lengthening force--> 6423 <Flen>1.8</Flen> 6424 </Thelen2003Muscle> 6425 <Thelen2003Muscle name="glut_med2_r"> 6426 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6427 <isDisabled>false</isDisabled> 6428 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6429 <min_control>0</min_control> 6430 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6431 <max_control>1</max_control> 6432 <!--The set of points defining the path of the muscle.--> 6433 <GeometryPath> 6434 <PathPointSet> 6435 <objects> 6436 <PathPoint name="glut_med2_r-P1"> 6437 <location> -0.0855 0.0445 0.0766</location> 6438 <body>pelvis</body> 6439 </PathPoint> 6440 <PathPoint name="glut_med2_r-P2"> 6441 <location> -0.0258 -0.0058 0.0527</location> 6442 <body>femur_r</body> 6443 </PathPoint> 6444 </objects> 6445 <groups /> 6446 </PathPointSet> 6447 <VisibleObject> 6448 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6449 <GeometrySet> 6450 <objects /> 6451 <groups /> 6452 </GeometrySet> 6453 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6454 <scale_factors> 1 1 1</scale_factors> 6455 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6456 <transform> -0 0 -0 0 0 0</transform> 6457 <!--Whether to show a coordinate frame--> 6458 <show_axes>false</show_axes> 6459 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6460 <display_preference>4</display_preference> 6461 </VisibleObject> 6462 <PathWrapSet> 6463 <objects /> 6464 <groups /> 6465 </PathWrapSet> 6466 </GeometryPath> 6467 <!--The maximum force this actuator can produce.--> 6468 <optimal_force>1</optimal_force> 6469 <!--Maximum isometric force that the fibers can generate--> 6470 <max_isometric_force>873</max_isometric_force> 6471 <!--Optimal length of the muscle fibers--> 6472 <optimal_fiber_length>0.0845</optimal_fiber_length> 6473 <!--Resting length of the tendon--> 6474 <tendon_slack_length>0.053</tendon_slack_length> 6475 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6476 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 6477 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6478 <max_contraction_velocity>10</max_contraction_velocity> 6479 <!--time constant for ramping up muscle activation--> 6480 <activation_time_constant>0.01</activation_time_constant> 6481 <!--time constant for ramping down of muscle activation--> 6482 <deactivation_time_constant>0.04</deactivation_time_constant> 6483 <!--tendon strain at maximum isometric muscle force--> 6484 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6485 <!--passive muscle strain at maximum isometric muscle force--> 6486 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6487 <!--shape factor for Gaussian active muscle force-length relationship--> 6488 <KshapeActive>0.5</KshapeActive> 6489 <!--exponential shape factor for passive force-length relationship--> 6490 <KshapePassive>4</KshapePassive> 6491 <!--force-velocity shape factor--> 6492 <Af>0.3</Af> 6493 <!--maximum normalized lengthening force--> 6494 <Flen>1.8</Flen> 6495 </Thelen2003Muscle> 6496 <Thelen2003Muscle name="glut_med3_r"> 6497 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6498 <isDisabled>false</isDisabled> 6499 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6500 <min_control>0</min_control> 6501 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6502 <max_control>1</max_control> 6503 <!--The set of points defining the path of the muscle.--> 6504 <GeometryPath> 6505 <PathPointSet> 6506 <objects> 6507 <PathPoint name="glut_med3_r-P1"> 6508 <location> -0.1223 0.0105 0.0648</location> 6509 <body>pelvis</body> 6510 </PathPoint> 6511 <PathPoint name="glut_med3_r-P2"> 6512 <location> -0.0309 -0.0047 0.0518</location> 6513 <body>femur_r</body> 6514 </PathPoint> 6515 </objects> 6516 <groups /> 6517 </PathPointSet> 6518 <VisibleObject> 6519 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6520 <GeometrySet> 6521 <objects /> 6522 <groups /> 6523 </GeometrySet> 6524 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6525 <scale_factors> 1 1 1</scale_factors> 6526 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6527 <transform> -0 0 -0 0 0 0</transform> 6528 <!--Whether to show a coordinate frame--> 6529 <show_axes>false</show_axes> 6530 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6531 <display_preference>4</display_preference> 6532 </VisibleObject> 6533 <PathWrapSet> 6534 <objects /> 6535 <groups /> 6536 </PathWrapSet> 6537 </GeometryPath> 6538 <!--The maximum force this actuator can produce.--> 6539 <optimal_force>1</optimal_force> 6540 <!--Maximum isometric force that the fibers can generate--> 6541 <max_isometric_force>1000</max_isometric_force> 6542 <!--Optimal length of the muscle fibers--> 6543 <optimal_fiber_length>0.0646</optimal_fiber_length> 6544 <!--Resting length of the tendon--> 6545 <tendon_slack_length>0.053</tendon_slack_length> 6546 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6547 <pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal> 6548 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6549 <max_contraction_velocity>10</max_contraction_velocity> 6550 <!--time constant for ramping up muscle activation--> 6551 <activation_time_constant>0.01</activation_time_constant> 6552 <!--time constant for ramping down of muscle activation--> 6553 <deactivation_time_constant>0.04</deactivation_time_constant> 6554 <!--tendon strain at maximum isometric muscle force--> 6555 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6556 <!--passive muscle strain at maximum isometric muscle force--> 6557 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6558 <!--shape factor for Gaussian active muscle force-length relationship--> 6559 <KshapeActive>0.5</KshapeActive> 6560 <!--exponential shape factor for passive force-length relationship--> 6561 <KshapePassive>4</KshapePassive> 6562 <!--force-velocity shape factor--> 6563 <Af>0.3</Af> 6564 <!--maximum normalized lengthening force--> 6565 <Flen>1.8</Flen> 6566 </Thelen2003Muscle> 6567 <Thelen2003Muscle name="bifemlh_r"> 6568 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6569 <isDisabled>false</isDisabled> 6570 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6571 <min_control>0</min_control> 6572 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6573 <max_control>1</max_control> 6574 <!--The set of points defining the path of the muscle.--> 6575 <GeometryPath> 6576 <PathPointSet> 6577 <objects> 6578 <PathPoint name="bifemlh_r-P1"> 6579 <location> -0.12596 -0.10257 0.06944</location> 6580 <body>pelvis</body> 6581 </PathPoint> 6582 <PathPoint name="bifemlh_r-P2"> 6583 <location> -0.0301 -0.036 0.02943</location> 6584 <body>tibia_r</body> 6585 </PathPoint> 6586 <PathPoint name="bifemlh_r-P3"> 6587 <location> -0.0234 -0.0563 0.0343</location> 6588 <body>tibia_r</body> 6589 </PathPoint> 6590 </objects> 6591 <groups /> 6592 </PathPointSet> 6593 <VisibleObject> 6594 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6595 <GeometrySet> 6596 <objects /> 6597 <groups /> 6598 </GeometrySet> 6599 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6600 <scale_factors> 1 1 1</scale_factors> 6601 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6602 <transform> -0 0 -0 0 0 0</transform> 6603 <!--Whether to show a coordinate frame--> 6604 <show_axes>false</show_axes> 6605 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6606 <display_preference>4</display_preference> 6607 </VisibleObject> 6608 <PathWrapSet> 6609 <objects /> 6610 <groups /> 6611 </PathWrapSet> 6612 </GeometryPath> 6613 <!--The maximum force this actuator can produce.--> 6614 <optimal_force>1</optimal_force> 6615 <!--Maximum isometric force that the fibers can generate--> 6616 <max_isometric_force>2700</max_isometric_force> 6617 <!--Optimal length of the muscle fibers--> 6618 <optimal_fiber_length>0.109</optimal_fiber_length> 6619 <!--Resting length of the tendon--> 6620 <tendon_slack_length>0.326</tendon_slack_length> 6621 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6622 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 6623 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6624 <max_contraction_velocity>10</max_contraction_velocity> 6625 <!--time constant for ramping up muscle activation--> 6626 <activation_time_constant>0.01</activation_time_constant> 6627 <!--time constant for ramping down of muscle activation--> 6628 <deactivation_time_constant>0.04</deactivation_time_constant> 6629 <!--tendon strain at maximum isometric muscle force--> 6630 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6631 <!--passive muscle strain at maximum isometric muscle force--> 6632 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6633 <!--shape factor for Gaussian active muscle force-length relationship--> 6634 <KshapeActive>0.5</KshapeActive> 6635 <!--exponential shape factor for passive force-length relationship--> 6636 <KshapePassive>4</KshapePassive> 6637 <!--force-velocity shape factor--> 6638 <Af>0.3</Af> 6639 <!--maximum normalized lengthening force--> 6640 <Flen>1.8</Flen> 6641 </Thelen2003Muscle> 6642 <Thelen2003Muscle name="bifemsh_r"> 6643 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6644 <isDisabled>false</isDisabled> 6645 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6646 <min_control>0</min_control> 6647 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6648 <max_control>1</max_control> 6649 <!--The set of points defining the path of the muscle.--> 6650 <GeometryPath> 6651 <PathPointSet> 6652 <objects> 6653 <PathPoint name="bifemsh_r-P1"> 6654 <location> 0.005 -0.2111 0.0234</location> 6655 <body>femur_r</body> 6656 </PathPoint> 6657 <PathPoint name="bifemsh_r-P2"> 6658 <location> -0.0301 -0.036 0.02943</location> 6659 <body>tibia_r</body> 6660 </PathPoint> 6661 <PathPoint name="bifemsh_r-P3"> 6662 <location> -0.0234 -0.0563 0.0343</location> 6663 <body>tibia_r</body> 6664 </PathPoint> 6665 </objects> 6666 <groups /> 6667 </PathPointSet> 6668 <VisibleObject> 6669 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6670 <GeometrySet> 6671 <objects /> 6672 <groups /> 6673 </GeometrySet> 6674 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6675 <scale_factors> 1 1 1</scale_factors> 6676 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6677 <transform> -0 0 -0 0 0 0</transform> 6678 <!--Whether to show a coordinate frame--> 6679 <show_axes>false</show_axes> 6680 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6681 <display_preference>4</display_preference> 6682 </VisibleObject> 6683 <PathWrapSet> 6684 <objects /> 6685 <groups /> 6686 </PathWrapSet> 6687 </GeometryPath> 6688 <!--The maximum force this actuator can produce.--> 6689 <optimal_force>1</optimal_force> 6690 <!--Maximum isometric force that the fibers can generate--> 6691 <max_isometric_force>804</max_isometric_force> 6692 <!--Optimal length of the muscle fibers--> 6693 <optimal_fiber_length>0.173</optimal_fiber_length> 6694 <!--Resting length of the tendon--> 6695 <tendon_slack_length>0.089</tendon_slack_length> 6696 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6697 <pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal> 6698 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6699 <max_contraction_velocity>10</max_contraction_velocity> 6700 <!--time constant for ramping up muscle activation--> 6701 <activation_time_constant>0.01</activation_time_constant> 6702 <!--time constant for ramping down of muscle activation--> 6703 <deactivation_time_constant>0.04</deactivation_time_constant> 6704 <!--tendon strain at maximum isometric muscle force--> 6705 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6706 <!--passive muscle strain at maximum isometric muscle force--> 6707 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6708 <!--shape factor for Gaussian active muscle force-length relationship--> 6709 <KshapeActive>0.5</KshapeActive> 6710 <!--exponential shape factor for passive force-length relationship--> 6711 <KshapePassive>4</KshapePassive> 6712 <!--force-velocity shape factor--> 6713 <Af>0.3</Af> 6714 <!--maximum normalized lengthening force--> 6715 <Flen>1.8</Flen> 6716 </Thelen2003Muscle> 6717 <Thelen2003Muscle name="sar_r"> 6718 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6719 <isDisabled>false</isDisabled> 6720 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6721 <min_control>0</min_control> 6722 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6723 <max_control>1</max_control> 6724 <!--The set of points defining the path of the muscle.--> 6725 <GeometryPath> 6726 <PathPointSet> 6727 <objects> 6728 <PathPoint name="sar_r-P1"> 6729 <location> -0.0153 -0.0013 0.1242</location> 6730 <body>pelvis</body> 6731 </PathPoint> 6732 <PathPoint name="sar_r-P2"> 6733 <location> -0.003 -0.3568 -0.0421</location> 6734 <body>femur_r</body> 6735 </PathPoint> 6736 <PathPoint name="sar_r-P3"> 6737 <location> -0.0056 -0.0419 -0.0399</location> 6738 <body>tibia_r</body> 6739 </PathPoint> 6740 <PathPoint name="sar_r-P4"> 6741 <location> 0.006 -0.0589 -0.0383</location> 6742 <body>tibia_r</body> 6743 </PathPoint> 6744 <PathPoint name="sar_r-P5"> 6745 <location> 0.0243 -0.084 -0.0252</location> 6746 <body>tibia_r</body> 6747 </PathPoint> 6748 </objects> 6749 <groups /> 6750 </PathPointSet> 6751 <VisibleObject> 6752 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6753 <GeometrySet> 6754 <objects /> 6755 <groups /> 6756 </GeometrySet> 6757 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6758 <scale_factors> 1 1 1</scale_factors> 6759 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6760 <transform> -0 0 -0 0 0 0</transform> 6761 <!--Whether to show a coordinate frame--> 6762 <show_axes>false</show_axes> 6763 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6764 <display_preference>4</display_preference> 6765 </VisibleObject> 6766 <PathWrapSet> 6767 <objects /> 6768 <groups /> 6769 </PathWrapSet> 6770 </GeometryPath> 6771 <!--The maximum force this actuator can produce.--> 6772 <optimal_force>1</optimal_force> 6773 <!--Maximum isometric force that the fibers can generate--> 6774 <max_isometric_force>156</max_isometric_force> 6775 <!--Optimal length of the muscle fibers--> 6776 <optimal_fiber_length>0.52</optimal_fiber_length> 6777 <!--Resting length of the tendon--> 6778 <tendon_slack_length>0.1</tendon_slack_length> 6779 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6780 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 6781 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6782 <max_contraction_velocity>10</max_contraction_velocity> 6783 <!--time constant for ramping up muscle activation--> 6784 <activation_time_constant>0.01</activation_time_constant> 6785 <!--time constant for ramping down of muscle activation--> 6786 <deactivation_time_constant>0.04</deactivation_time_constant> 6787 <!--tendon strain at maximum isometric muscle force--> 6788 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6789 <!--passive muscle strain at maximum isometric muscle force--> 6790 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6791 <!--shape factor for Gaussian active muscle force-length relationship--> 6792 <KshapeActive>0.5</KshapeActive> 6793 <!--exponential shape factor for passive force-length relationship--> 6794 <KshapePassive>4</KshapePassive> 6795 <!--force-velocity shape factor--> 6796 <Af>0.3</Af> 6797 <!--maximum normalized lengthening force--> 6798 <Flen>1.8</Flen> 6799 </Thelen2003Muscle> 6800 <Thelen2003Muscle name="add_mag2_r"> 6801 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6802 <isDisabled>false</isDisabled> 6803 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6804 <min_control>0</min_control> 6805 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6806 <max_control>1</max_control> 6807 <!--The set of points defining the path of the muscle.--> 6808 <GeometryPath> 6809 <PathPointSet> 6810 <objects> 6811 <PathPoint name="add_mag2_r-P1"> 6812 <location> -0.0831 -0.1192 0.0308</location> 6813 <body>pelvis</body> 6814 </PathPoint> 6815 <PathPoint name="add_mag2_r-P2"> 6816 <location> 0.0054 -0.2285 0.0227</location> 6817 <body>femur_r</body> 6818 </PathPoint> 6819 </objects> 6820 <groups /> 6821 </PathPointSet> 6822 <VisibleObject> 6823 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6824 <GeometrySet> 6825 <objects /> 6826 <groups /> 6827 </GeometrySet> 6828 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6829 <scale_factors> 1 1 1</scale_factors> 6830 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6831 <transform> -0 0 -0 0 0 0</transform> 6832 <!--Whether to show a coordinate frame--> 6833 <show_axes>false</show_axes> 6834 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6835 <display_preference>4</display_preference> 6836 </VisibleObject> 6837 <PathWrapSet> 6838 <objects /> 6839 <groups /> 6840 </PathWrapSet> 6841 </GeometryPath> 6842 <!--The maximum force this actuator can produce.--> 6843 <optimal_force>1</optimal_force> 6844 <!--Maximum isometric force that the fibers can generate--> 6845 <max_isometric_force>2343</max_isometric_force> 6846 <!--Optimal length of the muscle fibers--> 6847 <optimal_fiber_length>0.121</optimal_fiber_length> 6848 <!--Resting length of the tendon--> 6849 <tendon_slack_length>0.12</tendon_slack_length> 6850 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6851 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 6852 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6853 <max_contraction_velocity>10</max_contraction_velocity> 6854 <!--time constant for ramping up muscle activation--> 6855 <activation_time_constant>0.01</activation_time_constant> 6856 <!--time constant for ramping down of muscle activation--> 6857 <deactivation_time_constant>0.04</deactivation_time_constant> 6858 <!--tendon strain at maximum isometric muscle force--> 6859 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6860 <!--passive muscle strain at maximum isometric muscle force--> 6861 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6862 <!--shape factor for Gaussian active muscle force-length relationship--> 6863 <KshapeActive>0.5</KshapeActive> 6864 <!--exponential shape factor for passive force-length relationship--> 6865 <KshapePassive>4</KshapePassive> 6866 <!--force-velocity shape factor--> 6867 <Af>0.3</Af> 6868 <!--maximum normalized lengthening force--> 6869 <Flen>1.8</Flen> 6870 </Thelen2003Muscle> 6871 <Thelen2003Muscle name="tfl_r"> 6872 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6873 <isDisabled>false</isDisabled> 6874 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6875 <min_control>0</min_control> 6876 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6877 <max_control>1</max_control> 6878 <!--The set of points defining the path of the muscle.--> 6879 <GeometryPath> 6880 <PathPointSet> 6881 <objects> 6882 <PathPoint name="tfl_r-P1"> 6883 <location> -0.0311 0.0214 0.1241</location> 6884 <body>pelvis</body> 6885 </PathPoint> 6886 <PathPoint name="tfl_r-P2"> 6887 <location> 0.0294 -0.0995 0.0597</location> 6888 <body>femur_r</body> 6889 </PathPoint> 6890 <PathPoint name="tfl_r-P3"> 6891 <location> 0.0054 -0.4049 0.0357</location> 6892 <body>femur_r</body> 6893 </PathPoint> 6894 <PathPoint name="tfl_r-P4"> 6895 <location> 0.006 -0.0487 0.0297</location> 6896 <body>tibia_r</body> 6897 </PathPoint> 6898 </objects> 6899 <groups /> 6900 </PathPointSet> 6901 <VisibleObject> 6902 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6903 <GeometrySet> 6904 <objects /> 6905 <groups /> 6906 </GeometrySet> 6907 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6908 <scale_factors> 1 1 1</scale_factors> 6909 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6910 <transform> -0 0 -0 0 0 0</transform> 6911 <!--Whether to show a coordinate frame--> 6912 <show_axes>false</show_axes> 6913 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6914 <display_preference>4</display_preference> 6915 </VisibleObject> 6916 <PathWrapSet> 6917 <objects /> 6918 <groups /> 6919 </PathWrapSet> 6920 </GeometryPath> 6921 <!--The maximum force this actuator can produce.--> 6922 <optimal_force>1</optimal_force> 6923 <!--Maximum isometric force that the fibers can generate--> 6924 <max_isometric_force>233</max_isometric_force> 6925 <!--Optimal length of the muscle fibers--> 6926 <optimal_fiber_length>0.095</optimal_fiber_length> 6927 <!--Resting length of the tendon--> 6928 <tendon_slack_length>0.425</tendon_slack_length> 6929 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 6930 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 6931 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 6932 <max_contraction_velocity>10</max_contraction_velocity> 6933 <!--time constant for ramping up muscle activation--> 6934 <activation_time_constant>0.01</activation_time_constant> 6935 <!--time constant for ramping down of muscle activation--> 6936 <deactivation_time_constant>0.04</deactivation_time_constant> 6937 <!--tendon strain at maximum isometric muscle force--> 6938 <FmaxTendonStrain>0.033</FmaxTendonStrain> 6939 <!--passive muscle strain at maximum isometric muscle force--> 6940 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 6941 <!--shape factor for Gaussian active muscle force-length relationship--> 6942 <KshapeActive>0.5</KshapeActive> 6943 <!--exponential shape factor for passive force-length relationship--> 6944 <KshapePassive>4</KshapePassive> 6945 <!--force-velocity shape factor--> 6946 <Af>0.3</Af> 6947 <!--maximum normalized lengthening force--> 6948 <Flen>1.8</Flen> 6949 </Thelen2003Muscle> 6950 <Thelen2003Muscle name="pect_r"> 6951 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 6952 <isDisabled>false</isDisabled> 6953 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 6954 <min_control>0</min_control> 6955 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 6956 <max_control>1</max_control> 6957 <!--The set of points defining the path of the muscle.--> 6958 <GeometryPath> 6959 <PathPointSet> 6960 <objects> 6961 <PathPoint name="pect_r-P1"> 6962 <location> -0.0431 -0.0768 0.0451</location> 6963 <body>pelvis</body> 6964 </PathPoint> 6965 <PathPoint name="pect_r-P2"> 6966 <location> -0.0122 -0.0822 0.0253</location> 6967 <body>femur_r</body> 6968 </PathPoint> 6969 </objects> 6970 <groups /> 6971 </PathPointSet> 6972 <VisibleObject> 6973 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 6974 <GeometrySet> 6975 <objects /> 6976 <groups /> 6977 </GeometrySet> 6978 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 6979 <scale_factors> 1 1 1</scale_factors> 6980 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 6981 <transform> -0 0 -0 0 0 0</transform> 6982 <!--Whether to show a coordinate frame--> 6983 <show_axes>false</show_axes> 6984 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 6985 <display_preference>4</display_preference> 6986 </VisibleObject> 6987 <PathWrapSet> 6988 <objects /> 6989 <groups /> 6990 </PathWrapSet> 6991 </GeometryPath> 6992 <!--The maximum force this actuator can produce.--> 6993 <optimal_force>1</optimal_force> 6994 <!--Maximum isometric force that the fibers can generate--> 6995 <max_isometric_force>266</max_isometric_force> 6996 <!--Optimal length of the muscle fibers--> 6997 <optimal_fiber_length>0.1</optimal_fiber_length> 6998 <!--Resting length of the tendon--> 6999 <tendon_slack_length>0.033</tendon_slack_length> 7000 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7001 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 7002 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7003 <max_contraction_velocity>10</max_contraction_velocity> 7004 <!--time constant for ramping up muscle activation--> 7005 <activation_time_constant>0.01</activation_time_constant> 7006 <!--time constant for ramping down of muscle activation--> 7007 <deactivation_time_constant>0.04</deactivation_time_constant> 7008 <!--tendon strain at maximum isometric muscle force--> 7009 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7010 <!--passive muscle strain at maximum isometric muscle force--> 7011 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7012 <!--shape factor for Gaussian active muscle force-length relationship--> 7013 <KshapeActive>0.5</KshapeActive> 7014 <!--exponential shape factor for passive force-length relationship--> 7015 <KshapePassive>4</KshapePassive> 7016 <!--force-velocity shape factor--> 7017 <Af>0.3</Af> 7018 <!--maximum normalized lengthening force--> 7019 <Flen>1.8</Flen> 7020 </Thelen2003Muscle> 7021 <Thelen2003Muscle name="grac_r"> 7022 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7023 <isDisabled>false</isDisabled> 7024 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7025 <min_control>0</min_control> 7026 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7027 <max_control>1</max_control> 7028 <!--The set of points defining the path of the muscle.--> 7029 <GeometryPath> 7030 <PathPointSet> 7031 <objects> 7032 <PathPoint name="grac_r-P1"> 7033 <location> -0.07401 -0.1187 0.02794</location> 7034 <body>pelvis</body> 7035 </PathPoint> 7036 <ConditionalPathPoint name="grac_r-P2"> 7037 <location> -0.02657 -0.0319 -0.03774</location> 7038 <body>tibia_r</body> 7039 <range> -0.436332 0.174533</range> 7040 <coordinate>knee_flexion_r</coordinate> 7041 </ConditionalPathPoint> 7042 <PathPoint name="grac_r-P3"> 7043 <location> -0.01943 -0.05153 -0.0358</location> 7044 <body>tibia_r</body> 7045 </PathPoint> 7046 <PathPoint name="grac_r-P4"> 7047 <location> 0.006 -0.0836 -0.0228</location> 7048 <body>tibia_r</body> 7049 </PathPoint> 7050 </objects> 7051 <groups /> 7052 </PathPointSet> 7053 <VisibleObject> 7054 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7055 <GeometrySet> 7056 <objects /> 7057 <groups /> 7058 </GeometrySet> 7059 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7060 <scale_factors> 1 1 1</scale_factors> 7061 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7062 <transform> -0 0 -0 0 0 0</transform> 7063 <!--Whether to show a coordinate frame--> 7064 <show_axes>false</show_axes> 7065 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7066 <display_preference>4</display_preference> 7067 </VisibleObject> 7068 <PathWrapSet> 7069 <objects /> 7070 <groups /> 7071 </PathWrapSet> 7072 </GeometryPath> 7073 <!--The maximum force this actuator can produce.--> 7074 <optimal_force>1</optimal_force> 7075 <!--Maximum isometric force that the fibers can generate--> 7076 <max_isometric_force>162</max_isometric_force> 7077 <!--Optimal length of the muscle fibers--> 7078 <optimal_fiber_length>0.352</optimal_fiber_length> 7079 <!--Resting length of the tendon--> 7080 <tendon_slack_length>0.126</tendon_slack_length> 7081 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7082 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 7083 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7084 <max_contraction_velocity>10</max_contraction_velocity> 7085 <!--time constant for ramping up muscle activation--> 7086 <activation_time_constant>0.01</activation_time_constant> 7087 <!--time constant for ramping down of muscle activation--> 7088 <deactivation_time_constant>0.04</deactivation_time_constant> 7089 <!--tendon strain at maximum isometric muscle force--> 7090 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7091 <!--passive muscle strain at maximum isometric muscle force--> 7092 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7093 <!--shape factor for Gaussian active muscle force-length relationship--> 7094 <KshapeActive>0.5</KshapeActive> 7095 <!--exponential shape factor for passive force-length relationship--> 7096 <KshapePassive>4</KshapePassive> 7097 <!--force-velocity shape factor--> 7098 <Af>0.3</Af> 7099 <!--maximum normalized lengthening force--> 7100 <Flen>1.8</Flen> 7101 </Thelen2003Muscle> 7102 <Thelen2003Muscle name="glut_max1_r"> 7103 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7104 <isDisabled>false</isDisabled> 7105 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7106 <min_control>0</min_control> 7107 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7108 <max_control>1</max_control> 7109 <!--The set of points defining the path of the muscle.--> 7110 <GeometryPath> 7111 <PathPointSet> 7112 <objects> 7113 <PathPoint name="glut_max1_r-P1"> 7114 <location> -0.1195 0.0612 0.07</location> 7115 <body>pelvis</body> 7116 </PathPoint> 7117 <PathPoint name="glut_max1_r-P2"> 7118 <location> -0.1291 0.0012 0.0886</location> 7119 <body>pelvis</body> 7120 </PathPoint> 7121 <PathPoint name="glut_max1_r-P3"> 7122 <location> -0.0457 -0.0248 0.0392</location> 7123 <body>femur_r</body> 7124 </PathPoint> 7125 <PathPoint name="glut_max1_r-P4"> 7126 <location> -0.0277 -0.0566 0.047</location> 7127 <body>femur_r</body> 7128 </PathPoint> 7129 </objects> 7130 <groups /> 7131 </PathPointSet> 7132 <VisibleObject> 7133 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7134 <GeometrySet> 7135 <objects /> 7136 <groups /> 7137 </GeometrySet> 7138 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7139 <scale_factors> 1 1 1</scale_factors> 7140 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7141 <transform> -0 0 -0 0 0 0</transform> 7142 <!--Whether to show a coordinate frame--> 7143 <show_axes>false</show_axes> 7144 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7145 <display_preference>4</display_preference> 7146 </VisibleObject> 7147 <PathWrapSet> 7148 <objects /> 7149 <groups /> 7150 </PathWrapSet> 7151 </GeometryPath> 7152 <!--The maximum force this actuator can produce.--> 7153 <optimal_force>1</optimal_force> 7154 <!--Maximum isometric force that the fibers can generate--> 7155 <max_isometric_force>573</max_isometric_force> 7156 <!--Optimal length of the muscle fibers--> 7157 <optimal_fiber_length>0.142</optimal_fiber_length> 7158 <!--Resting length of the tendon--> 7159 <tendon_slack_length>0.125</tendon_slack_length> 7160 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7161 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 7162 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7163 <max_contraction_velocity>10</max_contraction_velocity> 7164 <!--time constant for ramping up muscle activation--> 7165 <activation_time_constant>0.01</activation_time_constant> 7166 <!--time constant for ramping down of muscle activation--> 7167 <deactivation_time_constant>0.04</deactivation_time_constant> 7168 <!--tendon strain at maximum isometric muscle force--> 7169 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7170 <!--passive muscle strain at maximum isometric muscle force--> 7171 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7172 <!--shape factor for Gaussian active muscle force-length relationship--> 7173 <KshapeActive>0.5</KshapeActive> 7174 <!--exponential shape factor for passive force-length relationship--> 7175 <KshapePassive>4</KshapePassive> 7176 <!--force-velocity shape factor--> 7177 <Af>0.3</Af> 7178 <!--maximum normalized lengthening force--> 7179 <Flen>1.8</Flen> 7180 </Thelen2003Muscle> 7181 <Thelen2003Muscle name="glut_max2_r"> 7182 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7183 <isDisabled>false</isDisabled> 7184 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7185 <min_control>0</min_control> 7186 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7187 <max_control>1</max_control> 7188 <!--The set of points defining the path of the muscle.--> 7189 <GeometryPath> 7190 <PathPointSet> 7191 <objects> 7192 <PathPoint name="glut_max2_r-P1"> 7193 <location> -0.1349 0.0176 0.0563</location> 7194 <body>pelvis</body> 7195 </PathPoint> 7196 <PathPoint name="glut_max2_r-P2"> 7197 <location> -0.1376 -0.052 0.0914</location> 7198 <body>pelvis</body> 7199 </PathPoint> 7200 <PathPoint name="glut_max2_r-P3"> 7201 <location> -0.0426 -0.053 0.0293</location> 7202 <body>femur_r</body> 7203 </PathPoint> 7204 <PathPoint name="glut_max2_r-P4"> 7205 <location> -0.0156 -0.1016 0.0419</location> 7206 <body>femur_r</body> 7207 </PathPoint> 7208 </objects> 7209 <groups /> 7210 </PathPointSet> 7211 <VisibleObject> 7212 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7213 <GeometrySet> 7214 <objects /> 7215 <groups /> 7216 </GeometrySet> 7217 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7218 <scale_factors> 1 1 1</scale_factors> 7219 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7220 <transform> -0 0 -0 0 0 0</transform> 7221 <!--Whether to show a coordinate frame--> 7222 <show_axes>false</show_axes> 7223 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7224 <display_preference>4</display_preference> 7225 </VisibleObject> 7226 <PathWrapSet> 7227 <objects /> 7228 <groups /> 7229 </PathWrapSet> 7230 </GeometryPath> 7231 <!--The maximum force this actuator can produce.--> 7232 <optimal_force>1</optimal_force> 7233 <!--Maximum isometric force that the fibers can generate--> 7234 <max_isometric_force>819</max_isometric_force> 7235 <!--Optimal length of the muscle fibers--> 7236 <optimal_fiber_length>0.147</optimal_fiber_length> 7237 <!--Resting length of the tendon--> 7238 <tendon_slack_length>0.127</tendon_slack_length> 7239 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7240 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 7241 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7242 <max_contraction_velocity>10</max_contraction_velocity> 7243 <!--time constant for ramping up muscle activation--> 7244 <activation_time_constant>0.01</activation_time_constant> 7245 <!--time constant for ramping down of muscle activation--> 7246 <deactivation_time_constant>0.04</deactivation_time_constant> 7247 <!--tendon strain at maximum isometric muscle force--> 7248 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7249 <!--passive muscle strain at maximum isometric muscle force--> 7250 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7251 <!--shape factor for Gaussian active muscle force-length relationship--> 7252 <KshapeActive>0.5</KshapeActive> 7253 <!--exponential shape factor for passive force-length relationship--> 7254 <KshapePassive>4</KshapePassive> 7255 <!--force-velocity shape factor--> 7256 <Af>0.3</Af> 7257 <!--maximum normalized lengthening force--> 7258 <Flen>1.8</Flen> 7259 </Thelen2003Muscle> 7260 <Thelen2003Muscle name="glut_max3_r"> 7261 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7262 <isDisabled>false</isDisabled> 7263 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7264 <min_control>0</min_control> 7265 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7266 <max_control>1</max_control> 7267 <!--The set of points defining the path of the muscle.--> 7268 <GeometryPath> 7269 <PathPointSet> 7270 <objects> 7271 <PathPoint name="glut_max3_r-P1"> 7272 <location> -0.1556 -0.0314 0.0058</location> 7273 <body>pelvis</body> 7274 </PathPoint> 7275 <PathPoint name="glut_max3_r-P2"> 7276 <location> -0.1529 -0.1052 0.0403</location> 7277 <body>pelvis</body> 7278 </PathPoint> 7279 <PathPoint name="glut_max3_r-P3"> 7280 <location> -0.0299 -0.1041 0.0135</location> 7281 <body>femur_r</body> 7282 </PathPoint> 7283 <PathPoint name="glut_max3_r-P4"> 7284 <location> -0.006 -0.1419 0.0411</location> 7285 <body>femur_r</body> 7286 </PathPoint> 7287 </objects> 7288 <groups /> 7289 </PathPointSet> 7290 <VisibleObject> 7291 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7292 <GeometrySet> 7293 <objects /> 7294 <groups /> 7295 </GeometrySet> 7296 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7297 <scale_factors> 1 1 1</scale_factors> 7298 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7299 <transform> -0 0 -0 0 0 0</transform> 7300 <!--Whether to show a coordinate frame--> 7301 <show_axes>false</show_axes> 7302 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7303 <display_preference>4</display_preference> 7304 </VisibleObject> 7305 <PathWrapSet> 7306 <objects /> 7307 <groups /> 7308 </PathWrapSet> 7309 </GeometryPath> 7310 <!--The maximum force this actuator can produce.--> 7311 <optimal_force>1</optimal_force> 7312 <!--Maximum isometric force that the fibers can generate--> 7313 <max_isometric_force>552</max_isometric_force> 7314 <!--Optimal length of the muscle fibers--> 7315 <optimal_fiber_length>0.144</optimal_fiber_length> 7316 <!--Resting length of the tendon--> 7317 <tendon_slack_length>0.145</tendon_slack_length> 7318 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7319 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 7320 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7321 <max_contraction_velocity>10</max_contraction_velocity> 7322 <!--time constant for ramping up muscle activation--> 7323 <activation_time_constant>0.01</activation_time_constant> 7324 <!--time constant for ramping down of muscle activation--> 7325 <deactivation_time_constant>0.04</deactivation_time_constant> 7326 <!--tendon strain at maximum isometric muscle force--> 7327 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7328 <!--passive muscle strain at maximum isometric muscle force--> 7329 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7330 <!--shape factor for Gaussian active muscle force-length relationship--> 7331 <KshapeActive>0.5</KshapeActive> 7332 <!--exponential shape factor for passive force-length relationship--> 7333 <KshapePassive>4</KshapePassive> 7334 <!--force-velocity shape factor--> 7335 <Af>0.3</Af> 7336 <!--maximum normalized lengthening force--> 7337 <Flen>1.8</Flen> 7338 </Thelen2003Muscle> 7339 <Thelen2003Muscle name="iliacus_r"> 7340 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7341 <isDisabled>false</isDisabled> 7342 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7343 <min_control>0</min_control> 7344 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7345 <max_control>1</max_control> 7346 <!--The set of points defining the path of the muscle.--> 7347 <GeometryPath> 7348 <PathPointSet> 7349 <objects> 7350 <PathPoint name="iliacus_r-P1"> 7351 <location> -0.0674 0.0365 0.0854</location> 7352 <body>pelvis</body> 7353 </PathPoint> 7354 <PathPoint name="iliacus_r-P2"> 7355 <location> -0.0258 -0.055 0.0811</location> 7356 <body>pelvis</body> 7357 </PathPoint> 7358 <ConditionalPathPoint name="iliacus_r-P3"> 7359 <location> -0.0288 -0.0805 0.0816</location> 7360 <body>pelvis</body> 7361 <range> -1.5708 0.785398</range> 7362 <coordinate>hip_flexion_r</coordinate> 7363 </ConditionalPathPoint> 7364 <PathPoint name="iliacus_r-P4"> 7365 <location> 0.0017 -0.0543 0.0057</location> 7366 <body>femur_r</body> 7367 </PathPoint> 7368 <PathPoint name="iliacus_r-P5"> 7369 <location> -0.0193 -0.0621 0.0129</location> 7370 <body>femur_r</body> 7371 </PathPoint> 7372 </objects> 7373 <groups /> 7374 </PathPointSet> 7375 <VisibleObject> 7376 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7377 <GeometrySet> 7378 <objects /> 7379 <groups /> 7380 </GeometrySet> 7381 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7382 <scale_factors> 1 1 1</scale_factors> 7383 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7384 <transform> -0 0 -0 0 0 0</transform> 7385 <!--Whether to show a coordinate frame--> 7386 <show_axes>false</show_axes> 7387 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7388 <display_preference>4</display_preference> 7389 </VisibleObject> 7390 <PathWrapSet> 7391 <objects /> 7392 <groups /> 7393 </PathWrapSet> 7394 </GeometryPath> 7395 <!--The maximum force this actuator can produce.--> 7396 <optimal_force>1</optimal_force> 7397 <!--Maximum isometric force that the fibers can generate--> 7398 <max_isometric_force>1073</max_isometric_force> 7399 <!--Optimal length of the muscle fibers--> 7400 <optimal_fiber_length>0.1</optimal_fiber_length> 7401 <!--Resting length of the tendon--> 7402 <tendon_slack_length>0.1</tendon_slack_length> 7403 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7404 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 7405 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7406 <max_contraction_velocity>10</max_contraction_velocity> 7407 <!--time constant for ramping up muscle activation--> 7408 <activation_time_constant>0.01</activation_time_constant> 7409 <!--time constant for ramping down of muscle activation--> 7410 <deactivation_time_constant>0.04</deactivation_time_constant> 7411 <!--tendon strain at maximum isometric muscle force--> 7412 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7413 <!--passive muscle strain at maximum isometric muscle force--> 7414 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7415 <!--shape factor for Gaussian active muscle force-length relationship--> 7416 <KshapeActive>0.5</KshapeActive> 7417 <!--exponential shape factor for passive force-length relationship--> 7418 <KshapePassive>4</KshapePassive> 7419 <!--force-velocity shape factor--> 7420 <Af>0.3</Af> 7421 <!--maximum normalized lengthening force--> 7422 <Flen>1.8</Flen> 7423 </Thelen2003Muscle> 7424 <Thelen2003Muscle name="psoas_r"> 7425 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7426 <isDisabled>false</isDisabled> 7427 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7428 <min_control>0</min_control> 7429 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7430 <max_control>1</max_control> 7431 <!--The set of points defining the path of the muscle.--> 7432 <GeometryPath> 7433 <PathPointSet> 7434 <objects> 7435 <PathPoint name="psoas_r-P1"> 7436 <location> -0.0647 0.0887 0.0289</location> 7437 <body>pelvis</body> 7438 </PathPoint> 7439 <PathPoint name="psoas_r-P2"> 7440 <location> -0.0238 -0.057 0.0759</location> 7441 <body>pelvis</body> 7442 </PathPoint> 7443 <ConditionalPathPoint name="psoas_r-P3"> 7444 <location> -0.0288 -0.0805 0.0816</location> 7445 <body>pelvis</body> 7446 <range> -1.5708 0.785398</range> 7447 <coordinate>hip_flexion_r</coordinate> 7448 </ConditionalPathPoint> 7449 <PathPoint name="psoas_r-P4"> 7450 <location> 0.0016 -0.0507 0.0038</location> 7451 <body>femur_r</body> 7452 </PathPoint> 7453 <PathPoint name="psoas_r-P5"> 7454 <location> -0.0188 -0.0597 0.0104</location> 7455 <body>femur_r</body> 7456 </PathPoint> 7457 </objects> 7458 <groups /> 7459 </PathPointSet> 7460 <VisibleObject> 7461 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7462 <GeometrySet> 7463 <objects /> 7464 <groups /> 7465 </GeometrySet> 7466 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7467 <scale_factors> 1 1 1</scale_factors> 7468 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7469 <transform> -0 0 -0 0 0 0</transform> 7470 <!--Whether to show a coordinate frame--> 7471 <show_axes>false</show_axes> 7472 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7473 <display_preference>4</display_preference> 7474 </VisibleObject> 7475 <PathWrapSet> 7476 <objects /> 7477 <groups /> 7478 </PathWrapSet> 7479 </GeometryPath> 7480 <!--The maximum force this actuator can produce.--> 7481 <optimal_force>1</optimal_force> 7482 <!--Maximum isometric force that the fibers can generate--> 7483 <max_isometric_force>1113</max_isometric_force> 7484 <!--Optimal length of the muscle fibers--> 7485 <optimal_fiber_length>0.1</optimal_fiber_length> 7486 <!--Resting length of the tendon--> 7487 <tendon_slack_length>0.16</tendon_slack_length> 7488 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7489 <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> 7490 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7491 <max_contraction_velocity>10</max_contraction_velocity> 7492 <!--time constant for ramping up muscle activation--> 7493 <activation_time_constant>0.01</activation_time_constant> 7494 <!--time constant for ramping down of muscle activation--> 7495 <deactivation_time_constant>0.04</deactivation_time_constant> 7496 <!--tendon strain at maximum isometric muscle force--> 7497 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7498 <!--passive muscle strain at maximum isometric muscle force--> 7499 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7500 <!--shape factor for Gaussian active muscle force-length relationship--> 7501 <KshapeActive>0.5</KshapeActive> 7502 <!--exponential shape factor for passive force-length relationship--> 7503 <KshapePassive>4</KshapePassive> 7504 <!--force-velocity shape factor--> 7505 <Af>0.3</Af> 7506 <!--maximum normalized lengthening force--> 7507 <Flen>1.8</Flen> 7508 </Thelen2003Muscle> 7509 <Thelen2003Muscle name="quad_fem_r"> 7510 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7511 <isDisabled>false</isDisabled> 7512 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7513 <min_control>0</min_control> 7514 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7515 <max_control>1</max_control> 7516 <!--The set of points defining the path of the muscle.--> 7517 <GeometryPath> 7518 <PathPointSet> 7519 <objects> 7520 <PathPoint name="quad_fem_r-P1"> 7521 <location> -0.1143 -0.1151 0.052</location> 7522 <body>pelvis</body> 7523 </PathPoint> 7524 <PathPoint name="quad_fem_r-P2"> 7525 <location> -0.0381 -0.0359 0.0366</location> 7526 <body>femur_r</body> 7527 </PathPoint> 7528 </objects> 7529 <groups /> 7530 </PathPointSet> 7531 <VisibleObject> 7532 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7533 <GeometrySet> 7534 <objects /> 7535 <groups /> 7536 </GeometrySet> 7537 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7538 <scale_factors> 1 1 1</scale_factors> 7539 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7540 <transform> -0 0 -0 0 0 0</transform> 7541 <!--Whether to show a coordinate frame--> 7542 <show_axes>false</show_axes> 7543 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7544 <display_preference>4</display_preference> 7545 </VisibleObject> 7546 <PathWrapSet> 7547 <objects /> 7548 <groups /> 7549 </PathWrapSet> 7550 </GeometryPath> 7551 <!--The maximum force this actuator can produce.--> 7552 <optimal_force>1</optimal_force> 7553 <!--Maximum isometric force that the fibers can generate--> 7554 <max_isometric_force>381</max_isometric_force> 7555 <!--Optimal length of the muscle fibers--> 7556 <optimal_fiber_length>0.054</optimal_fiber_length> 7557 <!--Resting length of the tendon--> 7558 <tendon_slack_length>0.024</tendon_slack_length> 7559 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7560 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 7561 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7562 <max_contraction_velocity>10</max_contraction_velocity> 7563 <!--time constant for ramping up muscle activation--> 7564 <activation_time_constant>0.01</activation_time_constant> 7565 <!--time constant for ramping down of muscle activation--> 7566 <deactivation_time_constant>0.04</deactivation_time_constant> 7567 <!--tendon strain at maximum isometric muscle force--> 7568 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7569 <!--passive muscle strain at maximum isometric muscle force--> 7570 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7571 <!--shape factor for Gaussian active muscle force-length relationship--> 7572 <KshapeActive>0.5</KshapeActive> 7573 <!--exponential shape factor for passive force-length relationship--> 7574 <KshapePassive>4</KshapePassive> 7575 <!--force-velocity shape factor--> 7576 <Af>0.3</Af> 7577 <!--maximum normalized lengthening force--> 7578 <Flen>1.8</Flen> 7579 </Thelen2003Muscle> 7580 <Thelen2003Muscle name="gem_r"> 7581 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7582 <isDisabled>false</isDisabled> 7583 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7584 <min_control>0</min_control> 7585 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7586 <max_control>1</max_control> 7587 <!--The set of points defining the path of the muscle.--> 7588 <GeometryPath> 7589 <PathPointSet> 7590 <objects> 7591 <PathPoint name="gem_r-P1"> 7592 <location> -0.1133 -0.082 0.0714</location> 7593 <body>pelvis</body> 7594 </PathPoint> 7595 <PathPoint name="gem_r-P2"> 7596 <location> -0.0142 -0.0033 0.0443</location> 7597 <body>femur_r</body> 7598 </PathPoint> 7599 </objects> 7600 <groups /> 7601 </PathPointSet> 7602 <VisibleObject> 7603 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7604 <GeometrySet> 7605 <objects /> 7606 <groups /> 7607 </GeometrySet> 7608 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7609 <scale_factors> 1 1 1</scale_factors> 7610 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7611 <transform> -0 0 -0 0 0 0</transform> 7612 <!--Whether to show a coordinate frame--> 7613 <show_axes>false</show_axes> 7614 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7615 <display_preference>4</display_preference> 7616 </VisibleObject> 7617 <PathWrapSet> 7618 <objects /> 7619 <groups /> 7620 </PathWrapSet> 7621 </GeometryPath> 7622 <!--The maximum force this actuator can produce.--> 7623 <optimal_force>1</optimal_force> 7624 <!--Maximum isometric force that the fibers can generate--> 7625 <max_isometric_force>164</max_isometric_force> 7626 <!--Optimal length of the muscle fibers--> 7627 <optimal_fiber_length>0.024</optimal_fiber_length> 7628 <!--Resting length of the tendon--> 7629 <tendon_slack_length>0.039</tendon_slack_length> 7630 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7631 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 7632 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7633 <max_contraction_velocity>10</max_contraction_velocity> 7634 <!--time constant for ramping up muscle activation--> 7635 <activation_time_constant>0.01</activation_time_constant> 7636 <!--time constant for ramping down of muscle activation--> 7637 <deactivation_time_constant>0.04</deactivation_time_constant> 7638 <!--tendon strain at maximum isometric muscle force--> 7639 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7640 <!--passive muscle strain at maximum isometric muscle force--> 7641 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7642 <!--shape factor for Gaussian active muscle force-length relationship--> 7643 <KshapeActive>0.5</KshapeActive> 7644 <!--exponential shape factor for passive force-length relationship--> 7645 <KshapePassive>4</KshapePassive> 7646 <!--force-velocity shape factor--> 7647 <Af>0.3</Af> 7648 <!--maximum normalized lengthening force--> 7649 <Flen>1.8</Flen> 7650 </Thelen2003Muscle> 7651 <Thelen2003Muscle name="peri_r"> 7652 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7653 <isDisabled>false</isDisabled> 7654 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7655 <min_control>0</min_control> 7656 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7657 <max_control>1</max_control> 7658 <!--The set of points defining the path of the muscle.--> 7659 <GeometryPath> 7660 <PathPointSet> 7661 <objects> 7662 <PathPoint name="peri_r-P1"> 7663 <location> -0.1396 0.0003 0.0235</location> 7664 <body>pelvis</body> 7665 </PathPoint> 7666 <PathPoint name="peri_r-P2"> 7667 <location> -0.1193 -0.0276 0.0657</location> 7668 <body>pelvis</body> 7669 </PathPoint> 7670 <PathPoint name="peri_r-P3"> 7671 <location> -0.0148 -0.0036 0.0437</location> 7672 <body>femur_r</body> 7673 </PathPoint> 7674 </objects> 7675 <groups /> 7676 </PathPointSet> 7677 <VisibleObject> 7678 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7679 <GeometrySet> 7680 <objects /> 7681 <groups /> 7682 </GeometrySet> 7683 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7684 <scale_factors> 1 1 1</scale_factors> 7685 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7686 <transform> -0 0 -0 0 0 0</transform> 7687 <!--Whether to show a coordinate frame--> 7688 <show_axes>false</show_axes> 7689 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7690 <display_preference>4</display_preference> 7691 </VisibleObject> 7692 <PathWrapSet> 7693 <objects /> 7694 <groups /> 7695 </PathWrapSet> 7696 </GeometryPath> 7697 <!--The maximum force this actuator can produce.--> 7698 <optimal_force>1</optimal_force> 7699 <!--Maximum isometric force that the fibers can generate--> 7700 <max_isometric_force>444</max_isometric_force> 7701 <!--Optimal length of the muscle fibers--> 7702 <optimal_fiber_length>0.026</optimal_fiber_length> 7703 <!--Resting length of the tendon--> 7704 <tendon_slack_length>0.115</tendon_slack_length> 7705 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7706 <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> 7707 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7708 <max_contraction_velocity>10</max_contraction_velocity> 7709 <!--time constant for ramping up muscle activation--> 7710 <activation_time_constant>0.01</activation_time_constant> 7711 <!--time constant for ramping down of muscle activation--> 7712 <deactivation_time_constant>0.04</deactivation_time_constant> 7713 <!--tendon strain at maximum isometric muscle force--> 7714 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7715 <!--passive muscle strain at maximum isometric muscle force--> 7716 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7717 <!--shape factor for Gaussian active muscle force-length relationship--> 7718 <KshapeActive>0.5</KshapeActive> 7719 <!--exponential shape factor for passive force-length relationship--> 7720 <KshapePassive>4</KshapePassive> 7721 <!--force-velocity shape factor--> 7722 <Af>0.3</Af> 7723 <!--maximum normalized lengthening force--> 7724 <Flen>1.8</Flen> 7725 </Thelen2003Muscle> 7726 <Thelen2003Muscle name="rect_fem_r"> 7727 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7728 <isDisabled>false</isDisabled> 7729 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7730 <min_control>0</min_control> 7731 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7732 <max_control>1</max_control> 7733 <!--The set of points defining the path of the muscle.--> 7734 <GeometryPath> 7735 <PathPointSet> 7736 <objects> 7737 <PathPoint name="rect_fem_r-P1"> 7738 <location> -0.0295 -0.0311 0.0968</location> 7739 <body>pelvis</body> 7740 </PathPoint> 7741 <ConditionalPathPoint name="rect_fem_r-P2"> 7742 <location> 0.0334 -0.403 0.0019</location> 7743 <body>femur_r</body> 7744 <range> -2.61799 -1.45997</range> 7745 <coordinate>knee_flexion_r</coordinate> 7746 </ConditionalPathPoint> 7747 <MovingPathPoint name="rect_fem_r-P3"> 7748 <location> 0.0617576 0.020984 0.0014</location> 7749 <body>tibia_r</body> 7750 <x_location> 7751 <SimmSpline> 7752 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 7753 <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y> 7754 </SimmSpline> 7755 </x_location> 7756 <x_coordinate>knee_flexion_r</x_coordinate> 7757 <y_location> 7758 <SimmSpline> 7759 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 7760 <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y> 7761 </SimmSpline> 7762 </y_location> 7763 <y_coordinate>knee_flexion_r</y_coordinate> 7764 <z_location> 7765 <SimmSpline> 7766 <x> -2.0944 0.1745</x> 7767 <y> 0.0014 0.0014</y> 7768 </SimmSpline> 7769 </z_location> 7770 <z_coordinate>knee_flexion_r</z_coordinate> 7771 </MovingPathPoint> 7772 </objects> 7773 <groups /> 7774 </PathPointSet> 7775 <VisibleObject> 7776 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7777 <GeometrySet> 7778 <objects /> 7779 <groups /> 7780 </GeometrySet> 7781 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7782 <scale_factors> 1 1 1</scale_factors> 7783 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7784 <transform> -0 0 -0 0 0 0</transform> 7785 <!--Whether to show a coordinate frame--> 7786 <show_axes>false</show_axes> 7787 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7788 <display_preference>4</display_preference> 7789 </VisibleObject> 7790 <PathWrapSet> 7791 <objects /> 7792 <groups /> 7793 </PathWrapSet> 7794 </GeometryPath> 7795 <!--The maximum force this actuator can produce.--> 7796 <optimal_force>1</optimal_force> 7797 <!--Maximum isometric force that the fibers can generate--> 7798 <max_isometric_force>1169</max_isometric_force> 7799 <!--Optimal length of the muscle fibers--> 7800 <optimal_fiber_length>0.114</optimal_fiber_length> 7801 <!--Resting length of the tendon--> 7802 <tendon_slack_length>0.31</tendon_slack_length> 7803 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7804 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 7805 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7806 <max_contraction_velocity>10</max_contraction_velocity> 7807 <!--time constant for ramping up muscle activation--> 7808 <activation_time_constant>0.01</activation_time_constant> 7809 <!--time constant for ramping down of muscle activation--> 7810 <deactivation_time_constant>0.04</deactivation_time_constant> 7811 <!--tendon strain at maximum isometric muscle force--> 7812 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7813 <!--passive muscle strain at maximum isometric muscle force--> 7814 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7815 <!--shape factor for Gaussian active muscle force-length relationship--> 7816 <KshapeActive>0.5</KshapeActive> 7817 <!--exponential shape factor for passive force-length relationship--> 7818 <KshapePassive>4</KshapePassive> 7819 <!--force-velocity shape factor--> 7820 <Af>0.3</Af> 7821 <!--maximum normalized lengthening force--> 7822 <Flen>1.8</Flen> 7823 </Thelen2003Muscle> 7824 <Thelen2003Muscle name="vas_int_r"> 7825 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7826 <isDisabled>false</isDisabled> 7827 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7828 <min_control>0</min_control> 7829 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7830 <max_control>1</max_control> 7831 <!--The set of points defining the path of the muscle.--> 7832 <GeometryPath> 7833 <PathPointSet> 7834 <objects> 7835 <PathPoint name="vas_int_r-P1"> 7836 <location> 0.029 -0.1924 0.031</location> 7837 <body>femur_r</body> 7838 </PathPoint> 7839 <PathPoint name="vas_int_r-P2"> 7840 <location> 0.0335 -0.2084 0.0285</location> 7841 <body>femur_r</body> 7842 </PathPoint> 7843 <ConditionalPathPoint name="vas_int_r-P3"> 7844 <location> 0.0343 -0.403 0.0055</location> 7845 <body>femur_r</body> 7846 <range> -2.61799 -1.42</range> 7847 <coordinate>knee_flexion_r</coordinate> 7848 </ConditionalPathPoint> 7849 <MovingPathPoint name="vas_int_r-P4"> 7850 <location> 0.0554632 0.0252923 0.0018</location> 7851 <body>tibia_r</body> 7852 <x_location> 7853 <SimmSpline> 7854 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 7855 <y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y> 7856 </SimmSpline> 7857 </x_location> 7858 <x_coordinate>knee_flexion_r</x_coordinate> 7859 <y_location> 7860 <SimmSpline> 7861 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 7862 <y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y> 7863 </SimmSpline> 7864 </y_location> 7865 <y_coordinate>knee_flexion_r</y_coordinate> 7866 <z_location> 7867 <SimmSpline> 7868 <x> -2.0944 2.0944</x> 7869 <y> 0.0018 0.0018</y> 7870 </SimmSpline> 7871 </z_location> 7872 <z_coordinate>knee_flexion_r</z_coordinate> 7873 </MovingPathPoint> 7874 </objects> 7875 <groups /> 7876 </PathPointSet> 7877 <VisibleObject> 7878 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7879 <GeometrySet> 7880 <objects /> 7881 <groups /> 7882 </GeometrySet> 7883 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7884 <scale_factors> 1 1 1</scale_factors> 7885 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7886 <transform> -0 0 -0 0 0 0</transform> 7887 <!--Whether to show a coordinate frame--> 7888 <show_axes>false</show_axes> 7889 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7890 <display_preference>4</display_preference> 7891 </VisibleObject> 7892 <PathWrapSet> 7893 <objects /> 7894 <groups /> 7895 </PathWrapSet> 7896 </GeometryPath> 7897 <!--The maximum force this actuator can produce.--> 7898 <optimal_force>1</optimal_force> 7899 <!--Maximum isometric force that the fibers can generate--> 7900 <max_isometric_force>5000</max_isometric_force> 7901 <!--Optimal length of the muscle fibers--> 7902 <optimal_fiber_length>0.107</optimal_fiber_length> 7903 <!--Resting length of the tendon--> 7904 <tendon_slack_length>0.116</tendon_slack_length> 7905 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7906 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 7907 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7908 <max_contraction_velocity>10</max_contraction_velocity> 7909 <!--time constant for ramping up muscle activation--> 7910 <activation_time_constant>0.01</activation_time_constant> 7911 <!--time constant for ramping down of muscle activation--> 7912 <deactivation_time_constant>0.04</deactivation_time_constant> 7913 <!--tendon strain at maximum isometric muscle force--> 7914 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7915 <!--passive muscle strain at maximum isometric muscle force--> 7916 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7917 <!--shape factor for Gaussian active muscle force-length relationship--> 7918 <KshapeActive>0.5</KshapeActive> 7919 <!--exponential shape factor for passive force-length relationship--> 7920 <KshapePassive>4</KshapePassive> 7921 <!--force-velocity shape factor--> 7922 <Af>0.3</Af> 7923 <!--maximum normalized lengthening force--> 7924 <Flen>1.8</Flen> 7925 </Thelen2003Muscle> 7926 <Thelen2003Muscle name="med_gas_r"> 7927 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 7928 <isDisabled>false</isDisabled> 7929 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 7930 <min_control>0</min_control> 7931 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 7932 <max_control>1</max_control> 7933 <!--The set of points defining the path of the muscle.--> 7934 <GeometryPath> 7935 <PathPointSet> 7936 <objects> 7937 <PathPoint name="med_gas_r-P1"> 7938 <location> -0.019 -0.3929 -0.0235</location> 7939 <body>femur_r</body> 7940 </PathPoint> 7941 <ConditionalPathPoint name="med_gas_r-P2"> 7942 <location> -0.03 -0.4022 -0.0258</location> 7943 <body>femur_r</body> 7944 <range> -0.785398 0.174533</range> 7945 <coordinate>knee_flexion_r</coordinate> 7946 </ConditionalPathPoint> 7947 <PathPoint name="med_gas_r-P3"> 7948 <location> 0 0.031 -0.0053</location> 7949 <body>calcn_r</body> 7950 </PathPoint> 7951 </objects> 7952 <groups /> 7953 </PathPointSet> 7954 <VisibleObject> 7955 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 7956 <GeometrySet> 7957 <objects /> 7958 <groups /> 7959 </GeometrySet> 7960 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 7961 <scale_factors> 1 1 1</scale_factors> 7962 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 7963 <transform> -0 0 -0 0 0 0</transform> 7964 <!--Whether to show a coordinate frame--> 7965 <show_axes>false</show_axes> 7966 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 7967 <display_preference>4</display_preference> 7968 </VisibleObject> 7969 <PathWrapSet> 7970 <objects /> 7971 <groups /> 7972 </PathWrapSet> 7973 </GeometryPath> 7974 <!--The maximum force this actuator can produce.--> 7975 <optimal_force>1</optimal_force> 7976 <!--Maximum isometric force that the fibers can generate--> 7977 <max_isometric_force>2500</max_isometric_force> 7978 <!--Optimal length of the muscle fibers--> 7979 <optimal_fiber_length>0.09</optimal_fiber_length> 7980 <!--Resting length of the tendon--> 7981 <tendon_slack_length>0.36</tendon_slack_length> 7982 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 7983 <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> 7984 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 7985 <max_contraction_velocity>10</max_contraction_velocity> 7986 <!--time constant for ramping up muscle activation--> 7987 <activation_time_constant>0.01</activation_time_constant> 7988 <!--time constant for ramping down of muscle activation--> 7989 <deactivation_time_constant>0.04</deactivation_time_constant> 7990 <!--tendon strain at maximum isometric muscle force--> 7991 <FmaxTendonStrain>0.033</FmaxTendonStrain> 7992 <!--passive muscle strain at maximum isometric muscle force--> 7993 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 7994 <!--shape factor for Gaussian active muscle force-length relationship--> 7995 <KshapeActive>0.5</KshapeActive> 7996 <!--exponential shape factor for passive force-length relationship--> 7997 <KshapePassive>4</KshapePassive> 7998 <!--force-velocity shape factor--> 7999 <Af>0.3</Af> 8000 <!--maximum normalized lengthening force--> 8001 <Flen>1.8</Flen> 8002 </Thelen2003Muscle> 8003 <Thelen2003Muscle name="soleus_r"> 8004 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8005 <isDisabled>false</isDisabled> 8006 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8007 <min_control>0</min_control> 8008 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8009 <max_control>1</max_control> 8010 <!--The set of points defining the path of the muscle.--> 8011 <GeometryPath> 8012 <PathPointSet> 8013 <objects> 8014 <PathPoint name="soleus_r-P1"> 8015 <location> -0.0024 -0.1533 0.0071</location> 8016 <body>tibia_r</body> 8017 </PathPoint> 8018 <PathPoint name="soleus_r-P2"> 8019 <location> 0 0.031 -0.0053</location> 8020 <body>calcn_r</body> 8021 </PathPoint> 8022 </objects> 8023 <groups /> 8024 </PathPointSet> 8025 <VisibleObject> 8026 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8027 <GeometrySet> 8028 <objects /> 8029 <groups /> 8030 </GeometrySet> 8031 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8032 <scale_factors> 1 1 1</scale_factors> 8033 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8034 <transform> -0 0 -0 0 0 0</transform> 8035 <!--Whether to show a coordinate frame--> 8036 <show_axes>false</show_axes> 8037 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8038 <display_preference>4</display_preference> 8039 </VisibleObject> 8040 <PathWrapSet> 8041 <objects /> 8042 <groups /> 8043 </PathWrapSet> 8044 </GeometryPath> 8045 <!--The maximum force this actuator can produce.--> 8046 <optimal_force>1</optimal_force> 8047 <!--Maximum isometric force that the fibers can generate--> 8048 <max_isometric_force>4000</max_isometric_force> 8049 <!--Optimal length of the muscle fibers--> 8050 <optimal_fiber_length>0.08</optimal_fiber_length> 8051 <!--Resting length of the tendon--> 8052 <tendon_slack_length>0.22</tendon_slack_length> 8053 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8054 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 8055 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8056 <max_contraction_velocity>10</max_contraction_velocity> 8057 <!--time constant for ramping up muscle activation--> 8058 <activation_time_constant>0.01</activation_time_constant> 8059 <!--time constant for ramping down of muscle activation--> 8060 <deactivation_time_constant>0.04</deactivation_time_constant> 8061 <!--tendon strain at maximum isometric muscle force--> 8062 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8063 <!--passive muscle strain at maximum isometric muscle force--> 8064 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8065 <!--shape factor for Gaussian active muscle force-length relationship--> 8066 <KshapeActive>0.5</KshapeActive> 8067 <!--exponential shape factor for passive force-length relationship--> 8068 <KshapePassive>4</KshapePassive> 8069 <!--force-velocity shape factor--> 8070 <Af>0.3</Af> 8071 <!--maximum normalized lengthening force--> 8072 <Flen>1.8</Flen> 8073 </Thelen2003Muscle> 8074 <Thelen2003Muscle name="tib_post_r"> 8075 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8076 <isDisabled>false</isDisabled> 8077 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8078 <min_control>0</min_control> 8079 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8080 <max_control>1</max_control> 8081 <!--The set of points defining the path of the muscle.--> 8082 <GeometryPath> 8083 <PathPointSet> 8084 <objects> 8085 <PathPoint name="tib_post_r-P1"> 8086 <location> -0.0094 -0.1348 0.0019</location> 8087 <body>tibia_r</body> 8088 </PathPoint> 8089 <PathPoint name="tib_post_r-P2"> 8090 <location> -0.0144 -0.4051 -0.0229</location> 8091 <body>tibia_r</body> 8092 </PathPoint> 8093 <PathPoint name="tib_post_r-P3"> 8094 <location> 0.0417 0.0334 -0.0286</location> 8095 <body>calcn_r</body> 8096 </PathPoint> 8097 <PathPoint name="tib_post_r-P4"> 8098 <location> 0.0772 0.0159 -0.0281</location> 8099 <body>calcn_r</body> 8100 </PathPoint> 8101 </objects> 8102 <groups /> 8103 </PathPointSet> 8104 <VisibleObject> 8105 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8106 <GeometrySet> 8107 <objects /> 8108 <groups /> 8109 </GeometrySet> 8110 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8111 <scale_factors> 1 1 1</scale_factors> 8112 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8113 <transform> -0 0 -0 0 0 0</transform> 8114 <!--Whether to show a coordinate frame--> 8115 <show_axes>false</show_axes> 8116 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8117 <display_preference>4</display_preference> 8118 </VisibleObject> 8119 <PathWrapSet> 8120 <objects /> 8121 <groups /> 8122 </PathWrapSet> 8123 </GeometryPath> 8124 <!--The maximum force this actuator can produce.--> 8125 <optimal_force>1</optimal_force> 8126 <!--Maximum isometric force that the fibers can generate--> 8127 <max_isometric_force>3600</max_isometric_force> 8128 <!--Optimal length of the muscle fibers--> 8129 <optimal_fiber_length>0.031</optimal_fiber_length> 8130 <!--Resting length of the tendon--> 8131 <tendon_slack_length>0.31</tendon_slack_length> 8132 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8133 <pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal> 8134 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8135 <max_contraction_velocity>10</max_contraction_velocity> 8136 <!--time constant for ramping up muscle activation--> 8137 <activation_time_constant>0.01</activation_time_constant> 8138 <!--time constant for ramping down of muscle activation--> 8139 <deactivation_time_constant>0.04</deactivation_time_constant> 8140 <!--tendon strain at maximum isometric muscle force--> 8141 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8142 <!--passive muscle strain at maximum isometric muscle force--> 8143 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8144 <!--shape factor for Gaussian active muscle force-length relationship--> 8145 <KshapeActive>0.5</KshapeActive> 8146 <!--exponential shape factor for passive force-length relationship--> 8147 <KshapePassive>4</KshapePassive> 8148 <!--force-velocity shape factor--> 8149 <Af>0.3</Af> 8150 <!--maximum normalized lengthening force--> 8151 <Flen>1.8</Flen> 8152 </Thelen2003Muscle> 8153 <Thelen2003Muscle name="tib_ant_r"> 8154 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8155 <isDisabled>false</isDisabled> 8156 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8157 <min_control>0</min_control> 8158 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8159 <max_control>1</max_control> 8160 <!--The set of points defining the path of the muscle.--> 8161 <GeometryPath> 8162 <PathPointSet> 8163 <objects> 8164 <PathPoint name="tib_ant_r-P1"> 8165 <location> 0.0179 -0.1624 0.0115</location> 8166 <body>tibia_r</body> 8167 </PathPoint> 8168 <PathPoint name="tib_ant_r-P2"> 8169 <location> 0.0329 -0.3951 -0.0177</location> 8170 <body>tibia_r</body> 8171 </PathPoint> 8172 <PathPoint name="tib_ant_r-P3"> 8173 <location> 0.1166 0.0178 -0.0305</location> 8174 <body>calcn_r</body> 8175 </PathPoint> 8176 </objects> 8177 <groups /> 8178 </PathPointSet> 8179 <VisibleObject> 8180 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8181 <GeometrySet> 8182 <objects /> 8183 <groups /> 8184 </GeometrySet> 8185 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8186 <scale_factors> 1 1 1</scale_factors> 8187 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8188 <transform> -0 0 -0 0 0 0</transform> 8189 <!--Whether to show a coordinate frame--> 8190 <show_axes>false</show_axes> 8191 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8192 <display_preference>4</display_preference> 8193 </VisibleObject> 8194 <PathWrapSet> 8195 <objects /> 8196 <groups /> 8197 </PathWrapSet> 8198 </GeometryPath> 8199 <!--The maximum force this actuator can produce.--> 8200 <optimal_force>1</optimal_force> 8201 <!--Maximum isometric force that the fibers can generate--> 8202 <max_isometric_force>3000</max_isometric_force> 8203 <!--Optimal length of the muscle fibers--> 8204 <optimal_fiber_length>0.098</optimal_fiber_length> 8205 <!--Resting length of the tendon--> 8206 <tendon_slack_length>0.223</tendon_slack_length> 8207 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8208 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 8209 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8210 <max_contraction_velocity>10</max_contraction_velocity> 8211 <!--time constant for ramping up muscle activation--> 8212 <activation_time_constant>0.01</activation_time_constant> 8213 <!--time constant for ramping down of muscle activation--> 8214 <deactivation_time_constant>0.04</deactivation_time_constant> 8215 <!--tendon strain at maximum isometric muscle force--> 8216 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8217 <!--passive muscle strain at maximum isometric muscle force--> 8218 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8219 <!--shape factor for Gaussian active muscle force-length relationship--> 8220 <KshapeActive>0.5</KshapeActive> 8221 <!--exponential shape factor for passive force-length relationship--> 8222 <KshapePassive>4</KshapePassive> 8223 <!--force-velocity shape factor--> 8224 <Af>0.3</Af> 8225 <!--maximum normalized lengthening force--> 8226 <Flen>1.8</Flen> 8227 </Thelen2003Muscle> 8228 <Thelen2003Muscle name="glut_med1_l"> 8229 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8230 <isDisabled>false</isDisabled> 8231 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8232 <min_control>0</min_control> 8233 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8234 <max_control>1</max_control> 8235 <!--The set of points defining the path of the muscle.--> 8236 <GeometryPath> 8237 <PathPointSet> 8238 <objects> 8239 <PathPoint name="glut_med1_l-P1"> 8240 <location> -0.0408 0.0304 -0.1209</location> 8241 <body>pelvis</body> 8242 </PathPoint> 8243 <PathPoint name="glut_med1_l-P2"> 8244 <location> -0.0218 -0.0117 -0.0555</location> 8245 <body>femur_l</body> 8246 </PathPoint> 8247 </objects> 8248 <groups /> 8249 </PathPointSet> 8250 <VisibleObject> 8251 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8252 <GeometrySet> 8253 <objects /> 8254 <groups /> 8255 </GeometrySet> 8256 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8257 <scale_factors> 1 1 1</scale_factors> 8258 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8259 <transform> -0 0 -0 0 0 0</transform> 8260 <!--Whether to show a coordinate frame--> 8261 <show_axes>false</show_axes> 8262 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8263 <display_preference>4</display_preference> 8264 </VisibleObject> 8265 <PathWrapSet> 8266 <objects /> 8267 <groups /> 8268 </PathWrapSet> 8269 </GeometryPath> 8270 <!--The maximum force this actuator can produce.--> 8271 <optimal_force>1</optimal_force> 8272 <!--Maximum isometric force that the fibers can generate--> 8273 <max_isometric_force>1119</max_isometric_force> 8274 <!--Optimal length of the muscle fibers--> 8275 <optimal_fiber_length>0.0535</optimal_fiber_length> 8276 <!--Resting length of the tendon--> 8277 <tendon_slack_length>0.078</tendon_slack_length> 8278 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8279 <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> 8280 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8281 <max_contraction_velocity>10</max_contraction_velocity> 8282 <!--time constant for ramping up muscle activation--> 8283 <activation_time_constant>0.01</activation_time_constant> 8284 <!--time constant for ramping down of muscle activation--> 8285 <deactivation_time_constant>0.04</deactivation_time_constant> 8286 <!--tendon strain at maximum isometric muscle force--> 8287 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8288 <!--passive muscle strain at maximum isometric muscle force--> 8289 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8290 <!--shape factor for Gaussian active muscle force-length relationship--> 8291 <KshapeActive>0.5</KshapeActive> 8292 <!--exponential shape factor for passive force-length relationship--> 8293 <KshapePassive>4</KshapePassive> 8294 <!--force-velocity shape factor--> 8295 <Af>0.3</Af> 8296 <!--maximum normalized lengthening force--> 8297 <Flen>1.8</Flen> 8298 </Thelen2003Muscle> 8299 <Thelen2003Muscle name="glut_med2_l"> 8300 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8301 <isDisabled>false</isDisabled> 8302 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8303 <min_control>0</min_control> 8304 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8305 <max_control>1</max_control> 8306 <!--The set of points defining the path of the muscle.--> 8307 <GeometryPath> 8308 <PathPointSet> 8309 <objects> 8310 <PathPoint name="glut_med2_l-P1"> 8311 <location> -0.0855 0.0445 -0.0766</location> 8312 <body>pelvis</body> 8313 </PathPoint> 8314 <PathPoint name="glut_med2_l-P2"> 8315 <location> -0.0258 -0.0058 -0.0527</location> 8316 <body>femur_l</body> 8317 </PathPoint> 8318 </objects> 8319 <groups /> 8320 </PathPointSet> 8321 <VisibleObject> 8322 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8323 <GeometrySet> 8324 <objects /> 8325 <groups /> 8326 </GeometrySet> 8327 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8328 <scale_factors> 1 1 1</scale_factors> 8329 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8330 <transform> -0 0 -0 0 0 0</transform> 8331 <!--Whether to show a coordinate frame--> 8332 <show_axes>false</show_axes> 8333 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8334 <display_preference>4</display_preference> 8335 </VisibleObject> 8336 <PathWrapSet> 8337 <objects /> 8338 <groups /> 8339 </PathWrapSet> 8340 </GeometryPath> 8341 <!--The maximum force this actuator can produce.--> 8342 <optimal_force>1</optimal_force> 8343 <!--Maximum isometric force that the fibers can generate--> 8344 <max_isometric_force>873</max_isometric_force> 8345 <!--Optimal length of the muscle fibers--> 8346 <optimal_fiber_length>0.0845</optimal_fiber_length> 8347 <!--Resting length of the tendon--> 8348 <tendon_slack_length>0.053</tendon_slack_length> 8349 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8350 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 8351 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8352 <max_contraction_velocity>10</max_contraction_velocity> 8353 <!--time constant for ramping up muscle activation--> 8354 <activation_time_constant>0.01</activation_time_constant> 8355 <!--time constant for ramping down of muscle activation--> 8356 <deactivation_time_constant>0.04</deactivation_time_constant> 8357 <!--tendon strain at maximum isometric muscle force--> 8358 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8359 <!--passive muscle strain at maximum isometric muscle force--> 8360 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8361 <!--shape factor for Gaussian active muscle force-length relationship--> 8362 <KshapeActive>0.5</KshapeActive> 8363 <!--exponential shape factor for passive force-length relationship--> 8364 <KshapePassive>4</KshapePassive> 8365 <!--force-velocity shape factor--> 8366 <Af>0.3</Af> 8367 <!--maximum normalized lengthening force--> 8368 <Flen>1.8</Flen> 8369 </Thelen2003Muscle> 8370 <Thelen2003Muscle name="glut_med3_l"> 8371 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8372 <isDisabled>false</isDisabled> 8373 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8374 <min_control>0</min_control> 8375 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8376 <max_control>1</max_control> 8377 <!--The set of points defining the path of the muscle.--> 8378 <GeometryPath> 8379 <PathPointSet> 8380 <objects> 8381 <PathPoint name="glut_med3_l-P1"> 8382 <location> -0.1223 0.0105 -0.0648</location> 8383 <body>pelvis</body> 8384 </PathPoint> 8385 <PathPoint name="glut_med3_l-P2"> 8386 <location> -0.0309 -0.0047 -0.0518</location> 8387 <body>femur_l</body> 8388 </PathPoint> 8389 </objects> 8390 <groups /> 8391 </PathPointSet> 8392 <VisibleObject> 8393 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8394 <GeometrySet> 8395 <objects /> 8396 <groups /> 8397 </GeometrySet> 8398 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8399 <scale_factors> 1 1 1</scale_factors> 8400 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8401 <transform> -0 0 -0 0 0 0</transform> 8402 <!--Whether to show a coordinate frame--> 8403 <show_axes>false</show_axes> 8404 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8405 <display_preference>4</display_preference> 8406 </VisibleObject> 8407 <PathWrapSet> 8408 <objects /> 8409 <groups /> 8410 </PathWrapSet> 8411 </GeometryPath> 8412 <!--The maximum force this actuator can produce.--> 8413 <optimal_force>1</optimal_force> 8414 <!--Maximum isometric force that the fibers can generate--> 8415 <max_isometric_force>1000</max_isometric_force> 8416 <!--Optimal length of the muscle fibers--> 8417 <optimal_fiber_length>0.0646</optimal_fiber_length> 8418 <!--Resting length of the tendon--> 8419 <tendon_slack_length>0.053</tendon_slack_length> 8420 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8421 <pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal> 8422 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8423 <max_contraction_velocity>10</max_contraction_velocity> 8424 <!--time constant for ramping up muscle activation--> 8425 <activation_time_constant>0.01</activation_time_constant> 8426 <!--time constant for ramping down of muscle activation--> 8427 <deactivation_time_constant>0.04</deactivation_time_constant> 8428 <!--tendon strain at maximum isometric muscle force--> 8429 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8430 <!--passive muscle strain at maximum isometric muscle force--> 8431 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8432 <!--shape factor for Gaussian active muscle force-length relationship--> 8433 <KshapeActive>0.5</KshapeActive> 8434 <!--exponential shape factor for passive force-length relationship--> 8435 <KshapePassive>4</KshapePassive> 8436 <!--force-velocity shape factor--> 8437 <Af>0.3</Af> 8438 <!--maximum normalized lengthening force--> 8439 <Flen>1.8</Flen> 8440 </Thelen2003Muscle> 8441 <Thelen2003Muscle name="bifemlh_l"> 8442 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8443 <isDisabled>false</isDisabled> 8444 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8445 <min_control>0</min_control> 8446 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8447 <max_control>1</max_control> 8448 <!--The set of points defining the path of the muscle.--> 8449 <GeometryPath> 8450 <PathPointSet> 8451 <objects> 8452 <PathPoint name="bifemlh_l-P1"> 8453 <location> -0.12596 -0.10257 -0.06944</location> 8454 <body>pelvis</body> 8455 </PathPoint> 8456 <PathPoint name="bifemlh_l-P2"> 8457 <location> -0.0301 -0.036 -0.02943</location> 8458 <body>tibia_l</body> 8459 </PathPoint> 8460 <PathPoint name="bifemlh_l-P3"> 8461 <location> -0.0234 -0.0563 -0.0343</location> 8462 <body>tibia_l</body> 8463 </PathPoint> 8464 </objects> 8465 <groups /> 8466 </PathPointSet> 8467 <VisibleObject> 8468 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8469 <GeometrySet> 8470 <objects /> 8471 <groups /> 8472 </GeometrySet> 8473 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8474 <scale_factors> 1 1 1</scale_factors> 8475 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8476 <transform> -0 0 -0 0 0 0</transform> 8477 <!--Whether to show a coordinate frame--> 8478 <show_axes>false</show_axes> 8479 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8480 <display_preference>4</display_preference> 8481 </VisibleObject> 8482 <PathWrapSet> 8483 <objects /> 8484 <groups /> 8485 </PathWrapSet> 8486 </GeometryPath> 8487 <!--The maximum force this actuator can produce.--> 8488 <optimal_force>1</optimal_force> 8489 <!--Maximum isometric force that the fibers can generate--> 8490 <max_isometric_force>2700</max_isometric_force> 8491 <!--Optimal length of the muscle fibers--> 8492 <optimal_fiber_length>0.109</optimal_fiber_length> 8493 <!--Resting length of the tendon--> 8494 <tendon_slack_length>0.326</tendon_slack_length> 8495 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8496 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 8497 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8498 <max_contraction_velocity>10</max_contraction_velocity> 8499 <!--time constant for ramping up muscle activation--> 8500 <activation_time_constant>0.01</activation_time_constant> 8501 <!--time constant for ramping down of muscle activation--> 8502 <deactivation_time_constant>0.04</deactivation_time_constant> 8503 <!--tendon strain at maximum isometric muscle force--> 8504 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8505 <!--passive muscle strain at maximum isometric muscle force--> 8506 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8507 <!--shape factor for Gaussian active muscle force-length relationship--> 8508 <KshapeActive>0.5</KshapeActive> 8509 <!--exponential shape factor for passive force-length relationship--> 8510 <KshapePassive>4</KshapePassive> 8511 <!--force-velocity shape factor--> 8512 <Af>0.3</Af> 8513 <!--maximum normalized lengthening force--> 8514 <Flen>1.8</Flen> 8515 </Thelen2003Muscle> 8516 <Thelen2003Muscle name="bifemsh_l"> 8517 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8518 <isDisabled>false</isDisabled> 8519 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8520 <min_control>0</min_control> 8521 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8522 <max_control>1</max_control> 8523 <!--The set of points defining the path of the muscle.--> 8524 <GeometryPath> 8525 <PathPointSet> 8526 <objects> 8527 <PathPoint name="bifemsh_l-P1"> 8528 <location> 0.005 -0.2111 -0.0234</location> 8529 <body>femur_l</body> 8530 </PathPoint> 8531 <PathPoint name="bifemsh_l-P2"> 8532 <location> -0.0301 -0.036 -0.02943</location> 8533 <body>tibia_l</body> 8534 </PathPoint> 8535 <PathPoint name="bifemsh_l-P3"> 8536 <location> -0.0234 -0.0563 -0.0343</location> 8537 <body>tibia_l</body> 8538 </PathPoint> 8539 </objects> 8540 <groups /> 8541 </PathPointSet> 8542 <VisibleObject> 8543 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8544 <GeometrySet> 8545 <objects /> 8546 <groups /> 8547 </GeometrySet> 8548 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8549 <scale_factors> 1 1 1</scale_factors> 8550 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8551 <transform> -0 0 -0 0 0 0</transform> 8552 <!--Whether to show a coordinate frame--> 8553 <show_axes>false</show_axes> 8554 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8555 <display_preference>4</display_preference> 8556 </VisibleObject> 8557 <PathWrapSet> 8558 <objects /> 8559 <groups /> 8560 </PathWrapSet> 8561 </GeometryPath> 8562 <!--The maximum force this actuator can produce.--> 8563 <optimal_force>1</optimal_force> 8564 <!--Maximum isometric force that the fibers can generate--> 8565 <max_isometric_force>804</max_isometric_force> 8566 <!--Optimal length of the muscle fibers--> 8567 <optimal_fiber_length>0.173</optimal_fiber_length> 8568 <!--Resting length of the tendon--> 8569 <tendon_slack_length>0.089</tendon_slack_length> 8570 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8571 <pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal> 8572 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8573 <max_contraction_velocity>10</max_contraction_velocity> 8574 <!--time constant for ramping up muscle activation--> 8575 <activation_time_constant>0.01</activation_time_constant> 8576 <!--time constant for ramping down of muscle activation--> 8577 <deactivation_time_constant>0.04</deactivation_time_constant> 8578 <!--tendon strain at maximum isometric muscle force--> 8579 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8580 <!--passive muscle strain at maximum isometric muscle force--> 8581 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8582 <!--shape factor for Gaussian active muscle force-length relationship--> 8583 <KshapeActive>0.5</KshapeActive> 8584 <!--exponential shape factor for passive force-length relationship--> 8585 <KshapePassive>4</KshapePassive> 8586 <!--force-velocity shape factor--> 8587 <Af>0.3</Af> 8588 <!--maximum normalized lengthening force--> 8589 <Flen>1.8</Flen> 8590 </Thelen2003Muscle> 8591 <Thelen2003Muscle name="sar_l"> 8592 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8593 <isDisabled>false</isDisabled> 8594 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8595 <min_control>0</min_control> 8596 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8597 <max_control>1</max_control> 8598 <!--The set of points defining the path of the muscle.--> 8599 <GeometryPath> 8600 <PathPointSet> 8601 <objects> 8602 <PathPoint name="sar_l-P1"> 8603 <location> -0.0153 -0.0013 -0.1242</location> 8604 <body>pelvis</body> 8605 </PathPoint> 8606 <PathPoint name="sar_l-P2"> 8607 <location> -0.003 -0.3568 0.0421</location> 8608 <body>femur_l</body> 8609 </PathPoint> 8610 <PathPoint name="sar_l-P3"> 8611 <location> -0.0056 -0.0419 0.0399</location> 8612 <body>tibia_l</body> 8613 </PathPoint> 8614 <PathPoint name="sar_l-P4"> 8615 <location> 0.006 -0.0589 0.0383</location> 8616 <body>tibia_l</body> 8617 </PathPoint> 8618 <PathPoint name="sar_l-P5"> 8619 <location> 0.0243 -0.084 0.0252</location> 8620 <body>tibia_l</body> 8621 </PathPoint> 8622 </objects> 8623 <groups /> 8624 </PathPointSet> 8625 <VisibleObject> 8626 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8627 <GeometrySet> 8628 <objects /> 8629 <groups /> 8630 </GeometrySet> 8631 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8632 <scale_factors> 1 1 1</scale_factors> 8633 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8634 <transform> -0 0 -0 0 0 0</transform> 8635 <!--Whether to show a coordinate frame--> 8636 <show_axes>false</show_axes> 8637 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8638 <display_preference>4</display_preference> 8639 </VisibleObject> 8640 <PathWrapSet> 8641 <objects /> 8642 <groups /> 8643 </PathWrapSet> 8644 </GeometryPath> 8645 <!--The maximum force this actuator can produce.--> 8646 <optimal_force>1</optimal_force> 8647 <!--Maximum isometric force that the fibers can generate--> 8648 <max_isometric_force>156</max_isometric_force> 8649 <!--Optimal length of the muscle fibers--> 8650 <optimal_fiber_length>0.52</optimal_fiber_length> 8651 <!--Resting length of the tendon--> 8652 <tendon_slack_length>0.1</tendon_slack_length> 8653 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8654 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 8655 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8656 <max_contraction_velocity>10</max_contraction_velocity> 8657 <!--time constant for ramping up muscle activation--> 8658 <activation_time_constant>0.01</activation_time_constant> 8659 <!--time constant for ramping down of muscle activation--> 8660 <deactivation_time_constant>0.04</deactivation_time_constant> 8661 <!--tendon strain at maximum isometric muscle force--> 8662 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8663 <!--passive muscle strain at maximum isometric muscle force--> 8664 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8665 <!--shape factor for Gaussian active muscle force-length relationship--> 8666 <KshapeActive>0.5</KshapeActive> 8667 <!--exponential shape factor for passive force-length relationship--> 8668 <KshapePassive>4</KshapePassive> 8669 <!--force-velocity shape factor--> 8670 <Af>0.3</Af> 8671 <!--maximum normalized lengthening force--> 8672 <Flen>1.8</Flen> 8673 </Thelen2003Muscle> 8674 <Thelen2003Muscle name="add_mag2_l"> 8675 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8676 <isDisabled>false</isDisabled> 8677 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8678 <min_control>0</min_control> 8679 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8680 <max_control>1</max_control> 8681 <!--The set of points defining the path of the muscle.--> 8682 <GeometryPath> 8683 <PathPointSet> 8684 <objects> 8685 <PathPoint name="add_mag2_l-P1"> 8686 <location> -0.0831 -0.1192 -0.0308</location> 8687 <body>pelvis</body> 8688 </PathPoint> 8689 <PathPoint name="add_mag2_l-P2"> 8690 <location> 0.0054 -0.2285 -0.0227</location> 8691 <body>femur_l</body> 8692 </PathPoint> 8693 </objects> 8694 <groups /> 8695 </PathPointSet> 8696 <VisibleObject> 8697 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8698 <GeometrySet> 8699 <objects /> 8700 <groups /> 8701 </GeometrySet> 8702 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8703 <scale_factors> 1 1 1</scale_factors> 8704 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8705 <transform> -0 0 -0 0 0 0</transform> 8706 <!--Whether to show a coordinate frame--> 8707 <show_axes>false</show_axes> 8708 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8709 <display_preference>4</display_preference> 8710 </VisibleObject> 8711 <PathWrapSet> 8712 <objects /> 8713 <groups /> 8714 </PathWrapSet> 8715 </GeometryPath> 8716 <!--The maximum force this actuator can produce.--> 8717 <optimal_force>1</optimal_force> 8718 <!--Maximum isometric force that the fibers can generate--> 8719 <max_isometric_force>2343</max_isometric_force> 8720 <!--Optimal length of the muscle fibers--> 8721 <optimal_fiber_length>0.121</optimal_fiber_length> 8722 <!--Resting length of the tendon--> 8723 <tendon_slack_length>0.12</tendon_slack_length> 8724 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8725 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 8726 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8727 <max_contraction_velocity>10</max_contraction_velocity> 8728 <!--time constant for ramping up muscle activation--> 8729 <activation_time_constant>0.01</activation_time_constant> 8730 <!--time constant for ramping down of muscle activation--> 8731 <deactivation_time_constant>0.04</deactivation_time_constant> 8732 <!--tendon strain at maximum isometric muscle force--> 8733 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8734 <!--passive muscle strain at maximum isometric muscle force--> 8735 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8736 <!--shape factor for Gaussian active muscle force-length relationship--> 8737 <KshapeActive>0.5</KshapeActive> 8738 <!--exponential shape factor for passive force-length relationship--> 8739 <KshapePassive>4</KshapePassive> 8740 <!--force-velocity shape factor--> 8741 <Af>0.3</Af> 8742 <!--maximum normalized lengthening force--> 8743 <Flen>1.8</Flen> 8744 </Thelen2003Muscle> 8745 <Thelen2003Muscle name="tfl_l"> 8746 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8747 <isDisabled>false</isDisabled> 8748 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8749 <min_control>0</min_control> 8750 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8751 <max_control>1</max_control> 8752 <!--The set of points defining the path of the muscle.--> 8753 <GeometryPath> 8754 <PathPointSet> 8755 <objects> 8756 <PathPoint name="tfl_l-P1"> 8757 <location> -0.0311 0.0214 -0.1241</location> 8758 <body>pelvis</body> 8759 </PathPoint> 8760 <PathPoint name="tfl_l-P2"> 8761 <location> 0.0294 -0.0995 -0.0597</location> 8762 <body>femur_l</body> 8763 </PathPoint> 8764 <PathPoint name="tfl_l-P3"> 8765 <location> 0.0054 -0.4049 -0.0357</location> 8766 <body>femur_l</body> 8767 </PathPoint> 8768 <PathPoint name="tfl_l-P4"> 8769 <location> 0.006 -0.0487 -0.0297</location> 8770 <body>tibia_l</body> 8771 </PathPoint> 8772 </objects> 8773 <groups /> 8774 </PathPointSet> 8775 <VisibleObject> 8776 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8777 <GeometrySet> 8778 <objects /> 8779 <groups /> 8780 </GeometrySet> 8781 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8782 <scale_factors> 1 1 1</scale_factors> 8783 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8784 <transform> -0 0 -0 0 0 0</transform> 8785 <!--Whether to show a coordinate frame--> 8786 <show_axes>false</show_axes> 8787 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8788 <display_preference>4</display_preference> 8789 </VisibleObject> 8790 <PathWrapSet> 8791 <objects /> 8792 <groups /> 8793 </PathWrapSet> 8794 </GeometryPath> 8795 <!--The maximum force this actuator can produce.--> 8796 <optimal_force>1</optimal_force> 8797 <!--Maximum isometric force that the fibers can generate--> 8798 <max_isometric_force>233</max_isometric_force> 8799 <!--Optimal length of the muscle fibers--> 8800 <optimal_fiber_length>0.095</optimal_fiber_length> 8801 <!--Resting length of the tendon--> 8802 <tendon_slack_length>0.425</tendon_slack_length> 8803 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8804 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 8805 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8806 <max_contraction_velocity>10</max_contraction_velocity> 8807 <!--time constant for ramping up muscle activation--> 8808 <activation_time_constant>0.01</activation_time_constant> 8809 <!--time constant for ramping down of muscle activation--> 8810 <deactivation_time_constant>0.04</deactivation_time_constant> 8811 <!--tendon strain at maximum isometric muscle force--> 8812 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8813 <!--passive muscle strain at maximum isometric muscle force--> 8814 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8815 <!--shape factor for Gaussian active muscle force-length relationship--> 8816 <KshapeActive>0.5</KshapeActive> 8817 <!--exponential shape factor for passive force-length relationship--> 8818 <KshapePassive>4</KshapePassive> 8819 <!--force-velocity shape factor--> 8820 <Af>0.3</Af> 8821 <!--maximum normalized lengthening force--> 8822 <Flen>1.8</Flen> 8823 </Thelen2003Muscle> 8824 <Thelen2003Muscle name="pect_l"> 8825 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8826 <isDisabled>false</isDisabled> 8827 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8828 <min_control>0</min_control> 8829 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8830 <max_control>1</max_control> 8831 <!--The set of points defining the path of the muscle.--> 8832 <GeometryPath> 8833 <PathPointSet> 8834 <objects> 8835 <PathPoint name="pect_l-P1"> 8836 <location> -0.0431 -0.0768 -0.0451</location> 8837 <body>pelvis</body> 8838 </PathPoint> 8839 <PathPoint name="pect_l-P2"> 8840 <location> -0.0122 -0.0822 -0.0253</location> 8841 <body>femur_l</body> 8842 </PathPoint> 8843 </objects> 8844 <groups /> 8845 </PathPointSet> 8846 <VisibleObject> 8847 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8848 <GeometrySet> 8849 <objects /> 8850 <groups /> 8851 </GeometrySet> 8852 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8853 <scale_factors> 1 1 1</scale_factors> 8854 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8855 <transform> -0 0 -0 0 0 0</transform> 8856 <!--Whether to show a coordinate frame--> 8857 <show_axes>false</show_axes> 8858 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8859 <display_preference>4</display_preference> 8860 </VisibleObject> 8861 <PathWrapSet> 8862 <objects /> 8863 <groups /> 8864 </PathWrapSet> 8865 </GeometryPath> 8866 <!--The maximum force this actuator can produce.--> 8867 <optimal_force>1</optimal_force> 8868 <!--Maximum isometric force that the fibers can generate--> 8869 <max_isometric_force>266</max_isometric_force> 8870 <!--Optimal length of the muscle fibers--> 8871 <optimal_fiber_length>0.1</optimal_fiber_length> 8872 <!--Resting length of the tendon--> 8873 <tendon_slack_length>0.033</tendon_slack_length> 8874 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8875 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 8876 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8877 <max_contraction_velocity>10</max_contraction_velocity> 8878 <!--time constant for ramping up muscle activation--> 8879 <activation_time_constant>0.01</activation_time_constant> 8880 <!--time constant for ramping down of muscle activation--> 8881 <deactivation_time_constant>0.04</deactivation_time_constant> 8882 <!--tendon strain at maximum isometric muscle force--> 8883 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8884 <!--passive muscle strain at maximum isometric muscle force--> 8885 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8886 <!--shape factor for Gaussian active muscle force-length relationship--> 8887 <KshapeActive>0.5</KshapeActive> 8888 <!--exponential shape factor for passive force-length relationship--> 8889 <KshapePassive>4</KshapePassive> 8890 <!--force-velocity shape factor--> 8891 <Af>0.3</Af> 8892 <!--maximum normalized lengthening force--> 8893 <Flen>1.8</Flen> 8894 </Thelen2003Muscle> 8895 <Thelen2003Muscle name="grac_l"> 8896 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8897 <isDisabled>false</isDisabled> 8898 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8899 <min_control>0</min_control> 8900 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8901 <max_control>1</max_control> 8902 <!--The set of points defining the path of the muscle.--> 8903 <GeometryPath> 8904 <PathPointSet> 8905 <objects> 8906 <PathPoint name="grac_l-P1"> 8907 <location> -0.07401 -0.1187 -0.02794</location> 8908 <body>pelvis</body> 8909 </PathPoint> 8910 <ConditionalPathPoint name="grac_l-P2"> 8911 <location> -0.02657 -0.0319 0.03774</location> 8912 <body>tibia_l</body> 8913 <range> -0.436332 0.174533</range> 8914 <coordinate>knee_flexion_l</coordinate> 8915 </ConditionalPathPoint> 8916 <PathPoint name="grac_l-P3"> 8917 <location> -0.01943 -0.05153 0.0358</location> 8918 <body>tibia_l</body> 8919 </PathPoint> 8920 <PathPoint name="grac_l-P4"> 8921 <location> 0.006 -0.0836 0.0228</location> 8922 <body>tibia_l</body> 8923 </PathPoint> 8924 </objects> 8925 <groups /> 8926 </PathPointSet> 8927 <VisibleObject> 8928 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 8929 <GeometrySet> 8930 <objects /> 8931 <groups /> 8932 </GeometrySet> 8933 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 8934 <scale_factors> 1 1 1</scale_factors> 8935 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 8936 <transform> -0 0 -0 0 0 0</transform> 8937 <!--Whether to show a coordinate frame--> 8938 <show_axes>false</show_axes> 8939 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 8940 <display_preference>4</display_preference> 8941 </VisibleObject> 8942 <PathWrapSet> 8943 <objects /> 8944 <groups /> 8945 </PathWrapSet> 8946 </GeometryPath> 8947 <!--The maximum force this actuator can produce.--> 8948 <optimal_force>1</optimal_force> 8949 <!--Maximum isometric force that the fibers can generate--> 8950 <max_isometric_force>162</max_isometric_force> 8951 <!--Optimal length of the muscle fibers--> 8952 <optimal_fiber_length>0.352</optimal_fiber_length> 8953 <!--Resting length of the tendon--> 8954 <tendon_slack_length>0.126</tendon_slack_length> 8955 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 8956 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 8957 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 8958 <max_contraction_velocity>10</max_contraction_velocity> 8959 <!--time constant for ramping up muscle activation--> 8960 <activation_time_constant>0.01</activation_time_constant> 8961 <!--time constant for ramping down of muscle activation--> 8962 <deactivation_time_constant>0.04</deactivation_time_constant> 8963 <!--tendon strain at maximum isometric muscle force--> 8964 <FmaxTendonStrain>0.033</FmaxTendonStrain> 8965 <!--passive muscle strain at maximum isometric muscle force--> 8966 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 8967 <!--shape factor for Gaussian active muscle force-length relationship--> 8968 <KshapeActive>0.5</KshapeActive> 8969 <!--exponential shape factor for passive force-length relationship--> 8970 <KshapePassive>4</KshapePassive> 8971 <!--force-velocity shape factor--> 8972 <Af>0.3</Af> 8973 <!--maximum normalized lengthening force--> 8974 <Flen>1.8</Flen> 8975 </Thelen2003Muscle> 8976 <Thelen2003Muscle name="glut_max1_l"> 8977 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 8978 <isDisabled>false</isDisabled> 8979 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 8980 <min_control>0</min_control> 8981 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 8982 <max_control>1</max_control> 8983 <!--The set of points defining the path of the muscle.--> 8984 <GeometryPath> 8985 <PathPointSet> 8986 <objects> 8987 <PathPoint name="glut_max1_l-P1"> 8988 <location> -0.1195 0.0612 -0.07</location> 8989 <body>pelvis</body> 8990 </PathPoint> 8991 <PathPoint name="glut_max1_l-P2"> 8992 <location> -0.1291 0.0012 -0.0886</location> 8993 <body>pelvis</body> 8994 </PathPoint> 8995 <PathPoint name="glut_max1_l-P3"> 8996 <location> -0.0457 -0.0248 -0.0392</location> 8997 <body>femur_l</body> 8998 </PathPoint> 8999 <PathPoint name="glut_max1_l-P4"> 9000 <location> -0.0277 -0.0566 -0.047</location> 9001 <body>femur_l</body> 9002 </PathPoint> 9003 </objects> 9004 <groups /> 9005 </PathPointSet> 9006 <VisibleObject> 9007 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9008 <GeometrySet> 9009 <objects /> 9010 <groups /> 9011 </GeometrySet> 9012 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9013 <scale_factors> 1 1 1</scale_factors> 9014 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9015 <transform> -0 0 -0 0 0 0</transform> 9016 <!--Whether to show a coordinate frame--> 9017 <show_axes>false</show_axes> 9018 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9019 <display_preference>4</display_preference> 9020 </VisibleObject> 9021 <PathWrapSet> 9022 <objects /> 9023 <groups /> 9024 </PathWrapSet> 9025 </GeometryPath> 9026 <!--The maximum force this actuator can produce.--> 9027 <optimal_force>1</optimal_force> 9028 <!--Maximum isometric force that the fibers can generate--> 9029 <max_isometric_force>573</max_isometric_force> 9030 <!--Optimal length of the muscle fibers--> 9031 <optimal_fiber_length>0.142</optimal_fiber_length> 9032 <!--Resting length of the tendon--> 9033 <tendon_slack_length>0.125</tendon_slack_length> 9034 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9035 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 9036 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9037 <max_contraction_velocity>10</max_contraction_velocity> 9038 <!--time constant for ramping up muscle activation--> 9039 <activation_time_constant>0.01</activation_time_constant> 9040 <!--time constant for ramping down of muscle activation--> 9041 <deactivation_time_constant>0.04</deactivation_time_constant> 9042 <!--tendon strain at maximum isometric muscle force--> 9043 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9044 <!--passive muscle strain at maximum isometric muscle force--> 9045 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9046 <!--shape factor for Gaussian active muscle force-length relationship--> 9047 <KshapeActive>0.5</KshapeActive> 9048 <!--exponential shape factor for passive force-length relationship--> 9049 <KshapePassive>4</KshapePassive> 9050 <!--force-velocity shape factor--> 9051 <Af>0.3</Af> 9052 <!--maximum normalized lengthening force--> 9053 <Flen>1.8</Flen> 9054 </Thelen2003Muscle> 9055 <Thelen2003Muscle name="glut_max2_l"> 9056 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9057 <isDisabled>false</isDisabled> 9058 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9059 <min_control>0</min_control> 9060 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9061 <max_control>1</max_control> 9062 <!--The set of points defining the path of the muscle.--> 9063 <GeometryPath> 9064 <PathPointSet> 9065 <objects> 9066 <PathPoint name="glut_max2_l-P1"> 9067 <location> -0.1349 0.0176 -0.0563</location> 9068 <body>pelvis</body> 9069 </PathPoint> 9070 <PathPoint name="glut_max2_l-P2"> 9071 <location> -0.1376 -0.052 -0.0914</location> 9072 <body>pelvis</body> 9073 </PathPoint> 9074 <PathPoint name="glut_max2_l-P3"> 9075 <location> -0.0426 -0.053 -0.0293</location> 9076 <body>femur_l</body> 9077 </PathPoint> 9078 <PathPoint name="glut_max2_l-P4"> 9079 <location> -0.0156 -0.1016 -0.0419</location> 9080 <body>femur_l</body> 9081 </PathPoint> 9082 </objects> 9083 <groups /> 9084 </PathPointSet> 9085 <VisibleObject> 9086 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9087 <GeometrySet> 9088 <objects /> 9089 <groups /> 9090 </GeometrySet> 9091 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9092 <scale_factors> 1 1 1</scale_factors> 9093 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9094 <transform> -0 0 -0 0 0 0</transform> 9095 <!--Whether to show a coordinate frame--> 9096 <show_axes>false</show_axes> 9097 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9098 <display_preference>4</display_preference> 9099 </VisibleObject> 9100 <PathWrapSet> 9101 <objects /> 9102 <groups /> 9103 </PathWrapSet> 9104 </GeometryPath> 9105 <!--The maximum force this actuator can produce.--> 9106 <optimal_force>1</optimal_force> 9107 <!--Maximum isometric force that the fibers can generate--> 9108 <max_isometric_force>819</max_isometric_force> 9109 <!--Optimal length of the muscle fibers--> 9110 <optimal_fiber_length>0.147</optimal_fiber_length> 9111 <!--Resting length of the tendon--> 9112 <tendon_slack_length>0.127</tendon_slack_length> 9113 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9114 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 9115 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9116 <max_contraction_velocity>10</max_contraction_velocity> 9117 <!--time constant for ramping up muscle activation--> 9118 <activation_time_constant>0.01</activation_time_constant> 9119 <!--time constant for ramping down of muscle activation--> 9120 <deactivation_time_constant>0.04</deactivation_time_constant> 9121 <!--tendon strain at maximum isometric muscle force--> 9122 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9123 <!--passive muscle strain at maximum isometric muscle force--> 9124 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9125 <!--shape factor for Gaussian active muscle force-length relationship--> 9126 <KshapeActive>0.5</KshapeActive> 9127 <!--exponential shape factor for passive force-length relationship--> 9128 <KshapePassive>4</KshapePassive> 9129 <!--force-velocity shape factor--> 9130 <Af>0.3</Af> 9131 <!--maximum normalized lengthening force--> 9132 <Flen>1.8</Flen> 9133 </Thelen2003Muscle> 9134 <Thelen2003Muscle name="glut_max3_l"> 9135 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9136 <isDisabled>false</isDisabled> 9137 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9138 <min_control>0</min_control> 9139 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9140 <max_control>1</max_control> 9141 <!--The set of points defining the path of the muscle.--> 9142 <GeometryPath> 9143 <PathPointSet> 9144 <objects> 9145 <PathPoint name="glut_max3_l-P1"> 9146 <location> -0.1556 -0.0314 -0.0058</location> 9147 <body>pelvis</body> 9148 </PathPoint> 9149 <PathPoint name="glut_max3_l-P2"> 9150 <location> -0.1529 -0.1052 -0.0403</location> 9151 <body>pelvis</body> 9152 </PathPoint> 9153 <PathPoint name="glut_max3_l-P3"> 9154 <location> -0.0299 -0.1041 -0.0135</location> 9155 <body>femur_l</body> 9156 </PathPoint> 9157 <PathPoint name="glut_max3_l-P4"> 9158 <location> -0.006 -0.1419 -0.0411</location> 9159 <body>femur_l</body> 9160 </PathPoint> 9161 </objects> 9162 <groups /> 9163 </PathPointSet> 9164 <VisibleObject> 9165 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9166 <GeometrySet> 9167 <objects /> 9168 <groups /> 9169 </GeometrySet> 9170 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9171 <scale_factors> 1 1 1</scale_factors> 9172 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9173 <transform> -0 0 -0 0 0 0</transform> 9174 <!--Whether to show a coordinate frame--> 9175 <show_axes>false</show_axes> 9176 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9177 <display_preference>4</display_preference> 9178 </VisibleObject> 9179 <PathWrapSet> 9180 <objects /> 9181 <groups /> 9182 </PathWrapSet> 9183 </GeometryPath> 9184 <!--The maximum force this actuator can produce.--> 9185 <optimal_force>1</optimal_force> 9186 <!--Maximum isometric force that the fibers can generate--> 9187 <max_isometric_force>552</max_isometric_force> 9188 <!--Optimal length of the muscle fibers--> 9189 <optimal_fiber_length>0.144</optimal_fiber_length> 9190 <!--Resting length of the tendon--> 9191 <tendon_slack_length>0.145</tendon_slack_length> 9192 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9193 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 9194 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9195 <max_contraction_velocity>10</max_contraction_velocity> 9196 <!--time constant for ramping up muscle activation--> 9197 <activation_time_constant>0.01</activation_time_constant> 9198 <!--time constant for ramping down of muscle activation--> 9199 <deactivation_time_constant>0.04</deactivation_time_constant> 9200 <!--tendon strain at maximum isometric muscle force--> 9201 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9202 <!--passive muscle strain at maximum isometric muscle force--> 9203 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9204 <!--shape factor for Gaussian active muscle force-length relationship--> 9205 <KshapeActive>0.5</KshapeActive> 9206 <!--exponential shape factor for passive force-length relationship--> 9207 <KshapePassive>4</KshapePassive> 9208 <!--force-velocity shape factor--> 9209 <Af>0.3</Af> 9210 <!--maximum normalized lengthening force--> 9211 <Flen>1.8</Flen> 9212 </Thelen2003Muscle> 9213 <Thelen2003Muscle name="iliacus_l"> 9214 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9215 <isDisabled>false</isDisabled> 9216 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9217 <min_control>0</min_control> 9218 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9219 <max_control>1</max_control> 9220 <!--The set of points defining the path of the muscle.--> 9221 <GeometryPath> 9222 <PathPointSet> 9223 <objects> 9224 <PathPoint name="iliacus_l-P1"> 9225 <location> -0.0674 0.0365 -0.0854</location> 9226 <body>pelvis</body> 9227 </PathPoint> 9228 <PathPoint name="iliacus_l-P2"> 9229 <location> -0.0258 -0.055 -0.0811</location> 9230 <body>pelvis</body> 9231 </PathPoint> 9232 <ConditionalPathPoint name="iliacus_l-P3"> 9233 <location> -0.0288 -0.0805 -0.0816</location> 9234 <body>pelvis</body> 9235 <range> -1.5708 0.785398</range> 9236 <coordinate>hip_flexion_l</coordinate> 9237 </ConditionalPathPoint> 9238 <PathPoint name="iliacus_l-P4"> 9239 <location> 0.0017 -0.0543 -0.0057</location> 9240 <body>femur_l</body> 9241 </PathPoint> 9242 <PathPoint name="iliacus_l-P5"> 9243 <location> -0.0193 -0.0621 -0.0129</location> 9244 <body>femur_l</body> 9245 </PathPoint> 9246 </objects> 9247 <groups /> 9248 </PathPointSet> 9249 <VisibleObject> 9250 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9251 <GeometrySet> 9252 <objects /> 9253 <groups /> 9254 </GeometrySet> 9255 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9256 <scale_factors> 1 1 1</scale_factors> 9257 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9258 <transform> -0 0 -0 0 0 0</transform> 9259 <!--Whether to show a coordinate frame--> 9260 <show_axes>false</show_axes> 9261 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9262 <display_preference>4</display_preference> 9263 </VisibleObject> 9264 <PathWrapSet> 9265 <objects /> 9266 <groups /> 9267 </PathWrapSet> 9268 </GeometryPath> 9269 <!--The maximum force this actuator can produce.--> 9270 <optimal_force>1</optimal_force> 9271 <!--Maximum isometric force that the fibers can generate--> 9272 <max_isometric_force>1073</max_isometric_force> 9273 <!--Optimal length of the muscle fibers--> 9274 <optimal_fiber_length>0.1</optimal_fiber_length> 9275 <!--Resting length of the tendon--> 9276 <tendon_slack_length>0.1</tendon_slack_length> 9277 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9278 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 9279 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9280 <max_contraction_velocity>10</max_contraction_velocity> 9281 <!--time constant for ramping up muscle activation--> 9282 <activation_time_constant>0.01</activation_time_constant> 9283 <!--time constant for ramping down of muscle activation--> 9284 <deactivation_time_constant>0.04</deactivation_time_constant> 9285 <!--tendon strain at maximum isometric muscle force--> 9286 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9287 <!--passive muscle strain at maximum isometric muscle force--> 9288 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9289 <!--shape factor for Gaussian active muscle force-length relationship--> 9290 <KshapeActive>0.5</KshapeActive> 9291 <!--exponential shape factor for passive force-length relationship--> 9292 <KshapePassive>4</KshapePassive> 9293 <!--force-velocity shape factor--> 9294 <Af>0.3</Af> 9295 <!--maximum normalized lengthening force--> 9296 <Flen>1.8</Flen> 9297 </Thelen2003Muscle> 9298 <Thelen2003Muscle name="psoas_l"> 9299 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9300 <isDisabled>false</isDisabled> 9301 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9302 <min_control>0</min_control> 9303 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9304 <max_control>1</max_control> 9305 <!--The set of points defining the path of the muscle.--> 9306 <GeometryPath> 9307 <PathPointSet> 9308 <objects> 9309 <PathPoint name="psoas_l-P1"> 9310 <location> -0.0647 0.0887 -0.0289</location> 9311 <body>pelvis</body> 9312 </PathPoint> 9313 <PathPoint name="psoas_l-P2"> 9314 <location> -0.0238 -0.057 -0.0759</location> 9315 <body>pelvis</body> 9316 </PathPoint> 9317 <ConditionalPathPoint name="psoas_l-P3"> 9318 <location> -0.0288 -0.0805 -0.0816</location> 9319 <body>pelvis</body> 9320 <range> -1.5708 0.785398</range> 9321 <coordinate>hip_flexion_l</coordinate> 9322 </ConditionalPathPoint> 9323 <PathPoint name="psoas_l-P4"> 9324 <location> 0.0016 -0.0507 -0.0038</location> 9325 <body>femur_l</body> 9326 </PathPoint> 9327 <PathPoint name="psoas_l-P5"> 9328 <location> -0.0188 -0.0597 -0.0104</location> 9329 <body>femur_l</body> 9330 </PathPoint> 9331 </objects> 9332 <groups /> 9333 </PathPointSet> 9334 <VisibleObject> 9335 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9336 <GeometrySet> 9337 <objects /> 9338 <groups /> 9339 </GeometrySet> 9340 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9341 <scale_factors> 1 1 1</scale_factors> 9342 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9343 <transform> -0 0 -0 0 0 0</transform> 9344 <!--Whether to show a coordinate frame--> 9345 <show_axes>false</show_axes> 9346 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9347 <display_preference>4</display_preference> 9348 </VisibleObject> 9349 <PathWrapSet> 9350 <objects /> 9351 <groups /> 9352 </PathWrapSet> 9353 </GeometryPath> 9354 <!--The maximum force this actuator can produce.--> 9355 <optimal_force>1</optimal_force> 9356 <!--Maximum isometric force that the fibers can generate--> 9357 <max_isometric_force>1113</max_isometric_force> 9358 <!--Optimal length of the muscle fibers--> 9359 <optimal_fiber_length>0.1</optimal_fiber_length> 9360 <!--Resting length of the tendon--> 9361 <tendon_slack_length>0.16</tendon_slack_length> 9362 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9363 <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> 9364 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9365 <max_contraction_velocity>10</max_contraction_velocity> 9366 <!--time constant for ramping up muscle activation--> 9367 <activation_time_constant>0.01</activation_time_constant> 9368 <!--time constant for ramping down of muscle activation--> 9369 <deactivation_time_constant>0.04</deactivation_time_constant> 9370 <!--tendon strain at maximum isometric muscle force--> 9371 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9372 <!--passive muscle strain at maximum isometric muscle force--> 9373 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9374 <!--shape factor for Gaussian active muscle force-length relationship--> 9375 <KshapeActive>0.5</KshapeActive> 9376 <!--exponential shape factor for passive force-length relationship--> 9377 <KshapePassive>4</KshapePassive> 9378 <!--force-velocity shape factor--> 9379 <Af>0.3</Af> 9380 <!--maximum normalized lengthening force--> 9381 <Flen>1.8</Flen> 9382 </Thelen2003Muscle> 9383 <Thelen2003Muscle name="quad_fem_l"> 9384 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9385 <isDisabled>false</isDisabled> 9386 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9387 <min_control>0</min_control> 9388 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9389 <max_control>1</max_control> 9390 <!--The set of points defining the path of the muscle.--> 9391 <GeometryPath> 9392 <PathPointSet> 9393 <objects> 9394 <PathPoint name="quad_fem_l-P1"> 9395 <location> -0.1143 -0.1151 -0.052</location> 9396 <body>pelvis</body> 9397 </PathPoint> 9398 <PathPoint name="quad_fem_l-P2"> 9399 <location> -0.0381 -0.0359 -0.0366</location> 9400 <body>femur_l</body> 9401 </PathPoint> 9402 </objects> 9403 <groups /> 9404 </PathPointSet> 9405 <VisibleObject> 9406 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9407 <GeometrySet> 9408 <objects /> 9409 <groups /> 9410 </GeometrySet> 9411 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9412 <scale_factors> 1 1 1</scale_factors> 9413 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9414 <transform> -0 0 -0 0 0 0</transform> 9415 <!--Whether to show a coordinate frame--> 9416 <show_axes>false</show_axes> 9417 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9418 <display_preference>4</display_preference> 9419 </VisibleObject> 9420 <PathWrapSet> 9421 <objects /> 9422 <groups /> 9423 </PathWrapSet> 9424 </GeometryPath> 9425 <!--The maximum force this actuator can produce.--> 9426 <optimal_force>1</optimal_force> 9427 <!--Maximum isometric force that the fibers can generate--> 9428 <max_isometric_force>381</max_isometric_force> 9429 <!--Optimal length of the muscle fibers--> 9430 <optimal_fiber_length>0.054</optimal_fiber_length> 9431 <!--Resting length of the tendon--> 9432 <tendon_slack_length>0.024</tendon_slack_length> 9433 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9434 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 9435 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9436 <max_contraction_velocity>10</max_contraction_velocity> 9437 <!--time constant for ramping up muscle activation--> 9438 <activation_time_constant>0.01</activation_time_constant> 9439 <!--time constant for ramping down of muscle activation--> 9440 <deactivation_time_constant>0.04</deactivation_time_constant> 9441 <!--tendon strain at maximum isometric muscle force--> 9442 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9443 <!--passive muscle strain at maximum isometric muscle force--> 9444 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9445 <!--shape factor for Gaussian active muscle force-length relationship--> 9446 <KshapeActive>0.5</KshapeActive> 9447 <!--exponential shape factor for passive force-length relationship--> 9448 <KshapePassive>4</KshapePassive> 9449 <!--force-velocity shape factor--> 9450 <Af>0.3</Af> 9451 <!--maximum normalized lengthening force--> 9452 <Flen>1.8</Flen> 9453 </Thelen2003Muscle> 9454 <Thelen2003Muscle name="gem_l"> 9455 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9456 <isDisabled>false</isDisabled> 9457 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9458 <min_control>0</min_control> 9459 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9460 <max_control>1</max_control> 9461 <!--The set of points defining the path of the muscle.--> 9462 <GeometryPath> 9463 <PathPointSet> 9464 <objects> 9465 <PathPoint name="gem_l-P1"> 9466 <location> -0.1133 -0.082 -0.0714</location> 9467 <body>pelvis</body> 9468 </PathPoint> 9469 <PathPoint name="gem_l-P2"> 9470 <location> -0.0142 -0.0033 -0.0443</location> 9471 <body>femur_l</body> 9472 </PathPoint> 9473 </objects> 9474 <groups /> 9475 </PathPointSet> 9476 <VisibleObject> 9477 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9478 <GeometrySet> 9479 <objects /> 9480 <groups /> 9481 </GeometrySet> 9482 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9483 <scale_factors> 1 1 1</scale_factors> 9484 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9485 <transform> -0 0 -0 0 0 0</transform> 9486 <!--Whether to show a coordinate frame--> 9487 <show_axes>false</show_axes> 9488 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9489 <display_preference>4</display_preference> 9490 </VisibleObject> 9491 <PathWrapSet> 9492 <objects /> 9493 <groups /> 9494 </PathWrapSet> 9495 </GeometryPath> 9496 <!--The maximum force this actuator can produce.--> 9497 <optimal_force>1</optimal_force> 9498 <!--Maximum isometric force that the fibers can generate--> 9499 <max_isometric_force>164</max_isometric_force> 9500 <!--Optimal length of the muscle fibers--> 9501 <optimal_fiber_length>0.024</optimal_fiber_length> 9502 <!--Resting length of the tendon--> 9503 <tendon_slack_length>0.039</tendon_slack_length> 9504 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9505 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 9506 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9507 <max_contraction_velocity>10</max_contraction_velocity> 9508 <!--time constant for ramping up muscle activation--> 9509 <activation_time_constant>0.01</activation_time_constant> 9510 <!--time constant for ramping down of muscle activation--> 9511 <deactivation_time_constant>0.04</deactivation_time_constant> 9512 <!--tendon strain at maximum isometric muscle force--> 9513 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9514 <!--passive muscle strain at maximum isometric muscle force--> 9515 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9516 <!--shape factor for Gaussian active muscle force-length relationship--> 9517 <KshapeActive>0.5</KshapeActive> 9518 <!--exponential shape factor for passive force-length relationship--> 9519 <KshapePassive>4</KshapePassive> 9520 <!--force-velocity shape factor--> 9521 <Af>0.3</Af> 9522 <!--maximum normalized lengthening force--> 9523 <Flen>1.8</Flen> 9524 </Thelen2003Muscle> 9525 <Thelen2003Muscle name="peri_l"> 9526 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9527 <isDisabled>false</isDisabled> 9528 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9529 <min_control>0</min_control> 9530 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9531 <max_control>1</max_control> 9532 <!--The set of points defining the path of the muscle.--> 9533 <GeometryPath> 9534 <PathPointSet> 9535 <objects> 9536 <PathPoint name="peri_l-P1"> 9537 <location> -0.1396 0.0003 -0.0235</location> 9538 <body>pelvis</body> 9539 </PathPoint> 9540 <PathPoint name="peri_l-P2"> 9541 <location> -0.1193 -0.0276 -0.0657</location> 9542 <body>pelvis</body> 9543 </PathPoint> 9544 <PathPoint name="peri_l-P3"> 9545 <location> -0.0148 -0.0036 -0.0437</location> 9546 <body>femur_l</body> 9547 </PathPoint> 9548 </objects> 9549 <groups /> 9550 </PathPointSet> 9551 <VisibleObject> 9552 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9553 <GeometrySet> 9554 <objects /> 9555 <groups /> 9556 </GeometrySet> 9557 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9558 <scale_factors> 1 1 1</scale_factors> 9559 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9560 <transform> -0 0 -0 0 0 0</transform> 9561 <!--Whether to show a coordinate frame--> 9562 <show_axes>false</show_axes> 9563 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9564 <display_preference>4</display_preference> 9565 </VisibleObject> 9566 <PathWrapSet> 9567 <objects /> 9568 <groups /> 9569 </PathWrapSet> 9570 </GeometryPath> 9571 <!--The maximum force this actuator can produce.--> 9572 <optimal_force>1</optimal_force> 9573 <!--Maximum isometric force that the fibers can generate--> 9574 <max_isometric_force>444</max_isometric_force> 9575 <!--Optimal length of the muscle fibers--> 9576 <optimal_fiber_length>0.026</optimal_fiber_length> 9577 <!--Resting length of the tendon--> 9578 <tendon_slack_length>0.115</tendon_slack_length> 9579 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9580 <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> 9581 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9582 <max_contraction_velocity>10</max_contraction_velocity> 9583 <!--time constant for ramping up muscle activation--> 9584 <activation_time_constant>0.01</activation_time_constant> 9585 <!--time constant for ramping down of muscle activation--> 9586 <deactivation_time_constant>0.04</deactivation_time_constant> 9587 <!--tendon strain at maximum isometric muscle force--> 9588 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9589 <!--passive muscle strain at maximum isometric muscle force--> 9590 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9591 <!--shape factor for Gaussian active muscle force-length relationship--> 9592 <KshapeActive>0.5</KshapeActive> 9593 <!--exponential shape factor for passive force-length relationship--> 9594 <KshapePassive>4</KshapePassive> 9595 <!--force-velocity shape factor--> 9596 <Af>0.3</Af> 9597 <!--maximum normalized lengthening force--> 9598 <Flen>1.8</Flen> 9599 </Thelen2003Muscle> 9600 <Thelen2003Muscle name="rect_fem_l"> 9601 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9602 <isDisabled>false</isDisabled> 9603 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9604 <min_control>0</min_control> 9605 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9606 <max_control>1</max_control> 9607 <!--The set of points defining the path of the muscle.--> 9608 <GeometryPath> 9609 <PathPointSet> 9610 <objects> 9611 <PathPoint name="rect_fem_l-P1"> 9612 <location> -0.0295 -0.0311 -0.0968</location> 9613 <body>pelvis</body> 9614 </PathPoint> 9615 <ConditionalPathPoint name="rect_fem_l-P2"> 9616 <location> 0.0334 -0.403 -0.0019</location> 9617 <body>femur_l</body> 9618 <range> -2.61799 -1.45997</range> 9619 <coordinate>knee_flexion_l</coordinate> 9620 </ConditionalPathPoint> 9621 <MovingPathPoint name="rect_fem_l-P3"> 9622 <location> 0.0617576 0.020984 -0.0014</location> 9623 <body>tibia_l</body> 9624 <x_location> 9625 <SimmSpline> 9626 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 9627 <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y> 9628 </SimmSpline> 9629 </x_location> 9630 <x_coordinate>knee_flexion_l</x_coordinate> 9631 <y_location> 9632 <SimmSpline> 9633 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 9634 <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y> 9635 </SimmSpline> 9636 </y_location> 9637 <y_coordinate>knee_flexion_l</y_coordinate> 9638 <z_location> 9639 <SimmSpline> 9640 <x> -2.0944 0.1745</x> 9641 <y> -0.0014 -0.0014</y> 9642 </SimmSpline> 9643 </z_location> 9644 <z_coordinate>knee_flexion_l</z_coordinate> 9645 </MovingPathPoint> 9646 </objects> 9647 <groups /> 9648 </PathPointSet> 9649 <VisibleObject> 9650 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9651 <GeometrySet> 9652 <objects /> 9653 <groups /> 9654 </GeometrySet> 9655 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9656 <scale_factors> 1 1 1</scale_factors> 9657 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9658 <transform> -0 0 -0 0 0 0</transform> 9659 <!--Whether to show a coordinate frame--> 9660 <show_axes>false</show_axes> 9661 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9662 <display_preference>4</display_preference> 9663 </VisibleObject> 9664 <PathWrapSet> 9665 <objects /> 9666 <groups /> 9667 </PathWrapSet> 9668 </GeometryPath> 9669 <!--The maximum force this actuator can produce.--> 9670 <optimal_force>1</optimal_force> 9671 <!--Maximum isometric force that the fibers can generate--> 9672 <max_isometric_force>1169</max_isometric_force> 9673 <!--Optimal length of the muscle fibers--> 9674 <optimal_fiber_length>0.114</optimal_fiber_length> 9675 <!--Resting length of the tendon--> 9676 <tendon_slack_length>0.31</tendon_slack_length> 9677 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9678 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 9679 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9680 <max_contraction_velocity>10</max_contraction_velocity> 9681 <!--time constant for ramping up muscle activation--> 9682 <activation_time_constant>0.01</activation_time_constant> 9683 <!--time constant for ramping down of muscle activation--> 9684 <deactivation_time_constant>0.04</deactivation_time_constant> 9685 <!--tendon strain at maximum isometric muscle force--> 9686 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9687 <!--passive muscle strain at maximum isometric muscle force--> 9688 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9689 <!--shape factor for Gaussian active muscle force-length relationship--> 9690 <KshapeActive>0.5</KshapeActive> 9691 <!--exponential shape factor for passive force-length relationship--> 9692 <KshapePassive>4</KshapePassive> 9693 <!--force-velocity shape factor--> 9694 <Af>0.3</Af> 9695 <!--maximum normalized lengthening force--> 9696 <Flen>1.8</Flen> 9697 </Thelen2003Muscle> 9698 <Thelen2003Muscle name="vas_int_l"> 9699 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9700 <isDisabled>false</isDisabled> 9701 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9702 <min_control>0</min_control> 9703 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9704 <max_control>1</max_control> 9705 <!--The set of points defining the path of the muscle.--> 9706 <GeometryPath> 9707 <PathPointSet> 9708 <objects> 9709 <PathPoint name="vas_int_l-P1"> 9710 <location> 0.029 -0.1924 -0.031</location> 9711 <body>femur_l</body> 9712 </PathPoint> 9713 <PathPoint name="vas_int_l-P2"> 9714 <location> 0.0335 -0.2084 -0.0285</location> 9715 <body>femur_l</body> 9716 </PathPoint> 9717 <ConditionalPathPoint name="vas_int_l-P3"> 9718 <location> 0.0343 -0.403 -0.0055</location> 9719 <body>femur_l</body> 9720 <range> -2.61799 -1.42</range> 9721 <coordinate>knee_flexion_l</coordinate> 9722 </ConditionalPathPoint> 9723 <MovingPathPoint name="vas_int_l-P4"> 9724 <location> 0.0554632 0.0252923 -0.0018</location> 9725 <body>tibia_l</body> 9726 <x_location> 9727 <SimmSpline> 9728 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 9729 <y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y> 9730 </SimmSpline> 9731 </x_location> 9732 <x_coordinate>knee_flexion_l</x_coordinate> 9733 <y_location> 9734 <SimmSpline> 9735 <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x> 9736 <y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y> 9737 </SimmSpline> 9738 </y_location> 9739 <y_coordinate>knee_flexion_l</y_coordinate> 9740 <z_location> 9741 <SimmSpline> 9742 <x> -2.0944 2.0944</x> 9743 <y> -0.0018 -0.0018</y> 9744 </SimmSpline> 9745 </z_location> 9746 <z_coordinate>knee_flexion_l</z_coordinate> 9747 </MovingPathPoint> 9748 </objects> 9749 <groups /> 9750 </PathPointSet> 9751 <VisibleObject> 9752 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9753 <GeometrySet> 9754 <objects /> 9755 <groups /> 9756 </GeometrySet> 9757 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9758 <scale_factors> 1 1 1</scale_factors> 9759 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9760 <transform> -0 0 -0 0 0 0</transform> 9761 <!--Whether to show a coordinate frame--> 9762 <show_axes>false</show_axes> 9763 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9764 <display_preference>4</display_preference> 9765 </VisibleObject> 9766 <PathWrapSet> 9767 <objects /> 9768 <groups /> 9769 </PathWrapSet> 9770 </GeometryPath> 9771 <!--The maximum force this actuator can produce.--> 9772 <optimal_force>1</optimal_force> 9773 <!--Maximum isometric force that the fibers can generate--> 9774 <max_isometric_force>5000</max_isometric_force> 9775 <!--Optimal length of the muscle fibers--> 9776 <optimal_fiber_length>0.107</optimal_fiber_length> 9777 <!--Resting length of the tendon--> 9778 <tendon_slack_length>0.116</tendon_slack_length> 9779 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9780 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 9781 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9782 <max_contraction_velocity>10</max_contraction_velocity> 9783 <!--time constant for ramping up muscle activation--> 9784 <activation_time_constant>0.01</activation_time_constant> 9785 <!--time constant for ramping down of muscle activation--> 9786 <deactivation_time_constant>0.04</deactivation_time_constant> 9787 <!--tendon strain at maximum isometric muscle force--> 9788 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9789 <!--passive muscle strain at maximum isometric muscle force--> 9790 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9791 <!--shape factor for Gaussian active muscle force-length relationship--> 9792 <KshapeActive>0.5</KshapeActive> 9793 <!--exponential shape factor for passive force-length relationship--> 9794 <KshapePassive>4</KshapePassive> 9795 <!--force-velocity shape factor--> 9796 <Af>0.3</Af> 9797 <!--maximum normalized lengthening force--> 9798 <Flen>1.8</Flen> 9799 </Thelen2003Muscle> 9800 <Thelen2003Muscle name="med_gas_l"> 9801 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9802 <isDisabled>false</isDisabled> 9803 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9804 <min_control>0</min_control> 9805 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9806 <max_control>1</max_control> 9807 <!--The set of points defining the path of the muscle.--> 9808 <GeometryPath> 9809 <PathPointSet> 9810 <objects> 9811 <PathPoint name="med_gas_l-P1"> 9812 <location> -0.019 -0.3929 0.0235</location> 9813 <body>femur_l</body> 9814 </PathPoint> 9815 <ConditionalPathPoint name="med_gas_l-P2"> 9816 <location> -0.03 -0.4022 0.0258</location> 9817 <body>femur_l</body> 9818 <range> -0.785398 0.174533</range> 9819 <coordinate>knee_flexion_l</coordinate> 9820 </ConditionalPathPoint> 9821 <PathPoint name="med_gas_l-P3"> 9822 <location> 0 0.031 0.0053</location> 9823 <body>calcn_l</body> 9824 </PathPoint> 9825 </objects> 9826 <groups /> 9827 </PathPointSet> 9828 <VisibleObject> 9829 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9830 <GeometrySet> 9831 <objects /> 9832 <groups /> 9833 </GeometrySet> 9834 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9835 <scale_factors> 1 1 1</scale_factors> 9836 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9837 <transform> -0 0 -0 0 0 0</transform> 9838 <!--Whether to show a coordinate frame--> 9839 <show_axes>false</show_axes> 9840 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9841 <display_preference>4</display_preference> 9842 </VisibleObject> 9843 <PathWrapSet> 9844 <objects /> 9845 <groups /> 9846 </PathWrapSet> 9847 </GeometryPath> 9848 <!--The maximum force this actuator can produce.--> 9849 <optimal_force>1</optimal_force> 9850 <!--Maximum isometric force that the fibers can generate--> 9851 <max_isometric_force>2500</max_isometric_force> 9852 <!--Optimal length of the muscle fibers--> 9853 <optimal_fiber_length>0.09</optimal_fiber_length> 9854 <!--Resting length of the tendon--> 9855 <tendon_slack_length>0.36</tendon_slack_length> 9856 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9857 <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> 9858 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9859 <max_contraction_velocity>10</max_contraction_velocity> 9860 <!--time constant for ramping up muscle activation--> 9861 <activation_time_constant>0.01</activation_time_constant> 9862 <!--time constant for ramping down of muscle activation--> 9863 <deactivation_time_constant>0.04</deactivation_time_constant> 9864 <!--tendon strain at maximum isometric muscle force--> 9865 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9866 <!--passive muscle strain at maximum isometric muscle force--> 9867 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9868 <!--shape factor for Gaussian active muscle force-length relationship--> 9869 <KshapeActive>0.5</KshapeActive> 9870 <!--exponential shape factor for passive force-length relationship--> 9871 <KshapePassive>4</KshapePassive> 9872 <!--force-velocity shape factor--> 9873 <Af>0.3</Af> 9874 <!--maximum normalized lengthening force--> 9875 <Flen>1.8</Flen> 9876 </Thelen2003Muscle> 9877 <Thelen2003Muscle name="soleus_l"> 9878 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9879 <isDisabled>false</isDisabled> 9880 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9881 <min_control>0</min_control> 9882 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9883 <max_control>1</max_control> 9884 <!--The set of points defining the path of the muscle.--> 9885 <GeometryPath> 9886 <PathPointSet> 9887 <objects> 9888 <PathPoint name="soleus_l-P1"> 9889 <location> -0.0024 -0.1533 -0.0071</location> 9890 <body>tibia_l</body> 9891 </PathPoint> 9892 <PathPoint name="soleus_l-P2"> 9893 <location> 0 0.031 0.0053</location> 9894 <body>calcn_l</body> 9895 </PathPoint> 9896 </objects> 9897 <groups /> 9898 </PathPointSet> 9899 <VisibleObject> 9900 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9901 <GeometrySet> 9902 <objects /> 9903 <groups /> 9904 </GeometrySet> 9905 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9906 <scale_factors> 1 1 1</scale_factors> 9907 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9908 <transform> -0 0 -0 0 0 0</transform> 9909 <!--Whether to show a coordinate frame--> 9910 <show_axes>false</show_axes> 9911 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9912 <display_preference>4</display_preference> 9913 </VisibleObject> 9914 <PathWrapSet> 9915 <objects /> 9916 <groups /> 9917 </PathWrapSet> 9918 </GeometryPath> 9919 <!--The maximum force this actuator can produce.--> 9920 <optimal_force>1</optimal_force> 9921 <!--Maximum isometric force that the fibers can generate--> 9922 <max_isometric_force>4000</max_isometric_force> 9923 <!--Optimal length of the muscle fibers--> 9924 <optimal_fiber_length>0.08</optimal_fiber_length> 9925 <!--Resting length of the tendon--> 9926 <tendon_slack_length>0.22</tendon_slack_length> 9927 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 9928 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 9929 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 9930 <max_contraction_velocity>10</max_contraction_velocity> 9931 <!--time constant for ramping up muscle activation--> 9932 <activation_time_constant>0.01</activation_time_constant> 9933 <!--time constant for ramping down of muscle activation--> 9934 <deactivation_time_constant>0.04</deactivation_time_constant> 9935 <!--tendon strain at maximum isometric muscle force--> 9936 <FmaxTendonStrain>0.033</FmaxTendonStrain> 9937 <!--passive muscle strain at maximum isometric muscle force--> 9938 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 9939 <!--shape factor for Gaussian active muscle force-length relationship--> 9940 <KshapeActive>0.5</KshapeActive> 9941 <!--exponential shape factor for passive force-length relationship--> 9942 <KshapePassive>4</KshapePassive> 9943 <!--force-velocity shape factor--> 9944 <Af>0.3</Af> 9945 <!--maximum normalized lengthening force--> 9946 <Flen>1.8</Flen> 9947 </Thelen2003Muscle> 9948 <Thelen2003Muscle name="tib_post_l"> 9949 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 9950 <isDisabled>false</isDisabled> 9951 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 9952 <min_control>0</min_control> 9953 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 9954 <max_control>1</max_control> 9955 <!--The set of points defining the path of the muscle.--> 9956 <GeometryPath> 9957 <PathPointSet> 9958 <objects> 9959 <PathPoint name="tib_post_l-P1"> 9960 <location> -0.0094 -0.1348 -0.0019</location> 9961 <body>tibia_l</body> 9962 </PathPoint> 9963 <PathPoint name="tib_post_l-P2"> 9964 <location> -0.0144 -0.4051 0.0229</location> 9965 <body>tibia_l</body> 9966 </PathPoint> 9967 <PathPoint name="tib_post_l-P3"> 9968 <location> 0.0417 0.0334 0.0286</location> 9969 <body>calcn_l</body> 9970 </PathPoint> 9971 <PathPoint name="tib_post_l-P4"> 9972 <location> 0.0772 0.0159 0.0281</location> 9973 <body>calcn_l</body> 9974 </PathPoint> 9975 </objects> 9976 <groups /> 9977 </PathPointSet> 9978 <VisibleObject> 9979 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 9980 <GeometrySet> 9981 <objects /> 9982 <groups /> 9983 </GeometrySet> 9984 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 9985 <scale_factors> 1 1 1</scale_factors> 9986 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 9987 <transform> -0 0 -0 0 0 0</transform> 9988 <!--Whether to show a coordinate frame--> 9989 <show_axes>false</show_axes> 9990 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 9991 <display_preference>4</display_preference> 9992 </VisibleObject> 9993 <PathWrapSet> 9994 <objects /> 9995 <groups /> 9996 </PathWrapSet> 9997 </GeometryPath> 9998 <!--The maximum force this actuator can produce.--> 9999 <optimal_force>1</optimal_force> 10000 <!--Maximum isometric force that the fibers can generate--> 10001 <max_isometric_force>3600</max_isometric_force> 10002 <!--Optimal length of the muscle fibers--> 10003 <optimal_fiber_length>0.031</optimal_fiber_length> 10004 <!--Resting length of the tendon--> 10005 <tendon_slack_length>0.31</tendon_slack_length> 10006 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10007 <pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal> 10008 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10009 <max_contraction_velocity>10</max_contraction_velocity> 10010 <!--time constant for ramping up muscle activation--> 10011 <activation_time_constant>0.01</activation_time_constant> 10012 <!--time constant for ramping down of muscle activation--> 10013 <deactivation_time_constant>0.04</deactivation_time_constant> 10014 <!--tendon strain at maximum isometric muscle force--> 10015 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10016 <!--passive muscle strain at maximum isometric muscle force--> 10017 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10018 <!--shape factor for Gaussian active muscle force-length relationship--> 10019 <KshapeActive>0.5</KshapeActive> 10020 <!--exponential shape factor for passive force-length relationship--> 10021 <KshapePassive>4</KshapePassive> 10022 <!--force-velocity shape factor--> 10023 <Af>0.3</Af> 10024 <!--maximum normalized lengthening force--> 10025 <Flen>1.8</Flen> 10026 </Thelen2003Muscle> 10027 <Thelen2003Muscle name="tib_ant_l"> 10028 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10029 <isDisabled>false</isDisabled> 10030 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10031 <min_control>0</min_control> 10032 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10033 <max_control>1</max_control> 10034 <!--The set of points defining the path of the muscle.--> 10035 <GeometryPath> 10036 <PathPointSet> 10037 <objects> 10038 <PathPoint name="tib_ant_l-P1"> 10039 <location> 0.0179 -0.1624 -0.0115</location> 10040 <body>tibia_l</body> 10041 </PathPoint> 10042 <PathPoint name="tib_ant_l-P2"> 10043 <location> 0.0329 -0.3951 0.0177</location> 10044 <body>tibia_l</body> 10045 </PathPoint> 10046 <PathPoint name="tib_ant_l-P3"> 10047 <location> 0.1166 0.0178 0.0305</location> 10048 <body>calcn_l</body> 10049 </PathPoint> 10050 </objects> 10051 <groups /> 10052 </PathPointSet> 10053 <VisibleObject> 10054 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10055 <GeometrySet> 10056 <objects /> 10057 <groups /> 10058 </GeometrySet> 10059 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10060 <scale_factors> 1 1 1</scale_factors> 10061 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10062 <transform> -0 0 -0 0 0 0</transform> 10063 <!--Whether to show a coordinate frame--> 10064 <show_axes>false</show_axes> 10065 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10066 <display_preference>4</display_preference> 10067 </VisibleObject> 10068 <PathWrapSet> 10069 <objects /> 10070 <groups /> 10071 </PathWrapSet> 10072 </GeometryPath> 10073 <!--The maximum force this actuator can produce.--> 10074 <optimal_force>1</optimal_force> 10075 <!--Maximum isometric force that the fibers can generate--> 10076 <max_isometric_force>3000</max_isometric_force> 10077 <!--Optimal length of the muscle fibers--> 10078 <optimal_fiber_length>0.098</optimal_fiber_length> 10079 <!--Resting length of the tendon--> 10080 <tendon_slack_length>0.223</tendon_slack_length> 10081 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10082 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 10083 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10084 <max_contraction_velocity>10</max_contraction_velocity> 10085 <!--time constant for ramping up muscle activation--> 10086 <activation_time_constant>0.01</activation_time_constant> 10087 <!--time constant for ramping down of muscle activation--> 10088 <deactivation_time_constant>0.04</deactivation_time_constant> 10089 <!--tendon strain at maximum isometric muscle force--> 10090 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10091 <!--passive muscle strain at maximum isometric muscle force--> 10092 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10093 <!--shape factor for Gaussian active muscle force-length relationship--> 10094 <KshapeActive>0.5</KshapeActive> 10095 <!--exponential shape factor for passive force-length relationship--> 10096 <KshapePassive>4</KshapePassive> 10097 <!--force-velocity shape factor--> 10098 <Af>0.3</Af> 10099 <!--maximum normalized lengthening force--> 10100 <Flen>1.8</Flen> 10101 </Thelen2003Muscle> 10102 <Thelen2003Muscle name="ercspn_r"> 10103 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10104 <isDisabled>false</isDisabled> 10105 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10106 <min_control>0</min_control> 10107 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10108 <max_control>1</max_control> 10109 <!--The set of points defining the path of the muscle.--> 10110 <GeometryPath> 10111 <PathPointSet> 10112 <objects> 10113 <PathPoint name="ercspn_r-P1"> 10114 <location> -0.14 0.0439 0.0436</location> 10115 <body>pelvis</body> 10116 </PathPoint> 10117 <PathPoint name="ercspn_r-P2"> 10118 <location> -0.0755 -0.2685 0.0241</location> 10119 <body>thorax</body> 10120 </PathPoint> 10121 </objects> 10122 <groups /> 10123 </PathPointSet> 10124 <VisibleObject> 10125 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10126 <GeometrySet> 10127 <objects /> 10128 <groups /> 10129 </GeometrySet> 10130 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10131 <scale_factors> 1 1 1</scale_factors> 10132 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10133 <transform> -0 0 -0 0 0 0</transform> 10134 <!--Whether to show a coordinate frame--> 10135 <show_axes>false</show_axes> 10136 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10137 <display_preference>4</display_preference> 10138 </VisibleObject> 10139 <PathWrapSet> 10140 <objects /> 10141 <groups /> 10142 </PathWrapSet> 10143 </GeometryPath> 10144 <!--The maximum force this actuator can produce.--> 10145 <optimal_force>1</optimal_force> 10146 <!--Maximum isometric force that the fibers can generate--> 10147 <max_isometric_force>2500</max_isometric_force> 10148 <!--Optimal length of the muscle fibers--> 10149 <optimal_fiber_length>0.12</optimal_fiber_length> 10150 <!--Resting length of the tendon--> 10151 <tendon_slack_length>0.03</tendon_slack_length> 10152 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10153 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 10154 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10155 <max_contraction_velocity>10</max_contraction_velocity> 10156 <!--time constant for ramping up muscle activation--> 10157 <activation_time_constant>0.01</activation_time_constant> 10158 <!--time constant for ramping down of muscle activation--> 10159 <deactivation_time_constant>0.04</deactivation_time_constant> 10160 <!--tendon strain at maximum isometric muscle force--> 10161 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10162 <!--passive muscle strain at maximum isometric muscle force--> 10163 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10164 <!--shape factor for Gaussian active muscle force-length relationship--> 10165 <KshapeActive>0.5</KshapeActive> 10166 <!--exponential shape factor for passive force-length relationship--> 10167 <KshapePassive>4</KshapePassive> 10168 <!--force-velocity shape factor--> 10169 <Af>0.3</Af> 10170 <!--maximum normalized lengthening force--> 10171 <Flen>1.8</Flen> 10172 </Thelen2003Muscle> 10173 <Thelen2003Muscle name="ercspn_l"> 10174 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10175 <isDisabled>false</isDisabled> 10176 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10177 <min_control>0</min_control> 10178 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10179 <max_control>1</max_control> 10180 <!--The set of points defining the path of the muscle.--> 10181 <GeometryPath> 10182 <PathPointSet> 10183 <objects> 10184 <PathPoint name="ercspn_l-P1"> 10185 <location> -0.14 0.0439 -0.0436</location> 10186 <body>pelvis</body> 10187 </PathPoint> 10188 <PathPoint name="ercspn_l-P2"> 10189 <location> -0.0755 -0.2685 -0.0241</location> 10190 <body>thorax</body> 10191 </PathPoint> 10192 </objects> 10193 <groups /> 10194 </PathPointSet> 10195 <VisibleObject> 10196 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10197 <GeometrySet> 10198 <objects /> 10199 <groups /> 10200 </GeometrySet> 10201 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10202 <scale_factors> 1 1 1</scale_factors> 10203 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10204 <transform> -0 0 -0 0 0 0</transform> 10205 <!--Whether to show a coordinate frame--> 10206 <show_axes>false</show_axes> 10207 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10208 <display_preference>4</display_preference> 10209 </VisibleObject> 10210 <PathWrapSet> 10211 <objects /> 10212 <groups /> 10213 </PathWrapSet> 10214 </GeometryPath> 10215 <!--The maximum force this actuator can produce.--> 10216 <optimal_force>1</optimal_force> 10217 <!--Maximum isometric force that the fibers can generate--> 10218 <max_isometric_force>2500</max_isometric_force> 10219 <!--Optimal length of the muscle fibers--> 10220 <optimal_fiber_length>0.12</optimal_fiber_length> 10221 <!--Resting length of the tendon--> 10222 <tendon_slack_length>0.03</tendon_slack_length> 10223 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10224 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 10225 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10226 <max_contraction_velocity>10</max_contraction_velocity> 10227 <!--time constant for ramping up muscle activation--> 10228 <activation_time_constant>0.01</activation_time_constant> 10229 <!--time constant for ramping down of muscle activation--> 10230 <deactivation_time_constant>0.04</deactivation_time_constant> 10231 <!--tendon strain at maximum isometric muscle force--> 10232 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10233 <!--passive muscle strain at maximum isometric muscle force--> 10234 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10235 <!--shape factor for Gaussian active muscle force-length relationship--> 10236 <KshapeActive>0.5</KshapeActive> 10237 <!--exponential shape factor for passive force-length relationship--> 10238 <KshapePassive>4</KshapePassive> 10239 <!--force-velocity shape factor--> 10240 <Af>0.3</Af> 10241 <!--maximum normalized lengthening force--> 10242 <Flen>1.8</Flen> 10243 </Thelen2003Muscle> 10244 <Thelen2003Muscle name="intobl_r"> 10245 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10246 <isDisabled>false</isDisabled> 10247 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10248 <min_control>0</min_control> 10249 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10250 <max_control>1</max_control> 10251 <!--The set of points defining the path of the muscle.--> 10252 <GeometryPath> 10253 <PathPointSet> 10254 <objects> 10255 <PathPoint name="intobl_r-P1"> 10256 <location> -0.04 0.07 0.1157</location> 10257 <body>pelvis</body> 10258 </PathPoint> 10259 <PathPoint name="intobl_r-P2"> 10260 <location> 0.0495 -0.2185 0.015</location> 10261 <body>thorax</body> 10262 </PathPoint> 10263 </objects> 10264 <groups /> 10265 </PathPointSet> 10266 <VisibleObject> 10267 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10268 <GeometrySet> 10269 <objects /> 10270 <groups /> 10271 </GeometrySet> 10272 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10273 <scale_factors> 1 1 1</scale_factors> 10274 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10275 <transform> -0 0 -0 0 0 0</transform> 10276 <!--Whether to show a coordinate frame--> 10277 <show_axes>false</show_axes> 10278 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10279 <display_preference>4</display_preference> 10280 </VisibleObject> 10281 <PathWrapSet> 10282 <objects /> 10283 <groups /> 10284 </PathWrapSet> 10285 </GeometryPath> 10286 <!--The maximum force this actuator can produce.--> 10287 <optimal_force>1</optimal_force> 10288 <!--Maximum isometric force that the fibers can generate--> 10289 <max_isometric_force>900</max_isometric_force> 10290 <!--Optimal length of the muscle fibers--> 10291 <optimal_fiber_length>0.1</optimal_fiber_length> 10292 <!--Resting length of the tendon--> 10293 <tendon_slack_length>0.1</tendon_slack_length> 10294 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10295 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 10296 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10297 <max_contraction_velocity>10</max_contraction_velocity> 10298 <!--time constant for ramping up muscle activation--> 10299 <activation_time_constant>0.01</activation_time_constant> 10300 <!--time constant for ramping down of muscle activation--> 10301 <deactivation_time_constant>0.04</deactivation_time_constant> 10302 <!--tendon strain at maximum isometric muscle force--> 10303 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10304 <!--passive muscle strain at maximum isometric muscle force--> 10305 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10306 <!--shape factor for Gaussian active muscle force-length relationship--> 10307 <KshapeActive>0.5</KshapeActive> 10308 <!--exponential shape factor for passive force-length relationship--> 10309 <KshapePassive>4</KshapePassive> 10310 <!--force-velocity shape factor--> 10311 <Af>0.3</Af> 10312 <!--maximum normalized lengthening force--> 10313 <Flen>1.8</Flen> 10314 </Thelen2003Muscle> 10315 <Thelen2003Muscle name="intobl_l"> 10316 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10317 <isDisabled>false</isDisabled> 10318 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10319 <min_control>0</min_control> 10320 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10321 <max_control>1</max_control> 10322 <!--The set of points defining the path of the muscle.--> 10323 <GeometryPath> 10324 <PathPointSet> 10325 <objects> 10326 <PathPoint name="intobl_l-P1"> 10327 <location> -0.04 0.07 -0.1157</location> 10328 <body>pelvis</body> 10329 </PathPoint> 10330 <PathPoint name="intobl_l-P2"> 10331 <location> 0.0495 -0.2185 -0.015</location> 10332 <body>thorax</body> 10333 </PathPoint> 10334 </objects> 10335 <groups /> 10336 </PathPointSet> 10337 <VisibleObject> 10338 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10339 <GeometrySet> 10340 <objects /> 10341 <groups /> 10342 </GeometrySet> 10343 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10344 <scale_factors> 1 1 1</scale_factors> 10345 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10346 <transform> -0 0 -0 0 0 0</transform> 10347 <!--Whether to show a coordinate frame--> 10348 <show_axes>false</show_axes> 10349 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10350 <display_preference>4</display_preference> 10351 </VisibleObject> 10352 <PathWrapSet> 10353 <objects /> 10354 <groups /> 10355 </PathWrapSet> 10356 </GeometryPath> 10357 <!--The maximum force this actuator can produce.--> 10358 <optimal_force>1</optimal_force> 10359 <!--Maximum isometric force that the fibers can generate--> 10360 <max_isometric_force>900</max_isometric_force> 10361 <!--Optimal length of the muscle fibers--> 10362 <optimal_fiber_length>0.1</optimal_fiber_length> 10363 <!--Resting length of the tendon--> 10364 <tendon_slack_length>0.1</tendon_slack_length> 10365 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10366 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 10367 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10368 <max_contraction_velocity>10</max_contraction_velocity> 10369 <!--time constant for ramping up muscle activation--> 10370 <activation_time_constant>0.01</activation_time_constant> 10371 <!--time constant for ramping down of muscle activation--> 10372 <deactivation_time_constant>0.04</deactivation_time_constant> 10373 <!--tendon strain at maximum isometric muscle force--> 10374 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10375 <!--passive muscle strain at maximum isometric muscle force--> 10376 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10377 <!--shape factor for Gaussian active muscle force-length relationship--> 10378 <KshapeActive>0.5</KshapeActive> 10379 <!--exponential shape factor for passive force-length relationship--> 10380 <KshapePassive>4</KshapePassive> 10381 <!--force-velocity shape factor--> 10382 <Af>0.3</Af> 10383 <!--maximum normalized lengthening force--> 10384 <Flen>1.8</Flen> 10385 </Thelen2003Muscle> 10386 <Thelen2003Muscle name="extobl_r"> 10387 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10388 <isDisabled>false</isDisabled> 10389 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10390 <min_control>0</min_control> 10391 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10392 <max_control>1</max_control> 10393 <!--The set of points defining the path of the muscle.--> 10394 <GeometryPath> 10395 <PathPointSet> 10396 <objects> 10397 <PathPoint name="extobl_r-P1"> 10398 <location> -0.03 -0.0636 0.01</location> 10399 <body>pelvis</body> 10400 </PathPoint> 10401 <PathPoint name="extobl_r-P2"> 10402 <location> 0.0445 -0.2685 0.11</location> 10403 <body>thorax</body> 10404 </PathPoint> 10405 </objects> 10406 <groups /> 10407 </PathPointSet> 10408 <VisibleObject> 10409 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10410 <GeometrySet> 10411 <objects /> 10412 <groups /> 10413 </GeometrySet> 10414 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10415 <scale_factors> 1 1 1</scale_factors> 10416 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10417 <transform> -0 0 -0 0 0 0</transform> 10418 <!--Whether to show a coordinate frame--> 10419 <show_axes>false</show_axes> 10420 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10421 <display_preference>4</display_preference> 10422 </VisibleObject> 10423 <PathWrapSet> 10424 <objects /> 10425 <groups /> 10426 </PathWrapSet> 10427 </GeometryPath> 10428 <!--The maximum force this actuator can produce.--> 10429 <optimal_force>1</optimal_force> 10430 <!--Maximum isometric force that the fibers can generate--> 10431 <max_isometric_force>900</max_isometric_force> 10432 <!--Optimal length of the muscle fibers--> 10433 <optimal_fiber_length>0.12</optimal_fiber_length> 10434 <!--Resting length of the tendon--> 10435 <tendon_slack_length>0.14</tendon_slack_length> 10436 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10437 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 10438 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10439 <max_contraction_velocity>10</max_contraction_velocity> 10440 <!--time constant for ramping up muscle activation--> 10441 <activation_time_constant>0.01</activation_time_constant> 10442 <!--time constant for ramping down of muscle activation--> 10443 <deactivation_time_constant>0.04</deactivation_time_constant> 10444 <!--tendon strain at maximum isometric muscle force--> 10445 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10446 <!--passive muscle strain at maximum isometric muscle force--> 10447 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10448 <!--shape factor for Gaussian active muscle force-length relationship--> 10449 <KshapeActive>0.5</KshapeActive> 10450 <!--exponential shape factor for passive force-length relationship--> 10451 <KshapePassive>4</KshapePassive> 10452 <!--force-velocity shape factor--> 10453 <Af>0.3</Af> 10454 <!--maximum normalized lengthening force--> 10455 <Flen>1.8</Flen> 10456 </Thelen2003Muscle> 10457 <Thelen2003Muscle name="extobl_l"> 10458 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10459 <isDisabled>false</isDisabled> 10460 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10461 <min_control>0</min_control> 10462 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10463 <max_control>1</max_control> 10464 <!--The set of points defining the path of the muscle.--> 10465 <GeometryPath> 10466 <PathPointSet> 10467 <objects> 10468 <PathPoint name="extobl_l-P1"> 10469 <location> -0.03 -0.0636 -0.01</location> 10470 <body>pelvis</body> 10471 </PathPoint> 10472 <PathPoint name="extobl_l-P2"> 10473 <location> 0.0445 -0.2685 -0.11</location> 10474 <body>thorax</body> 10475 </PathPoint> 10476 </objects> 10477 <groups /> 10478 </PathPointSet> 10479 <VisibleObject> 10480 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10481 <GeometrySet> 10482 <objects /> 10483 <groups /> 10484 </GeometrySet> 10485 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10486 <scale_factors> 1 1 1</scale_factors> 10487 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10488 <transform> -0 0 -0 0 0 0</transform> 10489 <!--Whether to show a coordinate frame--> 10490 <show_axes>false</show_axes> 10491 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10492 <display_preference>4</display_preference> 10493 </VisibleObject> 10494 <PathWrapSet> 10495 <objects /> 10496 <groups /> 10497 </PathWrapSet> 10498 </GeometryPath> 10499 <!--The maximum force this actuator can produce.--> 10500 <optimal_force>1</optimal_force> 10501 <!--Maximum isometric force that the fibers can generate--> 10502 <max_isometric_force>900</max_isometric_force> 10503 <!--Optimal length of the muscle fibers--> 10504 <optimal_fiber_length>0.12</optimal_fiber_length> 10505 <!--Resting length of the tendon--> 10506 <tendon_slack_length>0.14</tendon_slack_length> 10507 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10508 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 10509 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10510 <max_contraction_velocity>10</max_contraction_velocity> 10511 <!--time constant for ramping up muscle activation--> 10512 <activation_time_constant>0.01</activation_time_constant> 10513 <!--time constant for ramping down of muscle activation--> 10514 <deactivation_time_constant>0.04</deactivation_time_constant> 10515 <!--tendon strain at maximum isometric muscle force--> 10516 <FmaxTendonStrain>0.033</FmaxTendonStrain> 10517 <!--passive muscle strain at maximum isometric muscle force--> 10518 <FmaxMuscleStrain>0.6</FmaxMuscleStrain> 10519 <!--shape factor for Gaussian active muscle force-length relationship--> 10520 <KshapeActive>0.5</KshapeActive> 10521 <!--exponential shape factor for passive force-length relationship--> 10522 <KshapePassive>4</KshapePassive> 10523 <!--force-velocity shape factor--> 10524 <Af>0.3</Af> 10525 <!--maximum normalized lengthening force--> 10526 <Flen>1.8</Flen> 10527 </Thelen2003Muscle> 10528 <Schutte1993Muscle_Deprecated name="DELT1"> 10529 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10530 <isDisabled>false</isDisabled> 10531 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10532 <min_control>0</min_control> 10533 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10534 <max_control>1</max_control> 10535 <!--The set of points defining the path of the muscle.--> 10536 <GeometryPath> 10537 <PathPointSet> 10538 <objects> 10539 <PathPoint name="DELT1-P1"> 10540 <location> 0.00896 -0.11883 0.00585</location> 10541 <body>humerus_r</body> 10542 </PathPoint> 10543 <PathPoint name="DELT1-P2"> 10544 <location> 0.01623 -0.11033 0.00412</location> 10545 <body>humerus_r</body> 10546 </PathPoint> 10547 <PathPoint name="DELT1-P3"> 10548 <location> 0.04347 -0.03252 0.00099</location> 10549 <body>scapula_r</body> 10550 </PathPoint> 10551 <PathPoint name="DELT1-P4"> 10552 <location> -0.014 0.01106 0.08021</location> 10553 <body>clavicle_r</body> 10554 </PathPoint> 10555 </objects> 10556 <groups /> 10557 </PathPointSet> 10558 <VisibleObject> 10559 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10560 <GeometrySet> 10561 <objects /> 10562 <groups /> 10563 </GeometrySet> 10564 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10565 <scale_factors> 1 1 1</scale_factors> 10566 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10567 <transform> -0 0 -0 0 0 0</transform> 10568 <!--Whether to show a coordinate frame--> 10569 <show_axes>false</show_axes> 10570 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10571 <display_preference>4</display_preference> 10572 </VisibleObject> 10573 <PathWrapSet> 10574 <objects /> 10575 <groups /> 10576 </PathWrapSet> 10577 </GeometryPath> 10578 <!--The maximum force this actuator can produce.--> 10579 <optimal_force>1</optimal_force> 10580 <!--Maximum isometric force that the fibers can generate--> 10581 <max_isometric_force>1142.6</max_isometric_force> 10582 <!--Optimal length of the muscle fibers--> 10583 <optimal_fiber_length>0.0976</optimal_fiber_length> 10584 <!--Resting length of the tendon--> 10585 <tendon_slack_length>0.093</tendon_slack_length> 10586 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10587 <pennation_angle_at_optimal>0.38397244</pennation_angle_at_optimal> 10588 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10589 <max_contraction_velocity>0</max_contraction_velocity> 10590 <!--Scale factor for normalizing time--> 10591 <time_scale>0.1</time_scale> 10592 <!--Parameter used in time constant of ramping up of muscle force--> 10593 <activation1>0.01</activation1> 10594 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 10595 <activation2>0.04</activation2> 10596 <!--Damping factor related to maximum contraction velocity--> 10597 <damping>0.05</damping> 10598 <!--Function representing force-length behavior of tendon--> 10599 <SimmSpline name="tendon_force_length_curve"> 10600 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 10601 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 10602 </SimmSpline> 10603 <!--Function representing active force-length behavior of muscle fibers--> 10604 <SimmSpline name="active_force_length_curve"> 10605 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 10606 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 10607 </SimmSpline> 10608 <!--Function representing passive force-length behavior of muscle fibers--> 10609 <SimmSpline name="passive_force_length_curve"> 10610 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 10611 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 10612 </SimmSpline> 10613 </Schutte1993Muscle_Deprecated> 10614 <Schutte1993Muscle_Deprecated name="DELT2"> 10615 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10616 <isDisabled>false</isDisabled> 10617 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10618 <min_control>0</min_control> 10619 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10620 <max_control>1</max_control> 10621 <!--The set of points defining the path of the muscle.--> 10622 <GeometryPath> 10623 <PathPointSet> 10624 <objects> 10625 <PathPoint name="DELT2-P1"> 10626 <location> 0.00461 -0.13611 0.0056</location> 10627 <body>humerus_r</body> 10628 </PathPoint> 10629 <PathPoint name="DELT2-P2"> 10630 <location> -0.00196825 -0.0284805 0.0236478</location> 10631 <body>humerus_r</body> 10632 </PathPoint> 10633 <PathPoint name="DELT2-P3"> 10634 <location> 0.00129033 -0.00232418 0.0258982</location> 10635 <body>scapula_r</body> 10636 </PathPoint> 10637 <PathPoint name="DELT2-P4"> 10638 <location> -0.01078 -0.00034 0.0062</location> 10639 <body>scapula_r</body> 10640 </PathPoint> 10641 </objects> 10642 <groups /> 10643 </PathPointSet> 10644 <VisibleObject> 10645 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10646 <GeometrySet> 10647 <objects /> 10648 <groups /> 10649 </GeometrySet> 10650 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10651 <scale_factors> 1 1 1</scale_factors> 10652 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10653 <transform> -0 0 -0 0 0 0</transform> 10654 <!--Whether to show a coordinate frame--> 10655 <show_axes>false</show_axes> 10656 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10657 <display_preference>4</display_preference> 10658 </VisibleObject> 10659 <PathWrapSet> 10660 <objects /> 10661 <groups /> 10662 </PathWrapSet> 10663 </GeometryPath> 10664 <!--The maximum force this actuator can produce.--> 10665 <optimal_force>1</optimal_force> 10666 <!--Maximum isometric force that the fibers can generate--> 10667 <max_isometric_force>1142.6</max_isometric_force> 10668 <!--Optimal length of the muscle fibers--> 10669 <optimal_fiber_length>0.1078</optimal_fiber_length> 10670 <!--Resting length of the tendon--> 10671 <tendon_slack_length>0.1095</tendon_slack_length> 10672 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10673 <pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal> 10674 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10675 <max_contraction_velocity>0</max_contraction_velocity> 10676 <!--Scale factor for normalizing time--> 10677 <time_scale>0.1</time_scale> 10678 <!--Parameter used in time constant of ramping up of muscle force--> 10679 <activation1>0.01</activation1> 10680 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 10681 <activation2>0.04</activation2> 10682 <!--Damping factor related to maximum contraction velocity--> 10683 <damping>0.05</damping> 10684 <!--Function representing force-length behavior of tendon--> 10685 <SimmSpline name="tendon_force_length_curve"> 10686 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 10687 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 10688 </SimmSpline> 10689 <!--Function representing active force-length behavior of muscle fibers--> 10690 <SimmSpline name="active_force_length_curve"> 10691 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 10692 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 10693 </SimmSpline> 10694 <!--Function representing passive force-length behavior of muscle fibers--> 10695 <SimmSpline name="passive_force_length_curve"> 10696 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 10697 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 10698 </SimmSpline> 10699 </Schutte1993Muscle_Deprecated> 10700 <Schutte1993Muscle_Deprecated name="DELT3"> 10701 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10702 <isDisabled>false</isDisabled> 10703 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10704 <min_control>0</min_control> 10705 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10706 <max_control>1</max_control> 10707 <!--The set of points defining the path of the muscle.--> 10708 <GeometryPath> 10709 <PathPointSet> 10710 <objects> 10711 <PathPoint name="DELT3-P1"> 10712 <location> -0.05573 0.00122 -0.02512</location> 10713 <body>scapula_r</body> 10714 </PathPoint> 10715 <PathPoint name="DELT3-P2"> 10716 <location> -0.061869 -0.0290789 0.0118449</location> 10717 <body>scapula_r</body> 10718 </PathPoint> 10719 <PathPoint name="DELT3-P3"> 10720 <location> -0.0164333 0.00200262 0.034774</location> 10721 <body>humerus_r</body> 10722 </PathPoint> 10723 <PathPoint name="DELT3-P3"> 10724 <location> 0.00206 -0.07602 0.01045</location> 10725 <body>humerus_r</body> 10726 </PathPoint> 10727 </objects> 10728 <groups /> 10729 </PathPointSet> 10730 <VisibleObject> 10731 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10732 <GeometrySet> 10733 <objects /> 10734 <groups /> 10735 </GeometrySet> 10736 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10737 <scale_factors> 1 1 1</scale_factors> 10738 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10739 <transform> -0 0 -0 0 0 0</transform> 10740 <!--Whether to show a coordinate frame--> 10741 <show_axes>false</show_axes> 10742 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10743 <display_preference>4</display_preference> 10744 </VisibleObject> 10745 <PathWrapSet> 10746 <objects /> 10747 <groups /> 10748 </PathWrapSet> 10749 </GeometryPath> 10750 <!--The maximum force this actuator can produce.--> 10751 <optimal_force>1</optimal_force> 10752 <!--Maximum isometric force that the fibers can generate--> 10753 <max_isometric_force>259.88</max_isometric_force> 10754 <!--Optimal length of the muscle fibers--> 10755 <optimal_fiber_length>0.1367</optimal_fiber_length> 10756 <!--Resting length of the tendon--> 10757 <tendon_slack_length>0.038</tendon_slack_length> 10758 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10759 <pennation_angle_at_optimal>0.31415927</pennation_angle_at_optimal> 10760 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10761 <max_contraction_velocity>0</max_contraction_velocity> 10762 <!--Scale factor for normalizing time--> 10763 <time_scale>0.1</time_scale> 10764 <!--Parameter used in time constant of ramping up of muscle force--> 10765 <activation1>0.01</activation1> 10766 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 10767 <activation2>0.04</activation2> 10768 <!--Damping factor related to maximum contraction velocity--> 10769 <damping>0.05</damping> 10770 <!--Function representing force-length behavior of tendon--> 10771 <SimmSpline name="tendon_force_length_curve"> 10772 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 10773 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 10774 </SimmSpline> 10775 <!--Function representing active force-length behavior of muscle fibers--> 10776 <SimmSpline name="active_force_length_curve"> 10777 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 10778 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 10779 </SimmSpline> 10780 <!--Function representing passive force-length behavior of muscle fibers--> 10781 <SimmSpline name="passive_force_length_curve"> 10782 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 10783 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 10784 </SimmSpline> 10785 </Schutte1993Muscle_Deprecated> 10786 <Schutte1993Muscle_Deprecated name="SUPSP"> 10787 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10788 <isDisabled>false</isDisabled> 10789 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10790 <min_control>0</min_control> 10791 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10792 <max_control>1</max_control> 10793 <!--The set of points defining the path of the muscle.--> 10794 <GeometryPath> 10795 <PathPointSet> 10796 <objects> 10797 <PathPoint name="SUPSP-P1"> 10798 <location> 0.00256 0.01063 0.02593</location> 10799 <body>humerus_r</body> 10800 </PathPoint> 10801 <PathPoint name="SUPSP-P2"> 10802 <location> -0.0331618 0.00181927 0.0115638</location> 10803 <body>scapula_r</body> 10804 </PathPoint> 10805 <PathPoint name="SUPSP-P3"> 10806 <location> -0.0480998 0.00663322 -0.0223882</location> 10807 <body>scapula_r</body> 10808 </PathPoint> 10809 <PathPoint name="SUPSP-P3"> 10810 <location> -0.0447182 -0.0124966 -0.0556267</location> 10811 <body>scapula_r</body> 10812 </PathPoint> 10813 </objects> 10814 <groups /> 10815 </PathPointSet> 10816 <VisibleObject> 10817 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10818 <GeometrySet> 10819 <objects /> 10820 <groups /> 10821 </GeometrySet> 10822 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10823 <scale_factors> 1 1 1</scale_factors> 10824 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10825 <transform> -0 0 -0 0 0 0</transform> 10826 <!--Whether to show a coordinate frame--> 10827 <show_axes>false</show_axes> 10828 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10829 <display_preference>4</display_preference> 10830 </VisibleObject> 10831 <PathWrapSet> 10832 <objects /> 10833 <groups /> 10834 </PathWrapSet> 10835 </GeometryPath> 10836 <!--The maximum force this actuator can produce.--> 10837 <optimal_force>1</optimal_force> 10838 <!--Maximum isometric force that the fibers can generate--> 10839 <max_isometric_force>487.82</max_isometric_force> 10840 <!--Optimal length of the muscle fibers--> 10841 <optimal_fiber_length>0.0682</optimal_fiber_length> 10842 <!--Resting length of the tendon--> 10843 <tendon_slack_length>0.0395</tendon_slack_length> 10844 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10845 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 10846 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10847 <max_contraction_velocity>0</max_contraction_velocity> 10848 <!--Scale factor for normalizing time--> 10849 <time_scale>0.1</time_scale> 10850 <!--Parameter used in time constant of ramping up of muscle force--> 10851 <activation1>0.01</activation1> 10852 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 10853 <activation2>0.04</activation2> 10854 <!--Damping factor related to maximum contraction velocity--> 10855 <damping>0.05</damping> 10856 <!--Function representing force-length behavior of tendon--> 10857 <SimmSpline name="tendon_force_length_curve"> 10858 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 10859 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 10860 </SimmSpline> 10861 <!--Function representing active force-length behavior of muscle fibers--> 10862 <SimmSpline name="active_force_length_curve"> 10863 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 10864 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 10865 </SimmSpline> 10866 <!--Function representing passive force-length behavior of muscle fibers--> 10867 <SimmSpline name="passive_force_length_curve"> 10868 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 10869 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 10870 </SimmSpline> 10871 </Schutte1993Muscle_Deprecated> 10872 <Schutte1993Muscle_Deprecated name="INFSP"> 10873 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10874 <isDisabled>false</isDisabled> 10875 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10876 <min_control>0</min_control> 10877 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10878 <max_control>1</max_control> 10879 <!--The set of points defining the path of the muscle.--> 10880 <GeometryPath> 10881 <PathPointSet> 10882 <objects> 10883 <PathPoint name="INFSP-P1"> 10884 <location> -0.00887 0.00484 0.02448</location> 10885 <body>humerus_r</body> 10886 </PathPoint> 10887 <PathPoint name="INFSP-P2"> 10888 <location> -0.0557598 -0.0419091 -0.0266673</location> 10889 <body>scapula_r</body> 10890 </PathPoint> 10891 <PathPoint name="INFSP-P2"> 10892 <location> -0.0743379 -0.055549 -0.0427627</location> 10893 <body>scapula_r</body> 10894 </PathPoint> 10895 </objects> 10896 <groups /> 10897 </PathPointSet> 10898 <VisibleObject> 10899 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10900 <GeometrySet> 10901 <objects /> 10902 <groups /> 10903 </GeometrySet> 10904 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10905 <scale_factors> 1 1 1</scale_factors> 10906 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10907 <transform> -0 0 -0 0 0 0</transform> 10908 <!--Whether to show a coordinate frame--> 10909 <show_axes>false</show_axes> 10910 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10911 <display_preference>4</display_preference> 10912 </VisibleObject> 10913 <PathWrapSet> 10914 <objects /> 10915 <groups /> 10916 </PathWrapSet> 10917 </GeometryPath> 10918 <!--The maximum force this actuator can produce.--> 10919 <optimal_force>1</optimal_force> 10920 <!--Maximum isometric force that the fibers can generate--> 10921 <max_isometric_force>1210.84</max_isometric_force> 10922 <!--Optimal length of the muscle fibers--> 10923 <optimal_fiber_length>0.0755</optimal_fiber_length> 10924 <!--Resting length of the tendon--> 10925 <tendon_slack_length>0.0308</tendon_slack_length> 10926 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 10927 <pennation_angle_at_optimal>0.32288591</pennation_angle_at_optimal> 10928 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 10929 <max_contraction_velocity>0</max_contraction_velocity> 10930 <!--Scale factor for normalizing time--> 10931 <time_scale>0.1</time_scale> 10932 <!--Parameter used in time constant of ramping up of muscle force--> 10933 <activation1>0.01</activation1> 10934 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 10935 <activation2>0.04</activation2> 10936 <!--Damping factor related to maximum contraction velocity--> 10937 <damping>0.05</damping> 10938 <!--Function representing force-length behavior of tendon--> 10939 <SimmSpline name="tendon_force_length_curve"> 10940 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 10941 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 10942 </SimmSpline> 10943 <!--Function representing active force-length behavior of muscle fibers--> 10944 <SimmSpline name="active_force_length_curve"> 10945 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 10946 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 10947 </SimmSpline> 10948 <!--Function representing passive force-length behavior of muscle fibers--> 10949 <SimmSpline name="passive_force_length_curve"> 10950 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 10951 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 10952 </SimmSpline> 10953 </Schutte1993Muscle_Deprecated> 10954 <Schutte1993Muscle_Deprecated name="SUBSC"> 10955 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 10956 <isDisabled>false</isDisabled> 10957 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 10958 <min_control>0</min_control> 10959 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 10960 <max_control>1</max_control> 10961 <!--The set of points defining the path of the muscle.--> 10962 <GeometryPath> 10963 <PathPointSet> 10964 <objects> 10965 <PathPoint name="SUBSC-P1"> 10966 <location> 0.01403 0.0084 -0.01331</location> 10967 <body>humerus_r</body> 10968 </PathPoint> 10969 <PathPoint name="SUBSC-P2"> 10970 <location> -0.01831 -0.05223 -0.02457</location> 10971 <body>scapula_r</body> 10972 </PathPoint> 10973 <PathPoint name="SUBSC-P3"> 10974 <location> -0.0728923 -0.0411757 -0.0661182</location> 10975 <body>scapula_r</body> 10976 </PathPoint> 10977 </objects> 10978 <groups /> 10979 </PathPointSet> 10980 <VisibleObject> 10981 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 10982 <GeometrySet> 10983 <objects /> 10984 <groups /> 10985 </GeometrySet> 10986 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 10987 <scale_factors> 1 1 1</scale_factors> 10988 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 10989 <transform> -0 0 -0 0 0 0</transform> 10990 <!--Whether to show a coordinate frame--> 10991 <show_axes>false</show_axes> 10992 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 10993 <display_preference>4</display_preference> 10994 </VisibleObject> 10995 <PathWrapSet> 10996 <objects /> 10997 <groups /> 10998 </PathWrapSet> 10999 </GeometryPath> 11000 <!--The maximum force this actuator can produce.--> 11001 <optimal_force>1</optimal_force> 11002 <!--Maximum isometric force that the fibers can generate--> 11003 <max_isometric_force>1377.81</max_isometric_force> 11004 <!--Optimal length of the muscle fibers--> 11005 <optimal_fiber_length>0.0873</optimal_fiber_length> 11006 <!--Resting length of the tendon--> 11007 <tendon_slack_length>0.033</tendon_slack_length> 11008 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11009 <pennation_angle_at_optimal>0.34906585</pennation_angle_at_optimal> 11010 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11011 <max_contraction_velocity>0</max_contraction_velocity> 11012 <!--Scale factor for normalizing time--> 11013 <time_scale>0.1</time_scale> 11014 <!--Parameter used in time constant of ramping up of muscle force--> 11015 <activation1>0.01</activation1> 11016 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11017 <activation2>0.04</activation2> 11018 <!--Damping factor related to maximum contraction velocity--> 11019 <damping>0.05</damping> 11020 <!--Function representing force-length behavior of tendon--> 11021 <SimmSpline name="tendon_force_length_curve"> 11022 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11023 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11024 </SimmSpline> 11025 <!--Function representing active force-length behavior of muscle fibers--> 11026 <SimmSpline name="active_force_length_curve"> 11027 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11028 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11029 </SimmSpline> 11030 <!--Function representing passive force-length behavior of muscle fibers--> 11031 <SimmSpline name="passive_force_length_curve"> 11032 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11033 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11034 </SimmSpline> 11035 </Schutte1993Muscle_Deprecated> 11036 <Schutte1993Muscle_Deprecated name="TMIN"> 11037 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11038 <isDisabled>false</isDisabled> 11039 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11040 <min_control>0</min_control> 11041 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11042 <max_control>1</max_control> 11043 <!--The set of points defining the path of the muscle.--> 11044 <GeometryPath> 11045 <PathPointSet> 11046 <objects> 11047 <PathPoint name="TMIN-P1"> 11048 <location> -0.0011 -0.01264 0.02156</location> 11049 <body>humerus_r</body> 11050 </PathPoint> 11051 <PathPoint name="TMIN-P2"> 11052 <location> -0.0188329 -0.0513598 0.0310568</location> 11053 <body>scapula_r</body> 11054 </PathPoint> 11055 <PathPoint name="TMIN-P2"> 11056 <location> -0.09473 -0.07991 -0.04737</location> 11057 <body>scapula_r</body> 11058 </PathPoint> 11059 <PathPoint name="TMIN-P3"> 11060 <location> -0.09643 -0.08121 -0.05298</location> 11061 <body>scapula_r</body> 11062 </PathPoint> 11063 </objects> 11064 <groups /> 11065 </PathPointSet> 11066 <VisibleObject> 11067 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11068 <GeometrySet> 11069 <objects /> 11070 <groups /> 11071 </GeometrySet> 11072 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11073 <scale_factors> 1 1 1</scale_factors> 11074 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11075 <transform> -0 0 -0 0 0 0</transform> 11076 <!--Whether to show a coordinate frame--> 11077 <show_axes>false</show_axes> 11078 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11079 <display_preference>4</display_preference> 11080 </VisibleObject> 11081 <PathWrapSet> 11082 <objects /> 11083 <groups /> 11084 </PathWrapSet> 11085 </GeometryPath> 11086 <!--The maximum force this actuator can produce.--> 11087 <optimal_force>1</optimal_force> 11088 <!--Maximum isometric force that the fibers can generate--> 11089 <max_isometric_force>354.25</max_isometric_force> 11090 <!--Optimal length of the muscle fibers--> 11091 <optimal_fiber_length>0.0741</optimal_fiber_length> 11092 <!--Resting length of the tendon--> 11093 <tendon_slack_length>0.0713</tendon_slack_length> 11094 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11095 <pennation_angle_at_optimal>0.41887902</pennation_angle_at_optimal> 11096 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11097 <max_contraction_velocity>0</max_contraction_velocity> 11098 <!--Scale factor for normalizing time--> 11099 <time_scale>0.1</time_scale> 11100 <!--Parameter used in time constant of ramping up of muscle force--> 11101 <activation1>0.01</activation1> 11102 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11103 <activation2>0.04</activation2> 11104 <!--Damping factor related to maximum contraction velocity--> 11105 <damping>0.05</damping> 11106 <!--Function representing force-length behavior of tendon--> 11107 <SimmSpline name="tendon_force_length_curve"> 11108 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11109 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11110 </SimmSpline> 11111 <!--Function representing active force-length behavior of muscle fibers--> 11112 <SimmSpline name="active_force_length_curve"> 11113 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11114 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11115 </SimmSpline> 11116 <!--Function representing passive force-length behavior of muscle fibers--> 11117 <SimmSpline name="passive_force_length_curve"> 11118 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11119 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11120 </SimmSpline> 11121 </Schutte1993Muscle_Deprecated> 11122 <Schutte1993Muscle_Deprecated name="TMAJ"> 11123 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11124 <isDisabled>false</isDisabled> 11125 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11126 <min_control>0</min_control> 11127 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11128 <max_control>1</max_control> 11129 <!--The set of points defining the path of the muscle.--> 11130 <GeometryPath> 11131 <PathPointSet> 11132 <objects> 11133 <PathPoint name="TMAJ-P1"> 11134 <location> 0.00998 -0.05419 -0.00568</location> 11135 <body>humerus_r</body> 11136 </PathPoint> 11137 <PathPoint name="TMAJ-P2"> 11138 <location> -0.10264 -0.10319 -0.05829</location> 11139 <body>scapula_r</body> 11140 </PathPoint> 11141 <PathPoint name="TMAJ-P3"> 11142 <location> -0.10489 -0.10895 -0.07117</location> 11143 <body>scapula_r</body> 11144 </PathPoint> 11145 </objects> 11146 <groups /> 11147 </PathPointSet> 11148 <VisibleObject> 11149 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11150 <GeometrySet> 11151 <objects /> 11152 <groups /> 11153 </GeometrySet> 11154 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11155 <scale_factors> 1 1 1</scale_factors> 11156 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11157 <transform> -0 0 -0 0 0 0</transform> 11158 <!--Whether to show a coordinate frame--> 11159 <show_axes>false</show_axes> 11160 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11161 <display_preference>4</display_preference> 11162 </VisibleObject> 11163 <PathWrapSet> 11164 <objects /> 11165 <groups /> 11166 </PathWrapSet> 11167 </GeometryPath> 11168 <!--The maximum force this actuator can produce.--> 11169 <optimal_force>1</optimal_force> 11170 <!--Maximum isometric force that the fibers can generate--> 11171 <max_isometric_force>425.39</max_isometric_force> 11172 <!--Optimal length of the muscle fibers--> 11173 <optimal_fiber_length>0.1624</optimal_fiber_length> 11174 <!--Resting length of the tendon--> 11175 <tendon_slack_length>0.02</tendon_slack_length> 11176 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11177 <pennation_angle_at_optimal>0.27925268</pennation_angle_at_optimal> 11178 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11179 <max_contraction_velocity>0</max_contraction_velocity> 11180 <!--Scale factor for normalizing time--> 11181 <time_scale>0.1</time_scale> 11182 <!--Parameter used in time constant of ramping up of muscle force--> 11183 <activation1>0.01</activation1> 11184 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11185 <activation2>0.04</activation2> 11186 <!--Damping factor related to maximum contraction velocity--> 11187 <damping>0.05</damping> 11188 <!--Function representing force-length behavior of tendon--> 11189 <SimmSpline name="tendon_force_length_curve"> 11190 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11191 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11192 </SimmSpline> 11193 <!--Function representing active force-length behavior of muscle fibers--> 11194 <SimmSpline name="active_force_length_curve"> 11195 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11196 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11197 </SimmSpline> 11198 <!--Function representing passive force-length behavior of muscle fibers--> 11199 <SimmSpline name="passive_force_length_curve"> 11200 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11201 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11202 </SimmSpline> 11203 </Schutte1993Muscle_Deprecated> 11204 <Schutte1993Muscle_Deprecated name="PECM1"> 11205 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11206 <isDisabled>false</isDisabled> 11207 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11208 <min_control>0</min_control> 11209 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11210 <max_control>1</max_control> 11211 <!--The set of points defining the path of the muscle.--> 11212 <GeometryPath> 11213 <PathPointSet> 11214 <objects> 11215 <PathPoint name="PECM1-P1"> 11216 <location> 0.01169 -0.04191 0.0078</location> 11217 <body>humerus_r</body> 11218 </PathPoint> 11219 <PathPoint name="PECM1-P2"> 11220 <location> 0.01615 -0.04045 -0.00577</location> 11221 <body>humerus_r</body> 11222 </PathPoint> 11223 <PathPoint name="PECM1-P3"> 11224 <location> 0.00958 -0.01509 0.12664</location> 11225 <body>thorax</body> 11226 </PathPoint> 11227 <PathPoint name="PECM1-P4"> 11228 <location> 0.00321 -0.00013 0.05113</location> 11229 <body>clavicle_r</body> 11230 </PathPoint> 11231 </objects> 11232 <groups /> 11233 </PathPointSet> 11234 <VisibleObject> 11235 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11236 <GeometrySet> 11237 <objects /> 11238 <groups /> 11239 </GeometrySet> 11240 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11241 <scale_factors> 1 1 1</scale_factors> 11242 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11243 <transform> -0 0 -0 0 0 0</transform> 11244 <!--Whether to show a coordinate frame--> 11245 <show_axes>false</show_axes> 11246 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11247 <display_preference>4</display_preference> 11248 </VisibleObject> 11249 <PathWrapSet> 11250 <objects /> 11251 <groups /> 11252 </PathWrapSet> 11253 </GeometryPath> 11254 <!--The maximum force this actuator can produce.--> 11255 <optimal_force>1</optimal_force> 11256 <!--Maximum isometric force that the fibers can generate--> 11257 <max_isometric_force>364.41</max_isometric_force> 11258 <!--Optimal length of the muscle fibers--> 11259 <optimal_fiber_length>0.1442</optimal_fiber_length> 11260 <!--Resting length of the tendon--> 11261 <tendon_slack_length>0.0028</tendon_slack_length> 11262 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11263 <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> 11264 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11265 <max_contraction_velocity>0</max_contraction_velocity> 11266 <!--Scale factor for normalizing time--> 11267 <time_scale>0.1</time_scale> 11268 <!--Parameter used in time constant of ramping up of muscle force--> 11269 <activation1>0.01</activation1> 11270 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11271 <activation2>0.04</activation2> 11272 <!--Damping factor related to maximum contraction velocity--> 11273 <damping>0.05</damping> 11274 <!--Function representing force-length behavior of tendon--> 11275 <SimmSpline name="tendon_force_length_curve"> 11276 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11277 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11278 </SimmSpline> 11279 <!--Function representing active force-length behavior of muscle fibers--> 11280 <SimmSpline name="active_force_length_curve"> 11281 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11282 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11283 </SimmSpline> 11284 <!--Function representing passive force-length behavior of muscle fibers--> 11285 <SimmSpline name="passive_force_length_curve"> 11286 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11287 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11288 </SimmSpline> 11289 </Schutte1993Muscle_Deprecated> 11290 <Schutte1993Muscle_Deprecated name="PECM2"> 11291 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11292 <isDisabled>false</isDisabled> 11293 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11294 <min_control>0</min_control> 11295 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11296 <max_control>1</max_control> 11297 <!--The set of points defining the path of the muscle.--> 11298 <GeometryPath> 11299 <PathPointSet> 11300 <objects> 11301 <PathPoint name="PECM2-P1"> 11302 <location> 0.01274 -0.04289 0.00785</location> 11303 <body>humerus_r</body> 11304 </PathPoint> 11305 <PathPoint name="PECM2-P2"> 11306 <location> 0.01453 -0.04568 -0.00687</location> 11307 <body>humerus_r</body> 11308 </PathPoint> 11309 <PathPoint name="PECM2-P3"> 11310 <location> 0.02018 -0.04165 0.1269</location> 11311 <body>thorax</body> 11312 </PathPoint> 11313 <PathPoint name="PECM2-P4"> 11314 <location> 0.03091 -0.03922 0.09705</location> 11315 <body>thorax</body> 11316 </PathPoint> 11317 <PathPoint name="PECM2-P5"> 11318 <location> 0.02769 -0.04498 0.02271</location> 11319 <body>thorax</body> 11320 </PathPoint> 11321 </objects> 11322 <groups /> 11323 </PathPointSet> 11324 <VisibleObject> 11325 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11326 <GeometrySet> 11327 <objects /> 11328 <groups /> 11329 </GeometrySet> 11330 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11331 <scale_factors> 1 1 1</scale_factors> 11332 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11333 <transform> -0 0 -0 0 0 0</transform> 11334 <!--Whether to show a coordinate frame--> 11335 <show_axes>false</show_axes> 11336 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11337 <display_preference>4</display_preference> 11338 </VisibleObject> 11339 <PathWrapSet> 11340 <objects /> 11341 <groups /> 11342 </PathWrapSet> 11343 </GeometryPath> 11344 <!--The maximum force this actuator can produce.--> 11345 <optimal_force>1</optimal_force> 11346 <!--Maximum isometric force that the fibers can generate--> 11347 <max_isometric_force>515.41</max_isometric_force> 11348 <!--Optimal length of the muscle fibers--> 11349 <optimal_fiber_length>0.1385</optimal_fiber_length> 11350 <!--Resting length of the tendon--> 11351 <tendon_slack_length>0.089</tendon_slack_length> 11352 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11353 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 11354 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11355 <max_contraction_velocity>0</max_contraction_velocity> 11356 <!--Scale factor for normalizing time--> 11357 <time_scale>0.1</time_scale> 11358 <!--Parameter used in time constant of ramping up of muscle force--> 11359 <activation1>0.01</activation1> 11360 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11361 <activation2>0.04</activation2> 11362 <!--Damping factor related to maximum contraction velocity--> 11363 <damping>0.05</damping> 11364 <!--Function representing force-length behavior of tendon--> 11365 <SimmSpline name="tendon_force_length_curve"> 11366 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11367 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11368 </SimmSpline> 11369 <!--Function representing active force-length behavior of muscle fibers--> 11370 <SimmSpline name="active_force_length_curve"> 11371 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11372 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11373 </SimmSpline> 11374 <!--Function representing passive force-length behavior of muscle fibers--> 11375 <SimmSpline name="passive_force_length_curve"> 11376 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11377 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11378 </SimmSpline> 11379 </Schutte1993Muscle_Deprecated> 11380 <Schutte1993Muscle_Deprecated name="PECM3"> 11381 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11382 <isDisabled>false</isDisabled> 11383 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11384 <min_control>0</min_control> 11385 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11386 <max_control>1</max_control> 11387 <!--The set of points defining the path of the muscle.--> 11388 <GeometryPath> 11389 <PathPointSet> 11390 <objects> 11391 <PathPoint name="PECM3-P1"> 11392 <location> 0.01269 -0.04375 0.0075</location> 11393 <body>humerus_r</body> 11394 </PathPoint> 11395 <PathPoint name="PECM3-P2"> 11396 <location> 0.01243 -0.05157 -0.01807</location> 11397 <body>humerus_r</body> 11398 </PathPoint> 11399 <PathPoint name="PECM3-P3"> 11400 <location> 0.02984 -0.071 0.1151</location> 11401 <body>thorax</body> 11402 </PathPoint> 11403 <PathPoint name="PECM3-P4"> 11404 <location> 0.0525 -0.08417 0.08935</location> 11405 <body>thorax</body> 11406 </PathPoint> 11407 <PathPoint name="PECM3-P5"> 11408 <location> 0.05724 -0.11654 0.03787</location> 11409 <body>thorax</body> 11410 </PathPoint> 11411 </objects> 11412 <groups /> 11413 </PathPointSet> 11414 <VisibleObject> 11415 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11416 <GeometrySet> 11417 <objects /> 11418 <groups /> 11419 </GeometrySet> 11420 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11421 <scale_factors> 1 1 1</scale_factors> 11422 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11423 <transform> -0 0 -0 0 0 0</transform> 11424 <!--Whether to show a coordinate frame--> 11425 <show_axes>false</show_axes> 11426 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11427 <display_preference>4</display_preference> 11428 </VisibleObject> 11429 <PathWrapSet> 11430 <objects /> 11431 <groups /> 11432 </PathWrapSet> 11433 </GeometryPath> 11434 <!--The maximum force this actuator can produce.--> 11435 <optimal_force>1</optimal_force> 11436 <!--Maximum isometric force that the fibers can generate--> 11437 <max_isometric_force>390.55</max_isometric_force> 11438 <!--Optimal length of the muscle fibers--> 11439 <optimal_fiber_length>0.1385</optimal_fiber_length> 11440 <!--Resting length of the tendon--> 11441 <tendon_slack_length>0.132</tendon_slack_length> 11442 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11443 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 11444 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11445 <max_contraction_velocity>0</max_contraction_velocity> 11446 <!--Scale factor for normalizing time--> 11447 <time_scale>0.1</time_scale> 11448 <!--Parameter used in time constant of ramping up of muscle force--> 11449 <activation1>0.01</activation1> 11450 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11451 <activation2>0.04</activation2> 11452 <!--Damping factor related to maximum contraction velocity--> 11453 <damping>0.05</damping> 11454 <!--Function representing force-length behavior of tendon--> 11455 <SimmSpline name="tendon_force_length_curve"> 11456 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11457 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11458 </SimmSpline> 11459 <!--Function representing active force-length behavior of muscle fibers--> 11460 <SimmSpline name="active_force_length_curve"> 11461 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11462 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11463 </SimmSpline> 11464 <!--Function representing passive force-length behavior of muscle fibers--> 11465 <SimmSpline name="passive_force_length_curve"> 11466 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11467 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11468 </SimmSpline> 11469 </Schutte1993Muscle_Deprecated> 11470 <Schutte1993Muscle_Deprecated name="LAT1"> 11471 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11472 <isDisabled>false</isDisabled> 11473 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11474 <min_control>0</min_control> 11475 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11476 <max_control>1</max_control> 11477 <!--The set of points defining the path of the muscle.--> 11478 <GeometryPath> 11479 <PathPointSet> 11480 <objects> 11481 <PathPoint name="LAT1-P1"> 11482 <location> 0.0105 -0.03415 -0.00653</location> 11483 <body>humerus_r</body> 11484 </PathPoint> 11485 <PathPoint name="LAT1-P2"> 11486 <location> -0.07947 -0.08581 -0.02188</location> 11487 <body>scapula_r</body> 11488 </PathPoint> 11489 <PathPoint name="LAT1-P3"> 11490 <location> -0.11215 -0.09779 -0.05322</location> 11491 <body>scapula_r</body> 11492 </PathPoint> 11493 <PathPoint name="LAT1-P4"> 11494 <location> -0.11828 -0.10118 0.03316</location> 11495 <body>thorax</body> 11496 </PathPoint> 11497 <PathPoint name="LAT1-P5"> 11498 <location> -0.09578 -0.11724 0.00882</location> 11499 <body>thorax</body> 11500 </PathPoint> 11501 </objects> 11502 <groups /> 11503 </PathPointSet> 11504 <VisibleObject> 11505 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11506 <GeometrySet> 11507 <objects /> 11508 <groups /> 11509 </GeometrySet> 11510 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11511 <scale_factors> 1 1 1</scale_factors> 11512 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11513 <transform> -0 0 -0 0 0 0</transform> 11514 <!--Whether to show a coordinate frame--> 11515 <show_axes>false</show_axes> 11516 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11517 <display_preference>4</display_preference> 11518 </VisibleObject> 11519 <PathWrapSet> 11520 <objects /> 11521 <groups /> 11522 </PathWrapSet> 11523 </GeometryPath> 11524 <!--The maximum force this actuator can produce.--> 11525 <optimal_force>1</optimal_force> 11526 <!--Maximum isometric force that the fibers can generate--> 11527 <max_isometric_force>389.1</max_isometric_force> 11528 <!--Optimal length of the muscle fibers--> 11529 <optimal_fiber_length>0.254</optimal_fiber_length> 11530 <!--Resting length of the tendon--> 11531 <tendon_slack_length>0.12</tendon_slack_length> 11532 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11533 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 11534 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11535 <max_contraction_velocity>0</max_contraction_velocity> 11536 <!--Scale factor for normalizing time--> 11537 <time_scale>0.1</time_scale> 11538 <!--Parameter used in time constant of ramping up of muscle force--> 11539 <activation1>0.01</activation1> 11540 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11541 <activation2>0.04</activation2> 11542 <!--Damping factor related to maximum contraction velocity--> 11543 <damping>0.05</damping> 11544 <!--Function representing force-length behavior of tendon--> 11545 <SimmSpline name="tendon_force_length_curve"> 11546 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11547 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11548 </SimmSpline> 11549 <!--Function representing active force-length behavior of muscle fibers--> 11550 <SimmSpline name="active_force_length_curve"> 11551 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11552 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11553 </SimmSpline> 11554 <!--Function representing passive force-length behavior of muscle fibers--> 11555 <SimmSpline name="passive_force_length_curve"> 11556 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11557 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11558 </SimmSpline> 11559 </Schutte1993Muscle_Deprecated> 11560 <Schutte1993Muscle_Deprecated name="LAT2"> 11561 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11562 <isDisabled>false</isDisabled> 11563 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11564 <min_control>0</min_control> 11565 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11566 <max_control>1</max_control> 11567 <!--The set of points defining the path of the muscle.--> 11568 <GeometryPath> 11569 <PathPointSet> 11570 <objects> 11571 <PathPoint name="LAT2-P1"> 11572 <location> 0.00968 -0.04071 -0.00611</location> 11573 <body>humerus_r</body> 11574 </PathPoint> 11575 <PathPoint name="LAT2-P2"> 11576 <location> -0.0764 -0.1022 -0.01808</location> 11577 <body>scapula_r</body> 11578 </PathPoint> 11579 <PathPoint name="LAT2-P3"> 11580 <location> -0.10054 -0.13969 -0.05258</location> 11581 <body>scapula_r</body> 11582 </PathPoint> 11583 <PathPoint name="LAT2-P4"> 11584 <location> -0.10992 -0.16908 0.02878</location> 11585 <body>thorax</body> 11586 </PathPoint> 11587 <PathPoint name="LAT2-P5"> 11588 <location> -0.07186 -0.18818 0.00815</location> 11589 <body>thorax</body> 11590 </PathPoint> 11591 </objects> 11592 <groups /> 11593 </PathPointSet> 11594 <VisibleObject> 11595 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11596 <GeometrySet> 11597 <objects /> 11598 <groups /> 11599 </GeometrySet> 11600 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11601 <scale_factors> 1 1 1</scale_factors> 11602 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11603 <transform> -0 0 -0 0 0 0</transform> 11604 <!--Whether to show a coordinate frame--> 11605 <show_axes>false</show_axes> 11606 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11607 <display_preference>4</display_preference> 11608 </VisibleObject> 11609 <PathWrapSet> 11610 <objects /> 11611 <groups /> 11612 </PathWrapSet> 11613 </GeometryPath> 11614 <!--The maximum force this actuator can produce.--> 11615 <optimal_force>1</optimal_force> 11616 <!--Maximum isometric force that the fibers can generate--> 11617 <max_isometric_force>389.1</max_isometric_force> 11618 <!--Optimal length of the muscle fibers--> 11619 <optimal_fiber_length>0.2324</optimal_fiber_length> 11620 <!--Resting length of the tendon--> 11621 <tendon_slack_length>0.1765</tendon_slack_length> 11622 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11623 <pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal> 11624 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11625 <max_contraction_velocity>0</max_contraction_velocity> 11626 <!--Scale factor for normalizing time--> 11627 <time_scale>0.1</time_scale> 11628 <!--Parameter used in time constant of ramping up of muscle force--> 11629 <activation1>0.01</activation1> 11630 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11631 <activation2>0.04</activation2> 11632 <!--Damping factor related to maximum contraction velocity--> 11633 <damping>0.05</damping> 11634 <!--Function representing force-length behavior of tendon--> 11635 <SimmSpline name="tendon_force_length_curve"> 11636 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11637 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11638 </SimmSpline> 11639 <!--Function representing active force-length behavior of muscle fibers--> 11640 <SimmSpline name="active_force_length_curve"> 11641 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11642 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11643 </SimmSpline> 11644 <!--Function representing passive force-length behavior of muscle fibers--> 11645 <SimmSpline name="passive_force_length_curve"> 11646 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11647 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11648 </SimmSpline> 11649 </Schutte1993Muscle_Deprecated> 11650 <Schutte1993Muscle_Deprecated name="LAT3"> 11651 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11652 <isDisabled>false</isDisabled> 11653 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11654 <min_control>0</min_control> 11655 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11656 <max_control>1</max_control> 11657 <!--The set of points defining the path of the muscle.--> 11658 <GeometryPath> 11659 <PathPointSet> 11660 <objects> 11661 <PathPoint name="LAT3-P1"> 11662 <location> 0.01208 -0.03922 -0.00416</location> 11663 <body>humerus_r</body> 11664 </PathPoint> 11665 <PathPoint name="LAT3-P2"> 11666 <location> -0.05678 -0.13303 -0.0213</location> 11667 <body>scapula_r</body> 11668 </PathPoint> 11669 <PathPoint name="LAT3-P3"> 11670 <location> -0.09449 -0.17553 -0.04606</location> 11671 <body>scapula_r</body> 11672 </PathPoint> 11673 <PathPoint name="LAT3-P4"> 11674 <location> -0.11157 -0.19387 0.05532</location> 11675 <body>thorax</body> 11676 </PathPoint> 11677 <PathPoint name="LAT3-P5"> 11678 <location> -0.07117 -0.24858 0.00907</location> 11679 <body>thorax</body> 11680 </PathPoint> 11681 </objects> 11682 <groups /> 11683 </PathPointSet> 11684 <VisibleObject> 11685 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11686 <GeometrySet> 11687 <objects /> 11688 <groups /> 11689 </GeometrySet> 11690 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11691 <scale_factors> 1 1 1</scale_factors> 11692 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11693 <transform> -0 0 -0 0 0 0</transform> 11694 <!--Whether to show a coordinate frame--> 11695 <show_axes>false</show_axes> 11696 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11697 <display_preference>4</display_preference> 11698 </VisibleObject> 11699 <PathWrapSet> 11700 <objects /> 11701 <groups /> 11702 </PathWrapSet> 11703 </GeometryPath> 11704 <!--The maximum force this actuator can produce.--> 11705 <optimal_force>1</optimal_force> 11706 <!--Maximum isometric force that the fibers can generate--> 11707 <max_isometric_force>281.66</max_isometric_force> 11708 <!--Optimal length of the muscle fibers--> 11709 <optimal_fiber_length>0.2789</optimal_fiber_length> 11710 <!--Resting length of the tendon--> 11711 <tendon_slack_length>0.1403</tendon_slack_length> 11712 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11713 <pennation_angle_at_optimal>0.36651914</pennation_angle_at_optimal> 11714 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11715 <max_contraction_velocity>0</max_contraction_velocity> 11716 <!--Scale factor for normalizing time--> 11717 <time_scale>0.1</time_scale> 11718 <!--Parameter used in time constant of ramping up of muscle force--> 11719 <activation1>0.01</activation1> 11720 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11721 <activation2>0.04</activation2> 11722 <!--Damping factor related to maximum contraction velocity--> 11723 <damping>0.05</damping> 11724 <!--Function representing force-length behavior of tendon--> 11725 <SimmSpline name="tendon_force_length_curve"> 11726 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11727 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11728 </SimmSpline> 11729 <!--Function representing active force-length behavior of muscle fibers--> 11730 <SimmSpline name="active_force_length_curve"> 11731 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11732 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11733 </SimmSpline> 11734 <!--Function representing passive force-length behavior of muscle fibers--> 11735 <SimmSpline name="passive_force_length_curve"> 11736 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11737 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11738 </SimmSpline> 11739 </Schutte1993Muscle_Deprecated> 11740 <Schutte1993Muscle_Deprecated name="CORB"> 11741 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11742 <isDisabled>false</isDisabled> 11743 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11744 <min_control>0</min_control> 11745 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11746 <max_control>1</max_control> 11747 <!--The set of points defining the path of the muscle.--> 11748 <GeometryPath> 11749 <PathPointSet> 11750 <objects> 11751 <PathPoint name="CORB-P1"> 11752 <location> 0.0125 -0.04127 -0.02652</location> 11753 <body>scapula_r</body> 11754 </PathPoint> 11755 <PathPoint name="CORB-P2"> 11756 <location> 0.0069957 -0.0593962 -0.00909817</location> 11757 <body>scapula_r</body> 11758 </PathPoint> 11759 <PathPoint name="CORB-P3"> 11760 <location> 0.00743 -0.15048 -0.00782</location> 11761 <body>humerus_r</body> 11762 </PathPoint> 11763 </objects> 11764 <groups /> 11765 </PathPointSet> 11766 <VisibleObject> 11767 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11768 <GeometrySet> 11769 <objects /> 11770 <groups /> 11771 </GeometrySet> 11772 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11773 <scale_factors> 1 1 1</scale_factors> 11774 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11775 <transform> -0 0 -0 0 0 0</transform> 11776 <!--Whether to show a coordinate frame--> 11777 <show_axes>false</show_axes> 11778 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11779 <display_preference>4</display_preference> 11780 </VisibleObject> 11781 <PathWrapSet> 11782 <objects /> 11783 <groups /> 11784 </PathWrapSet> 11785 </GeometryPath> 11786 <!--The maximum force this actuator can produce.--> 11787 <optimal_force>1</optimal_force> 11788 <!--Maximum isometric force that the fibers can generate--> 11789 <max_isometric_force>242.46</max_isometric_force> 11790 <!--Optimal length of the muscle fibers--> 11791 <optimal_fiber_length>0.0932</optimal_fiber_length> 11792 <!--Resting length of the tendon--> 11793 <tendon_slack_length>0.097</tendon_slack_length> 11794 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11795 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 11796 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11797 <max_contraction_velocity>0</max_contraction_velocity> 11798 <!--Scale factor for normalizing time--> 11799 <time_scale>0.1</time_scale> 11800 <!--Parameter used in time constant of ramping up of muscle force--> 11801 <activation1>0.01</activation1> 11802 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11803 <activation2>0.04</activation2> 11804 <!--Damping factor related to maximum contraction velocity--> 11805 <damping>0.05</damping> 11806 <!--Function representing force-length behavior of tendon--> 11807 <SimmSpline name="tendon_force_length_curve"> 11808 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11809 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11810 </SimmSpline> 11811 <!--Function representing active force-length behavior of muscle fibers--> 11812 <SimmSpline name="active_force_length_curve"> 11813 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11814 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11815 </SimmSpline> 11816 <!--Function representing passive force-length behavior of muscle fibers--> 11817 <SimmSpline name="passive_force_length_curve"> 11818 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11819 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11820 </SimmSpline> 11821 </Schutte1993Muscle_Deprecated> 11822 <Schutte1993Muscle_Deprecated name="TRIlong"> 11823 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11824 <isDisabled>false</isDisabled> 11825 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11826 <min_control>0</min_control> 11827 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11828 <max_control>1</max_control> 11829 <!--The set of points defining the path of the muscle.--> 11830 <GeometryPath> 11831 <PathPointSet> 11832 <objects> 11833 <PathPoint name="TRIlong-P1"> 11834 <location> -0.04565 -0.04073 -0.01377</location> 11835 <body>scapula_r</body> 11836 </PathPoint> 11837 <PathPoint name="TRIlong-P2"> 11838 <location> -0.02714 -0.11441 -0.00664</location> 11839 <body>humerus_r</body> 11840 </PathPoint> 11841 <PathPoint name="TRIlong-P3"> 11842 <location> -0.03184 -0.22637 -0.01217</location> 11843 <body>humerus_r</body> 11844 </PathPoint> 11845 <PathPoint name="TRIlong-P4"> 11846 <location> -0.01743 -0.26757 -0.01208</location> 11847 <body>humerus_r</body> 11848 </PathPoint> 11849 <PathPoint name="TRIlong-P5"> 11850 <location> -0.0219 0.01046 -0.00078</location> 11851 <body>ulna_r</body> 11852 </PathPoint> 11853 </objects> 11854 <groups /> 11855 </PathPointSet> 11856 <VisibleObject> 11857 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11858 <GeometrySet> 11859 <objects /> 11860 <groups /> 11861 </GeometrySet> 11862 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11863 <scale_factors> 1 1 1</scale_factors> 11864 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11865 <transform> -0 0 -0 0 0 0</transform> 11866 <!--Whether to show a coordinate frame--> 11867 <show_axes>false</show_axes> 11868 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11869 <display_preference>4</display_preference> 11870 </VisibleObject> 11871 <PathWrapSet> 11872 <objects /> 11873 <groups /> 11874 </PathWrapSet> 11875 </GeometryPath> 11876 <!--The maximum force this actuator can produce.--> 11877 <optimal_force>1</optimal_force> 11878 <!--Maximum isometric force that the fibers can generate--> 11879 <max_isometric_force>798.52</max_isometric_force> 11880 <!--Optimal length of the muscle fibers--> 11881 <optimal_fiber_length>0.134</optimal_fiber_length> 11882 <!--Resting length of the tendon--> 11883 <tendon_slack_length>0.143</tendon_slack_length> 11884 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11885 <pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal> 11886 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11887 <max_contraction_velocity>0</max_contraction_velocity> 11888 <!--Scale factor for normalizing time--> 11889 <time_scale>0.1</time_scale> 11890 <!--Parameter used in time constant of ramping up of muscle force--> 11891 <activation1>0.01</activation1> 11892 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11893 <activation2>0.04</activation2> 11894 <!--Damping factor related to maximum contraction velocity--> 11895 <damping>0.05</damping> 11896 <!--Function representing force-length behavior of tendon--> 11897 <SimmSpline name="tendon_force_length_curve"> 11898 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11899 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11900 </SimmSpline> 11901 <!--Function representing active force-length behavior of muscle fibers--> 11902 <SimmSpline name="active_force_length_curve"> 11903 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11904 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11905 </SimmSpline> 11906 <!--Function representing passive force-length behavior of muscle fibers--> 11907 <SimmSpline name="passive_force_length_curve"> 11908 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11909 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 11910 </SimmSpline> 11911 </Schutte1993Muscle_Deprecated> 11912 <Schutte1993Muscle_Deprecated name="TRIlat"> 11913 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 11914 <isDisabled>false</isDisabled> 11915 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 11916 <min_control>0</min_control> 11917 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 11918 <max_control>1</max_control> 11919 <!--The set of points defining the path of the muscle.--> 11920 <GeometryPath> 11921 <PathPointSet> 11922 <objects> 11923 <PathPoint name="TRIlat-P1"> 11924 <location> -0.00599 -0.12646 0.00428</location> 11925 <body>humerus_r</body> 11926 </PathPoint> 11927 <PathPoint name="TRIlat-P2"> 11928 <location> -0.02344 -0.14528 0.00928</location> 11929 <body>humerus_r</body> 11930 </PathPoint> 11931 <PathPoint name="TRIlat-P3"> 11932 <location> -0.03184 -0.22637 -0.01217</location> 11933 <body>humerus_r</body> 11934 </PathPoint> 11935 <PathPoint name="TRIlat-P4"> 11936 <location> -0.01743 -0.26757 -0.01208</location> 11937 <body>humerus_r</body> 11938 </PathPoint> 11939 <PathPoint name="TRIlat-P5"> 11940 <location> -0.0219 0.01046 -0.00078</location> 11941 <body>ulna_r</body> 11942 </PathPoint> 11943 </objects> 11944 <groups /> 11945 </PathPointSet> 11946 <VisibleObject> 11947 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 11948 <GeometrySet> 11949 <objects /> 11950 <groups /> 11951 </GeometrySet> 11952 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 11953 <scale_factors> 1 1 1</scale_factors> 11954 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 11955 <transform> -0 0 -0 0 0 0</transform> 11956 <!--Whether to show a coordinate frame--> 11957 <show_axes>false</show_axes> 11958 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 11959 <display_preference>4</display_preference> 11960 </VisibleObject> 11961 <PathWrapSet> 11962 <objects /> 11963 <groups /> 11964 </PathWrapSet> 11965 </GeometryPath> 11966 <!--The maximum force this actuator can produce.--> 11967 <optimal_force>1</optimal_force> 11968 <!--Maximum isometric force that the fibers can generate--> 11969 <max_isometric_force>624.3</max_isometric_force> 11970 <!--Optimal length of the muscle fibers--> 11971 <optimal_fiber_length>0.1138</optimal_fiber_length> 11972 <!--Resting length of the tendon--> 11973 <tendon_slack_length>0.098</tendon_slack_length> 11974 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 11975 <pennation_angle_at_optimal>0.15707963</pennation_angle_at_optimal> 11976 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 11977 <max_contraction_velocity>0</max_contraction_velocity> 11978 <!--Scale factor for normalizing time--> 11979 <time_scale>0.1</time_scale> 11980 <!--Parameter used in time constant of ramping up of muscle force--> 11981 <activation1>0.01</activation1> 11982 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 11983 <activation2>0.04</activation2> 11984 <!--Damping factor related to maximum contraction velocity--> 11985 <damping>0.05</damping> 11986 <!--Function representing force-length behavior of tendon--> 11987 <SimmSpline name="tendon_force_length_curve"> 11988 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 11989 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 11990 </SimmSpline> 11991 <!--Function representing active force-length behavior of muscle fibers--> 11992 <SimmSpline name="active_force_length_curve"> 11993 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 11994 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 11995 </SimmSpline> 11996 <!--Function representing passive force-length behavior of muscle fibers--> 11997 <SimmSpline name="passive_force_length_curve"> 11998 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 11999 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12000 </SimmSpline> 12001 </Schutte1993Muscle_Deprecated> 12002 <Schutte1993Muscle_Deprecated name="TRImed"> 12003 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12004 <isDisabled>false</isDisabled> 12005 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12006 <min_control>0</min_control> 12007 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12008 <max_control>1</max_control> 12009 <!--The set of points defining the path of the muscle.--> 12010 <GeometryPath> 12011 <PathPointSet> 12012 <objects> 12013 <PathPoint name="TRImed-P1"> 12014 <location> -0.00838 -0.13695 -0.00906</location> 12015 <body>humerus_r</body> 12016 </PathPoint> 12017 <PathPoint name="TRImed-P2"> 12018 <location> -0.02601 -0.15139 -0.0108</location> 12019 <body>humerus_r</body> 12020 </PathPoint> 12021 <PathPoint name="TRImed-P3"> 12022 <location> -0.03184 -0.22637 -0.01217</location> 12023 <body>humerus_r</body> 12024 </PathPoint> 12025 <PathPoint name="TRImed-P4"> 12026 <location> -0.01743 -0.26757 -0.01208</location> 12027 <body>humerus_r</body> 12028 </PathPoint> 12029 <PathPoint name="TRImed-P5"> 12030 <location> -0.0219 0.01046 -0.00078</location> 12031 <body>ulna_r</body> 12032 </PathPoint> 12033 </objects> 12034 <groups /> 12035 </PathPointSet> 12036 <VisibleObject> 12037 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12038 <GeometrySet> 12039 <objects /> 12040 <groups /> 12041 </GeometrySet> 12042 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12043 <scale_factors> 1 1 1</scale_factors> 12044 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12045 <transform> -0 0 -0 0 0 0</transform> 12046 <!--Whether to show a coordinate frame--> 12047 <show_axes>false</show_axes> 12048 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12049 <display_preference>4</display_preference> 12050 </VisibleObject> 12051 <PathWrapSet> 12052 <objects /> 12053 <groups /> 12054 </PathWrapSet> 12055 </GeometryPath> 12056 <!--The maximum force this actuator can produce.--> 12057 <optimal_force>1</optimal_force> 12058 <!--Maximum isometric force that the fibers can generate--> 12059 <max_isometric_force>624.3</max_isometric_force> 12060 <!--Optimal length of the muscle fibers--> 12061 <optimal_fiber_length>0.1138</optimal_fiber_length> 12062 <!--Resting length of the tendon--> 12063 <tendon_slack_length>0.0908</tendon_slack_length> 12064 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12065 <pennation_angle_at_optimal>0.15707963</pennation_angle_at_optimal> 12066 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12067 <max_contraction_velocity>0</max_contraction_velocity> 12068 <!--Scale factor for normalizing time--> 12069 <time_scale>0.1</time_scale> 12070 <!--Parameter used in time constant of ramping up of muscle force--> 12071 <activation1>0.01</activation1> 12072 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12073 <activation2>0.04</activation2> 12074 <!--Damping factor related to maximum contraction velocity--> 12075 <damping>0.05</damping> 12076 <!--Function representing force-length behavior of tendon--> 12077 <SimmSpline name="tendon_force_length_curve"> 12078 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12079 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12080 </SimmSpline> 12081 <!--Function representing active force-length behavior of muscle fibers--> 12082 <SimmSpline name="active_force_length_curve"> 12083 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12084 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12085 </SimmSpline> 12086 <!--Function representing passive force-length behavior of muscle fibers--> 12087 <SimmSpline name="passive_force_length_curve"> 12088 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12089 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12090 </SimmSpline> 12091 </Schutte1993Muscle_Deprecated> 12092 <Schutte1993Muscle_Deprecated name="ANC"> 12093 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12094 <isDisabled>false</isDisabled> 12095 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12096 <min_control>0</min_control> 12097 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12098 <max_control>1</max_control> 12099 <!--The set of points defining the path of the muscle.--> 12100 <GeometryPath> 12101 <PathPointSet> 12102 <objects> 12103 <PathPoint name="ANC-P1"> 12104 <location> -0.00744 -0.28359 0.00979</location> 12105 <body>humerus_r</body> 12106 </PathPoint> 12107 <PathPoint name="ANC-P2"> 12108 <location> -0.02532 -0.00124 0.006</location> 12109 <body>ulna_r</body> 12110 </PathPoint> 12111 </objects> 12112 <groups /> 12113 </PathPointSet> 12114 <VisibleObject> 12115 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12116 <GeometrySet> 12117 <objects /> 12118 <groups /> 12119 </GeometrySet> 12120 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12121 <scale_factors> 1 1 1</scale_factors> 12122 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12123 <transform> -0 0 -0 0 0 0</transform> 12124 <!--Whether to show a coordinate frame--> 12125 <show_axes>false</show_axes> 12126 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12127 <display_preference>4</display_preference> 12128 </VisibleObject> 12129 <PathWrapSet> 12130 <objects /> 12131 <groups /> 12132 </PathWrapSet> 12133 </GeometryPath> 12134 <!--The maximum force this actuator can produce.--> 12135 <optimal_force>1</optimal_force> 12136 <!--Maximum isometric force that the fibers can generate--> 12137 <max_isometric_force>350</max_isometric_force> 12138 <!--Optimal length of the muscle fibers--> 12139 <optimal_fiber_length>0.027</optimal_fiber_length> 12140 <!--Resting length of the tendon--> 12141 <tendon_slack_length>0.018</tendon_slack_length> 12142 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12143 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 12144 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12145 <max_contraction_velocity>0</max_contraction_velocity> 12146 <!--Scale factor for normalizing time--> 12147 <time_scale>0.1</time_scale> 12148 <!--Parameter used in time constant of ramping up of muscle force--> 12149 <activation1>0.01</activation1> 12150 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12151 <activation2>0.04</activation2> 12152 <!--Damping factor related to maximum contraction velocity--> 12153 <damping>0.05</damping> 12154 <!--Function representing force-length behavior of tendon--> 12155 <SimmSpline name="tendon_force_length_curve"> 12156 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12157 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12158 </SimmSpline> 12159 <!--Function representing active force-length behavior of muscle fibers--> 12160 <SimmSpline name="active_force_length_curve"> 12161 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12162 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12163 </SimmSpline> 12164 <!--Function representing passive force-length behavior of muscle fibers--> 12165 <SimmSpline name="passive_force_length_curve"> 12166 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12167 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12168 </SimmSpline> 12169 </Schutte1993Muscle_Deprecated> 12170 <Schutte1993Muscle_Deprecated name="SUP"> 12171 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12172 <isDisabled>false</isDisabled> 12173 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12174 <min_control>0</min_control> 12175 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12176 <max_control>1</max_control> 12177 <!--The set of points defining the path of the muscle.--> 12178 <GeometryPath> 12179 <PathPointSet> 12180 <objects> 12181 <PathPoint name="SUP-P1"> 12182 <location> 0.00996 -0.06096 0.00075</location> 12183 <body>radius_r</body> 12184 </PathPoint> 12185 <PathPoint name="SUP-P2"> 12186 <location> 0.01201 -0.0517 -0.00107</location> 12187 <body>radius_r</body> 12188 </PathPoint> 12189 <PathPoint name="SUP-P3"> 12190 <location> -0.0136 -0.03384 0.02013</location> 12191 <body>ulna_r</body> 12192 </PathPoint> 12193 </objects> 12194 <groups /> 12195 </PathPointSet> 12196 <VisibleObject> 12197 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12198 <GeometrySet> 12199 <objects /> 12200 <groups /> 12201 </GeometrySet> 12202 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12203 <scale_factors> 1 1 1</scale_factors> 12204 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12205 <transform> -0 0 -0 0 0 0</transform> 12206 <!--Whether to show a coordinate frame--> 12207 <show_axes>false</show_axes> 12208 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12209 <display_preference>4</display_preference> 12210 </VisibleObject> 12211 <PathWrapSet> 12212 <objects /> 12213 <groups /> 12214 </PathWrapSet> 12215 </GeometryPath> 12216 <!--The maximum force this actuator can produce.--> 12217 <optimal_force>1</optimal_force> 12218 <!--Maximum isometric force that the fibers can generate--> 12219 <max_isometric_force>476</max_isometric_force> 12220 <!--Optimal length of the muscle fibers--> 12221 <optimal_fiber_length>0.033</optimal_fiber_length> 12222 <!--Resting length of the tendon--> 12223 <tendon_slack_length>0.028</tendon_slack_length> 12224 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12225 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 12226 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12227 <max_contraction_velocity>0</max_contraction_velocity> 12228 <!--Scale factor for normalizing time--> 12229 <time_scale>0.1</time_scale> 12230 <!--Parameter used in time constant of ramping up of muscle force--> 12231 <activation1>0.01</activation1> 12232 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12233 <activation2>0.04</activation2> 12234 <!--Damping factor related to maximum contraction velocity--> 12235 <damping>0.05</damping> 12236 <!--Function representing force-length behavior of tendon--> 12237 <SimmSpline name="tendon_force_length_curve"> 12238 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12239 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12240 </SimmSpline> 12241 <!--Function representing active force-length behavior of muscle fibers--> 12242 <SimmSpline name="active_force_length_curve"> 12243 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12244 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12245 </SimmSpline> 12246 <!--Function representing passive force-length behavior of muscle fibers--> 12247 <SimmSpline name="passive_force_length_curve"> 12248 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12249 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12250 </SimmSpline> 12251 </Schutte1993Muscle_Deprecated> 12252 <Schutte1993Muscle_Deprecated name="BIClong"> 12253 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12254 <isDisabled>false</isDisabled> 12255 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12256 <min_control>0</min_control> 12257 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12258 <max_control>1</max_control> 12259 <!--The set of points defining the path of the muscle.--> 12260 <GeometryPath> 12261 <PathPointSet> 12262 <objects> 12263 <PathPoint name="BIClong-P1"> 12264 <location> -0.03123 -0.02353 -0.01305</location> 12265 <body>scapula_r</body> 12266 </PathPoint> 12267 <PathPoint name="BIClong-P2"> 12268 <location> -0.02094 -0.01309 -0.00461</location> 12269 <body>scapula_r</body> 12270 </PathPoint> 12271 <PathPoint name="BIClong-P3"> 12272 <location> 0.02131 0.01793 0.01028</location> 12273 <body>humerus_r</body> 12274 </PathPoint> 12275 <PathPoint name="BIClong-P4"> 12276 <location> 0.02378 -0.00511 0.01201</location> 12277 <body>humerus_r</body> 12278 </PathPoint> 12279 <PathPoint name="BIClong-P5"> 12280 <location> 0.01345 -0.02827 0.00136</location> 12281 <body>humerus_r</body> 12282 </PathPoint> 12283 <PathPoint name="BIClong-P6"> 12284 <location> 0.01068 -0.07736 -0.00165</location> 12285 <body>humerus_r</body> 12286 </PathPoint> 12287 <PathPoint name="BIClong-P7"> 12288 <location> 0.01703 -0.12125 0.00024</location> 12289 <body>humerus_r</body> 12290 </PathPoint> 12291 <PathPoint name="BIClong-P8"> 12292 <location> 0.0228 -0.1754 -0.0063</location> 12293 <body>humerus_r</body> 12294 </PathPoint> 12295 <ConditionalPathPoint name="BIClong-P10"> 12296 <location> -0.00078793 0.0271875 0.00657355</location> 12297 <body>radius_r</body> 12298 <range> -0.638791 1.5708</range> 12299 <coordinate>pro_sup_r</coordinate> 12300 </ConditionalPathPoint> 12301 <PathPoint name="BIClong-P10"> 12302 <location> -0.00504894 0.0063601 0.0118441</location> 12303 <body>radius_r</body> 12304 </PathPoint> 12305 <PathPoint name="BIClong-P11"> 12306 <location> -0.002 -0.0375 -0.002</location> 12307 <body>radius_r</body> 12308 </PathPoint> 12309 </objects> 12310 <groups /> 12311 </PathPointSet> 12312 <VisibleObject> 12313 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12314 <GeometrySet> 12315 <objects /> 12316 <groups /> 12317 </GeometrySet> 12318 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12319 <scale_factors> 1 1 1</scale_factors> 12320 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12321 <transform> -0 0 -0 0 0 0</transform> 12322 <!--Whether to show a coordinate frame--> 12323 <show_axes>false</show_axes> 12324 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12325 <display_preference>4</display_preference> 12326 </VisibleObject> 12327 <PathWrapSet> 12328 <objects /> 12329 <groups /> 12330 </PathWrapSet> 12331 </GeometryPath> 12332 <!--The maximum force this actuator can produce.--> 12333 <optimal_force>1</optimal_force> 12334 <!--Maximum isometric force that the fibers can generate--> 12335 <max_isometric_force>624.3</max_isometric_force> 12336 <!--Optimal length of the muscle fibers--> 12337 <optimal_fiber_length>0.1157</optimal_fiber_length> 12338 <!--Resting length of the tendon--> 12339 <tendon_slack_length>0.2723</tendon_slack_length> 12340 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12341 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 12342 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12343 <max_contraction_velocity>0</max_contraction_velocity> 12344 <!--Scale factor for normalizing time--> 12345 <time_scale>0.1</time_scale> 12346 <!--Parameter used in time constant of ramping up of muscle force--> 12347 <activation1>0.01</activation1> 12348 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12349 <activation2>0.04</activation2> 12350 <!--Damping factor related to maximum contraction velocity--> 12351 <damping>0.05</damping> 12352 <!--Function representing force-length behavior of tendon--> 12353 <SimmSpline name="tendon_force_length_curve"> 12354 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12355 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12356 </SimmSpline> 12357 <!--Function representing active force-length behavior of muscle fibers--> 12358 <SimmSpline name="active_force_length_curve"> 12359 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12360 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12361 </SimmSpline> 12362 <!--Function representing passive force-length behavior of muscle fibers--> 12363 <SimmSpline name="passive_force_length_curve"> 12364 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12365 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12366 </SimmSpline> 12367 </Schutte1993Muscle_Deprecated> 12368 <Schutte1993Muscle_Deprecated name="BICshort"> 12369 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12370 <isDisabled>false</isDisabled> 12371 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12372 <min_control>0</min_control> 12373 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12374 <max_control>1</max_control> 12375 <!--The set of points defining the path of the muscle.--> 12376 <GeometryPath> 12377 <PathPointSet> 12378 <objects> 12379 <PathPoint name="BICshort-P1"> 12380 <location> 0.01268 -0.03931 -0.02625</location> 12381 <body>scapula_r</body> 12382 </PathPoint> 12383 <PathPoint name="BICshort-P2"> 12384 <location> 0.0142026 -0.0613587 -0.00610476</location> 12385 <body>scapula_r</body> 12386 </PathPoint> 12387 <PathPoint name="BICshort-P3"> 12388 <location> 0.01117 -0.07576 -0.01101</location> 12389 <body>humerus_r</body> 12390 </PathPoint> 12391 <PathPoint name="BICshort-P4"> 12392 <location> 0.01703 -0.12125 -0.01079</location> 12393 <body>humerus_r</body> 12394 </PathPoint> 12395 <PathPoint name="BICshort-P5"> 12396 <location> 0.0228 -0.1754 -0.0063</location> 12397 <body>humerus_r</body> 12398 </PathPoint> 12399 <ConditionalPathPoint name="BICshort-P7"> 12400 <location> -0.00079 0.02719 0.00657</location> 12401 <body>radius_r</body> 12402 <range> -0.638791 1.5708</range> 12403 <coordinate>pro_sup_r</coordinate> 12404 </ConditionalPathPoint> 12405 <PathPoint name="BICshort-P7"> 12406 <location> -0.00505 0.00636 0.01184</location> 12407 <body>radius_r</body> 12408 </PathPoint> 12409 <PathPoint name="BICshort-P8"> 12410 <location> -0.002 -0.0375 -0.002</location> 12411 <body>radius_r</body> 12412 </PathPoint> 12413 </objects> 12414 <groups /> 12415 </PathPointSet> 12416 <VisibleObject> 12417 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12418 <GeometrySet> 12419 <objects /> 12420 <groups /> 12421 </GeometrySet> 12422 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12423 <scale_factors> 1 1 1</scale_factors> 12424 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12425 <transform> -0 0 -0 0 0 0</transform> 12426 <!--Whether to show a coordinate frame--> 12427 <show_axes>false</show_axes> 12428 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12429 <display_preference>4</display_preference> 12430 </VisibleObject> 12431 <PathWrapSet> 12432 <objects /> 12433 <groups /> 12434 </PathWrapSet> 12435 </GeometryPath> 12436 <!--The maximum force this actuator can produce.--> 12437 <optimal_force>1</optimal_force> 12438 <!--Maximum isometric force that the fibers can generate--> 12439 <max_isometric_force>435.56</max_isometric_force> 12440 <!--Optimal length of the muscle fibers--> 12441 <optimal_fiber_length>0.1321</optimal_fiber_length> 12442 <!--Resting length of the tendon--> 12443 <tendon_slack_length>0.1923</tendon_slack_length> 12444 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12445 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 12446 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12447 <max_contraction_velocity>0</max_contraction_velocity> 12448 <!--Scale factor for normalizing time--> 12449 <time_scale>0.1</time_scale> 12450 <!--Parameter used in time constant of ramping up of muscle force--> 12451 <activation1>0.01</activation1> 12452 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12453 <activation2>0.04</activation2> 12454 <!--Damping factor related to maximum contraction velocity--> 12455 <damping>0.05</damping> 12456 <!--Function representing force-length behavior of tendon--> 12457 <SimmSpline name="tendon_force_length_curve"> 12458 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12459 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12460 </SimmSpline> 12461 <!--Function representing active force-length behavior of muscle fibers--> 12462 <SimmSpline name="active_force_length_curve"> 12463 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12464 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12465 </SimmSpline> 12466 <!--Function representing passive force-length behavior of muscle fibers--> 12467 <SimmSpline name="passive_force_length_curve"> 12468 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12469 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12470 </SimmSpline> 12471 </Schutte1993Muscle_Deprecated> 12472 <Schutte1993Muscle_Deprecated name="BRA"> 12473 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12474 <isDisabled>false</isDisabled> 12475 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12476 <min_control>0</min_control> 12477 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12478 <max_control>1</max_control> 12479 <!--The set of points defining the path of the muscle.--> 12480 <GeometryPath> 12481 <PathPointSet> 12482 <objects> 12483 <PathPoint name="BRA-P1"> 12484 <location> 0.0068 -0.1739 -0.0036</location> 12485 <body>humerus_r</body> 12486 </PathPoint> 12487 <ConditionalPathPoint name="BRA-P2"> 12488 <location> 0.01894 -0.28559 -0.01105</location> 12489 <body>humerus_r</body> 12490 <range> 0 0.813149</range> 12491 <coordinate>elbow_flexion_r</coordinate> 12492 </ConditionalPathPoint> 12493 <ConditionalPathPoint name="BRA-P3"> 12494 <location> 0.00498 -0.01463 0.00128</location> 12495 <body>ulna_r</body> 12496 <range> 0 0.813149</range> 12497 <coordinate>elbow_flexion_r</coordinate> 12498 </ConditionalPathPoint> 12499 <PathPoint name="BRA-P4"> 12500 <location> -0.0032 -0.0239 0.0009</location> 12501 <body>ulna_r</body> 12502 </PathPoint> 12503 </objects> 12504 <groups /> 12505 </PathPointSet> 12506 <VisibleObject> 12507 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12508 <GeometrySet> 12509 <objects /> 12510 <groups /> 12511 </GeometrySet> 12512 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12513 <scale_factors> 1 1 1</scale_factors> 12514 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12515 <transform> -0 0 -0 0 0 0</transform> 12516 <!--Whether to show a coordinate frame--> 12517 <show_axes>false</show_axes> 12518 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12519 <display_preference>4</display_preference> 12520 </VisibleObject> 12521 <PathWrapSet> 12522 <objects /> 12523 <groups /> 12524 </PathWrapSet> 12525 </GeometryPath> 12526 <!--The maximum force this actuator can produce.--> 12527 <optimal_force>1</optimal_force> 12528 <!--Maximum isometric force that the fibers can generate--> 12529 <max_isometric_force>987.26</max_isometric_force> 12530 <!--Optimal length of the muscle fibers--> 12531 <optimal_fiber_length>0.0858</optimal_fiber_length> 12532 <!--Resting length of the tendon--> 12533 <tendon_slack_length>0.0535</tendon_slack_length> 12534 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12535 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 12536 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12537 <max_contraction_velocity>0</max_contraction_velocity> 12538 <!--Scale factor for normalizing time--> 12539 <time_scale>0.1</time_scale> 12540 <!--Parameter used in time constant of ramping up of muscle force--> 12541 <activation1>0.01</activation1> 12542 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12543 <activation2>0.04</activation2> 12544 <!--Damping factor related to maximum contraction velocity--> 12545 <damping>0.05</damping> 12546 <!--Function representing force-length behavior of tendon--> 12547 <SimmSpline name="tendon_force_length_curve"> 12548 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12549 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12550 </SimmSpline> 12551 <!--Function representing active force-length behavior of muscle fibers--> 12552 <SimmSpline name="active_force_length_curve"> 12553 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12554 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12555 </SimmSpline> 12556 <!--Function representing passive force-length behavior of muscle fibers--> 12557 <SimmSpline name="passive_force_length_curve"> 12558 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12559 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12560 </SimmSpline> 12561 </Schutte1993Muscle_Deprecated> 12562 <Schutte1993Muscle_Deprecated name="BRD"> 12563 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12564 <isDisabled>false</isDisabled> 12565 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12566 <min_control>0</min_control> 12567 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12568 <max_control>1</max_control> 12569 <!--The set of points defining the path of the muscle.--> 12570 <GeometryPath> 12571 <PathPointSet> 12572 <objects> 12573 <PathPoint name="BRD-P1"> 12574 <location> -0.0098 -0.19963 0.00223</location> 12575 <body>humerus_r</body> 12576 </PathPoint> 12577 <PathPoint name="BRD-P2"> 12578 <location> 0.00840477 0.00410938 0.0142373</location> 12579 <body>radius_r</body> 12580 </PathPoint> 12581 <PathPoint name="BRD-P2"> 12582 <location> 0.03577 -0.12742 0.02315</location> 12583 <body>radius_r</body> 12584 </PathPoint> 12585 <PathPoint name="BRD-P3"> 12586 <location> 0.0419 -0.221 0.0224</location> 12587 <body>radius_r</body> 12588 </PathPoint> 12589 </objects> 12590 <groups /> 12591 </PathPointSet> 12592 <VisibleObject> 12593 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12594 <GeometrySet> 12595 <objects /> 12596 <groups /> 12597 </GeometrySet> 12598 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12599 <scale_factors> 1 1 1</scale_factors> 12600 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12601 <transform> -0 0 -0 0 0 0</transform> 12602 <!--Whether to show a coordinate frame--> 12603 <show_axes>false</show_axes> 12604 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12605 <display_preference>4</display_preference> 12606 </VisibleObject> 12607 <PathWrapSet> 12608 <objects /> 12609 <groups /> 12610 </PathWrapSet> 12611 </GeometryPath> 12612 <!--The maximum force this actuator can produce.--> 12613 <optimal_force>1</optimal_force> 12614 <!--Maximum isometric force that the fibers can generate--> 12615 <max_isometric_force>261.33</max_isometric_force> 12616 <!--Optimal length of the muscle fibers--> 12617 <optimal_fiber_length>0.1726</optimal_fiber_length> 12618 <!--Resting length of the tendon--> 12619 <tendon_slack_length>0.133</tendon_slack_length> 12620 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12621 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 12622 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12623 <max_contraction_velocity>0</max_contraction_velocity> 12624 <!--Scale factor for normalizing time--> 12625 <time_scale>0.1</time_scale> 12626 <!--Parameter used in time constant of ramping up of muscle force--> 12627 <activation1>0.01</activation1> 12628 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12629 <activation2>0.04</activation2> 12630 <!--Damping factor related to maximum contraction velocity--> 12631 <damping>0.05</damping> 12632 <!--Function representing force-length behavior of tendon--> 12633 <SimmSpline name="tendon_force_length_curve"> 12634 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12635 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12636 </SimmSpline> 12637 <!--Function representing active force-length behavior of muscle fibers--> 12638 <SimmSpline name="active_force_length_curve"> 12639 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12640 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12641 </SimmSpline> 12642 <!--Function representing passive force-length behavior of muscle fibers--> 12643 <SimmSpline name="passive_force_length_curve"> 12644 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12645 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12646 </SimmSpline> 12647 </Schutte1993Muscle_Deprecated> 12648 <Schutte1993Muscle_Deprecated name="ECRL"> 12649 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12650 <isDisabled>false</isDisabled> 12651 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12652 <min_control>0</min_control> 12653 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12654 <max_control>1</max_control> 12655 <!--The set of points defining the path of the muscle.--> 12656 <GeometryPath> 12657 <PathPointSet> 12658 <objects> 12659 <PathPoint name="ECRL-P1"> 12660 <location> -0.0073 -0.2609 0.0091</location> 12661 <body>humerus_r</body> 12662 </PathPoint> 12663 <PathPoint name="ECRL-P2"> 12664 <location> 0.0341535 0.0374661 0.00757558</location> 12665 <body>radius_r</body> 12666 </PathPoint> 12667 <PathPoint name="ECRL-P2"> 12668 <location> 0.03195 -0.13463 0.02779</location> 12669 <body>radius_r</body> 12670 </PathPoint> 12671 <PathPoint name="ECRL-P3"> 12672 <location> 0.04243 -0.23684 0.0362</location> 12673 <body>radius_r</body> 12674 </PathPoint> 12675 <PathPoint name="ECRL-P4"> 12676 <location> 0.00249 0.0164 0.0008</location> 12677 <body>secondmc_r</body> 12678 </PathPoint> 12679 </objects> 12680 <groups /> 12681 </PathPointSet> 12682 <VisibleObject> 12683 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12684 <GeometrySet> 12685 <objects /> 12686 <groups /> 12687 </GeometrySet> 12688 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12689 <scale_factors> 1 1 1</scale_factors> 12690 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12691 <transform> -0 0 -0 0 0 0</transform> 12692 <!--Whether to show a coordinate frame--> 12693 <show_axes>false</show_axes> 12694 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12695 <display_preference>4</display_preference> 12696 </VisibleObject> 12697 <PathWrapSet> 12698 <objects /> 12699 <groups /> 12700 </PathWrapSet> 12701 </GeometryPath> 12702 <!--The maximum force this actuator can produce.--> 12703 <optimal_force>1</optimal_force> 12704 <!--Maximum isometric force that the fibers can generate--> 12705 <max_isometric_force>304.89</max_isometric_force> 12706 <!--Optimal length of the muscle fibers--> 12707 <optimal_fiber_length>0.081</optimal_fiber_length> 12708 <!--Resting length of the tendon--> 12709 <tendon_slack_length>0.224</tendon_slack_length> 12710 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12711 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 12712 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12713 <max_contraction_velocity>0</max_contraction_velocity> 12714 <!--Scale factor for normalizing time--> 12715 <time_scale>0.1</time_scale> 12716 <!--Parameter used in time constant of ramping up of muscle force--> 12717 <activation1>0.01</activation1> 12718 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12719 <activation2>0.04</activation2> 12720 <!--Damping factor related to maximum contraction velocity--> 12721 <damping>0.05</damping> 12722 <!--Function representing force-length behavior of tendon--> 12723 <SimmSpline name="tendon_force_length_curve"> 12724 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12725 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12726 </SimmSpline> 12727 <!--Function representing active force-length behavior of muscle fibers--> 12728 <SimmSpline name="active_force_length_curve"> 12729 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12730 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12731 </SimmSpline> 12732 <!--Function representing passive force-length behavior of muscle fibers--> 12733 <SimmSpline name="passive_force_length_curve"> 12734 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12735 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12736 </SimmSpline> 12737 </Schutte1993Muscle_Deprecated> 12738 <Schutte1993Muscle_Deprecated name="ECRB"> 12739 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12740 <isDisabled>false</isDisabled> 12741 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12742 <min_control>0</min_control> 12743 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12744 <max_control>1</max_control> 12745 <!--The set of points defining the path of the muscle.--> 12746 <GeometryPath> 12747 <PathPointSet> 12748 <objects> 12749 <PathPoint name="ECRB-P1"> 12750 <location> 0.01349 -0.29048 0.01698</location> 12751 <body>humerus_r</body> 12752 </PathPoint> 12753 <PathPoint name="ECRB-P2"> 12754 <location> 0.02905 -0.13086 0.02385</location> 12755 <body>radius_r</body> 12756 </PathPoint> 12757 <PathPoint name="ECRB-P3"> 12758 <location> 0.03549 -0.22805 0.03937</location> 12759 <body>radius_r</body> 12760 </PathPoint> 12761 <PathPoint name="ECRB-P4"> 12762 <location> 0.00452 0.02788 0.00112</location> 12763 <body>thirdmc_r</body> 12764 </PathPoint> 12765 </objects> 12766 <groups /> 12767 </PathPointSet> 12768 <VisibleObject> 12769 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12770 <GeometrySet> 12771 <objects /> 12772 <groups /> 12773 </GeometrySet> 12774 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12775 <scale_factors> 1 1 1</scale_factors> 12776 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12777 <transform> -0 0 -0 0 0 0</transform> 12778 <!--Whether to show a coordinate frame--> 12779 <show_axes>false</show_axes> 12780 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12781 <display_preference>4</display_preference> 12782 </VisibleObject> 12783 <PathWrapSet> 12784 <objects /> 12785 <groups /> 12786 </PathWrapSet> 12787 </GeometryPath> 12788 <!--The maximum force this actuator can produce.--> 12789 <optimal_force>1</optimal_force> 12790 <!--Maximum isometric force that the fibers can generate--> 12791 <max_isometric_force>100.52</max_isometric_force> 12792 <!--Optimal length of the muscle fibers--> 12793 <optimal_fiber_length>0.0585</optimal_fiber_length> 12794 <!--Resting length of the tendon--> 12795 <tendon_slack_length>0.2223</tendon_slack_length> 12796 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12797 <pennation_angle_at_optimal>0.1553343</pennation_angle_at_optimal> 12798 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12799 <max_contraction_velocity>0</max_contraction_velocity> 12800 <!--Scale factor for normalizing time--> 12801 <time_scale>0.1</time_scale> 12802 <!--Parameter used in time constant of ramping up of muscle force--> 12803 <activation1>0.01</activation1> 12804 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12805 <activation2>0.04</activation2> 12806 <!--Damping factor related to maximum contraction velocity--> 12807 <damping>0.05</damping> 12808 <!--Function representing force-length behavior of tendon--> 12809 <SimmSpline name="tendon_force_length_curve"> 12810 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12811 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12812 </SimmSpline> 12813 <!--Function representing active force-length behavior of muscle fibers--> 12814 <SimmSpline name="active_force_length_curve"> 12815 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12816 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12817 </SimmSpline> 12818 <!--Function representing passive force-length behavior of muscle fibers--> 12819 <SimmSpline name="passive_force_length_curve"> 12820 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12821 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12822 </SimmSpline> 12823 </Schutte1993Muscle_Deprecated> 12824 <Schutte1993Muscle_Deprecated name="ECU"> 12825 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12826 <isDisabled>false</isDisabled> 12827 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12828 <min_control>0</min_control> 12829 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12830 <max_control>1</max_control> 12831 <!--The set of points defining the path of the muscle.--> 12832 <GeometryPath> 12833 <PathPointSet> 12834 <objects> 12835 <PathPoint name="ECU-P1"> 12836 <location> 0.00083 -0.28955 0.0188</location> 12837 <body>humerus_r</body> 12838 </PathPoint> 12839 <PathPoint name="ECU-P2"> 12840 <location> -0.01391 -0.03201 0.02947</location> 12841 <body>ulna_r</body> 12842 </PathPoint> 12843 <PathPoint name="ECU-P3"> 12844 <location> -0.01705 -0.05428 0.02868</location> 12845 <body>ulna_r</body> 12846 </PathPoint> 12847 <PathPoint name="ECU-P4"> 12848 <location> -0.01793 -0.09573 0.03278</location> 12849 <body>ulna_r</body> 12850 </PathPoint> 12851 <PathPoint name="ECU-P5"> 12852 <location> -0.01421 -0.22696 0.03481</location> 12853 <body>radius_r</body> 12854 </PathPoint> 12855 <PathPoint name="ECU-P6"> 12856 <location> -0.00061 0.02067 0.00294</location> 12857 <body>fifthmc_r</body> 12858 </PathPoint> 12859 </objects> 12860 <groups /> 12861 </PathPointSet> 12862 <VisibleObject> 12863 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12864 <GeometrySet> 12865 <objects /> 12866 <groups /> 12867 </GeometrySet> 12868 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12869 <scale_factors> 1 1 1</scale_factors> 12870 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12871 <transform> -0 0 -0 0 0 0</transform> 12872 <!--Whether to show a coordinate frame--> 12873 <show_axes>false</show_axes> 12874 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12875 <display_preference>4</display_preference> 12876 </VisibleObject> 12877 <PathWrapSet> 12878 <objects /> 12879 <groups /> 12880 </PathWrapSet> 12881 </GeometryPath> 12882 <!--The maximum force this actuator can produce.--> 12883 <optimal_force>1</optimal_force> 12884 <!--Maximum isometric force that the fibers can generate--> 12885 <max_isometric_force>93.17</max_isometric_force> 12886 <!--Optimal length of the muscle fibers--> 12887 <optimal_fiber_length>0.0622</optimal_fiber_length> 12888 <!--Resting length of the tendon--> 12889 <tendon_slack_length>0.2285</tendon_slack_length> 12890 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12891 <pennation_angle_at_optimal>0.06108652</pennation_angle_at_optimal> 12892 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12893 <max_contraction_velocity>0</max_contraction_velocity> 12894 <!--Scale factor for normalizing time--> 12895 <time_scale>0.1</time_scale> 12896 <!--Parameter used in time constant of ramping up of muscle force--> 12897 <activation1>0.01</activation1> 12898 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12899 <activation2>0.04</activation2> 12900 <!--Damping factor related to maximum contraction velocity--> 12901 <damping>0.05</damping> 12902 <!--Function representing force-length behavior of tendon--> 12903 <SimmSpline name="tendon_force_length_curve"> 12904 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12905 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12906 </SimmSpline> 12907 <!--Function representing active force-length behavior of muscle fibers--> 12908 <SimmSpline name="active_force_length_curve"> 12909 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12910 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12911 </SimmSpline> 12912 <!--Function representing passive force-length behavior of muscle fibers--> 12913 <SimmSpline name="passive_force_length_curve"> 12914 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 12915 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 12916 </SimmSpline> 12917 </Schutte1993Muscle_Deprecated> 12918 <Schutte1993Muscle_Deprecated name="FCR"> 12919 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 12920 <isDisabled>false</isDisabled> 12921 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 12922 <min_control>0</min_control> 12923 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 12924 <max_control>1</max_control> 12925 <!--The set of points defining the path of the muscle.--> 12926 <GeometryPath> 12927 <PathPointSet> 12928 <objects> 12929 <PathPoint name="FCR-P1"> 12930 <location> 0.00758 -0.27806 -0.03705</location> 12931 <body>humerus_r</body> 12932 </PathPoint> 12933 <PathPoint name="FCR-P2"> 12934 <location> 0.0211 -0.21943 0.00127</location> 12935 <body>radius_r</body> 12936 </PathPoint> 12937 <PathPoint name="FCR-P3"> 12938 <location> -0.01 0.04 -0.025</location> 12939 <body>secondmc_r</body> 12940 </PathPoint> 12941 <PathPoint name="FCR-P3"> 12942 <location> -0.00345 0.01918 -0.00921</location> 12943 <body>secondmc_r</body> 12944 </PathPoint> 12945 </objects> 12946 <groups /> 12947 </PathPointSet> 12948 <VisibleObject> 12949 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 12950 <GeometrySet> 12951 <objects /> 12952 <groups /> 12953 </GeometrySet> 12954 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 12955 <scale_factors> 1 1 1</scale_factors> 12956 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 12957 <transform> -0 0 -0 0 0 0</transform> 12958 <!--Whether to show a coordinate frame--> 12959 <show_axes>false</show_axes> 12960 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 12961 <display_preference>4</display_preference> 12962 </VisibleObject> 12963 <PathWrapSet> 12964 <objects /> 12965 <groups /> 12966 </PathWrapSet> 12967 </GeometryPath> 12968 <!--The maximum force this actuator can produce.--> 12969 <optimal_force>1</optimal_force> 12970 <!--Maximum isometric force that the fibers can generate--> 12971 <max_isometric_force>73.96</max_isometric_force> 12972 <!--Optimal length of the muscle fibers--> 12973 <optimal_fiber_length>0.0628</optimal_fiber_length> 12974 <!--Resting length of the tendon--> 12975 <tendon_slack_length>0.244</tendon_slack_length> 12976 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 12977 <pennation_angle_at_optimal>0.05410521</pennation_angle_at_optimal> 12978 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 12979 <max_contraction_velocity>0</max_contraction_velocity> 12980 <!--Scale factor for normalizing time--> 12981 <time_scale>0.1</time_scale> 12982 <!--Parameter used in time constant of ramping up of muscle force--> 12983 <activation1>0.01</activation1> 12984 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 12985 <activation2>0.04</activation2> 12986 <!--Damping factor related to maximum contraction velocity--> 12987 <damping>0.05</damping> 12988 <!--Function representing force-length behavior of tendon--> 12989 <SimmSpline name="tendon_force_length_curve"> 12990 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 12991 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 12992 </SimmSpline> 12993 <!--Function representing active force-length behavior of muscle fibers--> 12994 <SimmSpline name="active_force_length_curve"> 12995 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 12996 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 12997 </SimmSpline> 12998 <!--Function representing passive force-length behavior of muscle fibers--> 12999 <SimmSpline name="passive_force_length_curve"> 13000 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13001 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13002 </SimmSpline> 13003 </Schutte1993Muscle_Deprecated> 13004 <Schutte1993Muscle_Deprecated name="FCU"> 13005 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13006 <isDisabled>false</isDisabled> 13007 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13008 <min_control>0</min_control> 13009 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13010 <max_control>1</max_control> 13011 <!--The set of points defining the path of the muscle.--> 13012 <GeometryPath> 13013 <PathPointSet> 13014 <objects> 13015 <PathPoint name="FCU-P1"> 13016 <location> 0.00219 -0.2774 -0.0388</location> 13017 <body>humerus_r</body> 13018 </PathPoint> 13019 <PathPoint name="FCU-P2"> 13020 <location> 0.0512714 0.013596 -0.00279215</location> 13021 <body>radius_r</body> 13022 </PathPoint> 13023 <PathPoint name="FCU-P3"> 13024 <location> 0.00120683 -0.263511 0.0262687</location> 13025 <body>radius_r</body> 13026 </PathPoint> 13027 <PathPoint name="FCU-P4"> 13028 <location> 0.00154 0.01703 -0.0033</location> 13029 <body>fifthmc_r</body> 13030 </PathPoint> 13031 </objects> 13032 <groups /> 13033 </PathPointSet> 13034 <VisibleObject> 13035 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13036 <GeometrySet> 13037 <objects /> 13038 <groups /> 13039 </GeometrySet> 13040 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13041 <scale_factors> 1 1 1</scale_factors> 13042 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13043 <transform> -0 0 -0 0 0 0</transform> 13044 <!--Whether to show a coordinate frame--> 13045 <show_axes>false</show_axes> 13046 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13047 <display_preference>4</display_preference> 13048 </VisibleObject> 13049 <PathWrapSet> 13050 <objects /> 13051 <groups /> 13052 </PathWrapSet> 13053 </GeometryPath> 13054 <!--The maximum force this actuator can produce.--> 13055 <optimal_force>1</optimal_force> 13056 <!--Maximum isometric force that the fibers can generate--> 13057 <max_isometric_force>128.93</max_isometric_force> 13058 <!--Optimal length of the muscle fibers--> 13059 <optimal_fiber_length>0.0509</optimal_fiber_length> 13060 <!--Resting length of the tendon--> 13061 <tendon_slack_length>0.265</tendon_slack_length> 13062 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13063 <pennation_angle_at_optimal>0.21118484</pennation_angle_at_optimal> 13064 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13065 <max_contraction_velocity>0</max_contraction_velocity> 13066 <!--Scale factor for normalizing time--> 13067 <time_scale>0.1</time_scale> 13068 <!--Parameter used in time constant of ramping up of muscle force--> 13069 <activation1>0.01</activation1> 13070 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13071 <activation2>0.04</activation2> 13072 <!--Damping factor related to maximum contraction velocity--> 13073 <damping>0.05</damping> 13074 <!--Function representing force-length behavior of tendon--> 13075 <SimmSpline name="tendon_force_length_curve"> 13076 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13077 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13078 </SimmSpline> 13079 <!--Function representing active force-length behavior of muscle fibers--> 13080 <SimmSpline name="active_force_length_curve"> 13081 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13082 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13083 </SimmSpline> 13084 <!--Function representing passive force-length behavior of muscle fibers--> 13085 <SimmSpline name="passive_force_length_curve"> 13086 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13087 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13088 </SimmSpline> 13089 </Schutte1993Muscle_Deprecated> 13090 <Schutte1993Muscle_Deprecated name="PL"> 13091 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13092 <isDisabled>false</isDisabled> 13093 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13094 <min_control>0</min_control> 13095 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13096 <max_control>1</max_control> 13097 <!--The set of points defining the path of the muscle.--> 13098 <GeometryPath> 13099 <PathPointSet> 13100 <objects> 13101 <PathPoint name="PL-P1"> 13102 <location> 0.00457 -0.27519 -0.03865</location> 13103 <body>humerus_r</body> 13104 </PathPoint> 13105 <PathPoint name="PL-P2"> 13106 <location> 0.02531 -0.23915 -0.00276</location> 13107 <body>radius_r</body> 13108 </PathPoint> 13109 <PathPoint name="PL-P3"> 13110 <location> 0.00917 -0.01898 -0.01754</location> 13111 <body>capitate_r</body> 13112 </PathPoint> 13113 <PathPoint name="PL-P4"> 13114 <location> 0.00179 0.00828 -0.00245</location> 13115 <body>thirdmc_r</body> 13116 </PathPoint> 13117 </objects> 13118 <groups /> 13119 </PathPointSet> 13120 <VisibleObject> 13121 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13122 <GeometrySet> 13123 <objects /> 13124 <groups /> 13125 </GeometrySet> 13126 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13127 <scale_factors> 1 1 1</scale_factors> 13128 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13129 <transform> -0 0 -0 0 0 0</transform> 13130 <!--Whether to show a coordinate frame--> 13131 <show_axes>false</show_axes> 13132 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13133 <display_preference>4</display_preference> 13134 </VisibleObject> 13135 <PathWrapSet> 13136 <objects /> 13137 <groups /> 13138 </PathWrapSet> 13139 </GeometryPath> 13140 <!--The maximum force this actuator can produce.--> 13141 <optimal_force>1</optimal_force> 13142 <!--Maximum isometric force that the fibers can generate--> 13143 <max_isometric_force>26.72</max_isometric_force> 13144 <!--Optimal length of the muscle fibers--> 13145 <optimal_fiber_length>0.0638</optimal_fiber_length> 13146 <!--Resting length of the tendon--> 13147 <tendon_slack_length>0.2694</tendon_slack_length> 13148 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13149 <pennation_angle_at_optimal>0.06981317</pennation_angle_at_optimal> 13150 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13151 <max_contraction_velocity>0</max_contraction_velocity> 13152 <!--Scale factor for normalizing time--> 13153 <time_scale>0.1</time_scale> 13154 <!--Parameter used in time constant of ramping up of muscle force--> 13155 <activation1>0.01</activation1> 13156 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13157 <activation2>0.04</activation2> 13158 <!--Damping factor related to maximum contraction velocity--> 13159 <damping>0.05</damping> 13160 <!--Function representing force-length behavior of tendon--> 13161 <SimmSpline name="tendon_force_length_curve"> 13162 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13163 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13164 </SimmSpline> 13165 <!--Function representing active force-length behavior of muscle fibers--> 13166 <SimmSpline name="active_force_length_curve"> 13167 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13168 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13169 </SimmSpline> 13170 <!--Function representing passive force-length behavior of muscle fibers--> 13171 <SimmSpline name="passive_force_length_curve"> 13172 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13173 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13174 </SimmSpline> 13175 </Schutte1993Muscle_Deprecated> 13176 <Schutte1993Muscle_Deprecated name="PT"> 13177 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13178 <isDisabled>false</isDisabled> 13179 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13180 <min_control>0</min_control> 13181 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13182 <max_control>1</max_control> 13183 <!--The set of points defining the path of the muscle.--> 13184 <GeometryPath> 13185 <PathPointSet> 13186 <objects> 13187 <PathPoint name="PT-P1"> 13188 <location> 0.0036 -0.2759 -0.0365</location> 13189 <body>humerus_r</body> 13190 </PathPoint> 13191 <PathPoint name="PT-P2"> 13192 <location> 0.00846 -0.03373 -0.01432</location> 13193 <body>ulna_r</body> 13194 </PathPoint> 13195 <PathPoint name="PT-P3"> 13196 <location> 0.00464 -0.00026 -0.00214</location> 13197 <body>ulna_r</body> 13198 </PathPoint> 13199 <ConditionalPathPoint name="PT-P4"> 13200 <location> 0.0236 -0.0934 0.0094</location> 13201 <body>radius_r</body> 13202 <range> -1.5708 0.509636</range> 13203 <coordinate>pro_sup_r</coordinate> 13204 </ConditionalPathPoint> 13205 <PathPoint name="PT-P5"> 13206 <location> 0.0254 -0.1088 0.0198</location> 13207 <body>radius_r</body> 13208 </PathPoint> 13209 </objects> 13210 <groups /> 13211 </PathPointSet> 13212 <VisibleObject> 13213 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13214 <GeometrySet> 13215 <objects /> 13216 <groups /> 13217 </GeometrySet> 13218 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13219 <scale_factors> 1 1 1</scale_factors> 13220 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13221 <transform> -0 0 -0 0 0 0</transform> 13222 <!--Whether to show a coordinate frame--> 13223 <show_axes>false</show_axes> 13224 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13225 <display_preference>4</display_preference> 13226 </VisibleObject> 13227 <PathWrapSet> 13228 <objects /> 13229 <groups /> 13230 </PathWrapSet> 13231 </GeometryPath> 13232 <!--The maximum force this actuator can produce.--> 13233 <optimal_force>1</optimal_force> 13234 <!--Maximum isometric force that the fibers can generate--> 13235 <max_isometric_force>566.22</max_isometric_force> 13236 <!--Optimal length of the muscle fibers--> 13237 <optimal_fiber_length>0.0492</optimal_fiber_length> 13238 <!--Resting length of the tendon--> 13239 <tendon_slack_length>0.098</tendon_slack_length> 13240 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13241 <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> 13242 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13243 <max_contraction_velocity>0</max_contraction_velocity> 13244 <!--Scale factor for normalizing time--> 13245 <time_scale>0.1</time_scale> 13246 <!--Parameter used in time constant of ramping up of muscle force--> 13247 <activation1>0.01</activation1> 13248 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13249 <activation2>0.04</activation2> 13250 <!--Damping factor related to maximum contraction velocity--> 13251 <damping>0.05</damping> 13252 <!--Function representing force-length behavior of tendon--> 13253 <SimmSpline name="tendon_force_length_curve"> 13254 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13255 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13256 </SimmSpline> 13257 <!--Function representing active force-length behavior of muscle fibers--> 13258 <SimmSpline name="active_force_length_curve"> 13259 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13260 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13261 </SimmSpline> 13262 <!--Function representing passive force-length behavior of muscle fibers--> 13263 <SimmSpline name="passive_force_length_curve"> 13264 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13265 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13266 </SimmSpline> 13267 </Schutte1993Muscle_Deprecated> 13268 <Schutte1993Muscle_Deprecated name="PQ"> 13269 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13270 <isDisabled>false</isDisabled> 13271 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13272 <min_control>0</min_control> 13273 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13274 <max_control>1</max_control> 13275 <!--The set of points defining the path of the muscle.--> 13276 <GeometryPath> 13277 <PathPointSet> 13278 <objects> 13279 <PathPoint name="PQ-P1"> 13280 <location> 0.03245 -0.19998 0.01962</location> 13281 <body>radius_r</body> 13282 </PathPoint> 13283 <PathPoint name="PQ-P2"> 13284 <location> 0.00193 -0.20972 0.03632</location> 13285 <body>ulna_r</body> 13286 </PathPoint> 13287 </objects> 13288 <groups /> 13289 </PathPointSet> 13290 <VisibleObject> 13291 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13292 <GeometrySet> 13293 <objects /> 13294 <groups /> 13295 </GeometrySet> 13296 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13297 <scale_factors> 1 1 1</scale_factors> 13298 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13299 <transform> -0 0 -0 0 0 0</transform> 13300 <!--Whether to show a coordinate frame--> 13301 <show_axes>false</show_axes> 13302 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13303 <display_preference>4</display_preference> 13304 </VisibleObject> 13305 <PathWrapSet> 13306 <objects /> 13307 <groups /> 13308 </PathWrapSet> 13309 </GeometryPath> 13310 <!--The maximum force this actuator can produce.--> 13311 <optimal_force>1</optimal_force> 13312 <!--Maximum isometric force that the fibers can generate--> 13313 <max_isometric_force>75.48</max_isometric_force> 13314 <!--Optimal length of the muscle fibers--> 13315 <optimal_fiber_length>0.0282</optimal_fiber_length> 13316 <!--Resting length of the tendon--> 13317 <tendon_slack_length>0.005</tendon_slack_length> 13318 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13319 <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> 13320 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13321 <max_contraction_velocity>0</max_contraction_velocity> 13322 <!--Scale factor for normalizing time--> 13323 <time_scale>0.1</time_scale> 13324 <!--Parameter used in time constant of ramping up of muscle force--> 13325 <activation1>0.01</activation1> 13326 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13327 <activation2>0.04</activation2> 13328 <!--Damping factor related to maximum contraction velocity--> 13329 <damping>0.05</damping> 13330 <!--Function representing force-length behavior of tendon--> 13331 <SimmSpline name="tendon_force_length_curve"> 13332 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13333 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13334 </SimmSpline> 13335 <!--Function representing active force-length behavior of muscle fibers--> 13336 <SimmSpline name="active_force_length_curve"> 13337 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13338 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13339 </SimmSpline> 13340 <!--Function representing passive force-length behavior of muscle fibers--> 13341 <SimmSpline name="passive_force_length_curve"> 13342 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13343 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13344 </SimmSpline> 13345 </Schutte1993Muscle_Deprecated> 13346 <Schutte1993Muscle_Deprecated name="FDSL"> 13347 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13348 <isDisabled>false</isDisabled> 13349 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13350 <min_control>0</min_control> 13351 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13352 <max_control>1</max_control> 13353 <!--The set of points defining the path of the muscle.--> 13354 <GeometryPath> 13355 <PathPointSet> 13356 <objects> 13357 <PathPoint name="FDSL-P1"> 13358 <location> 0.00421 -0.27598 -0.03864</location> 13359 <body>humerus_r</body> 13360 </PathPoint> 13361 <PathPoint name="FDSL-P2"> 13362 <location> 0.01377 -0.18718 0.00205</location> 13363 <body>radius_r</body> 13364 </PathPoint> 13365 <PathPoint name="FDSL-P3"> 13366 <location> 0.01 0.02 -0.005</location> 13367 <body>capitate_r</body> 13368 </PathPoint> 13369 <PathPoint name="FDSL-P3"> 13370 <location> -0.00235 -0.01393 -0.01376</location> 13371 <body>capitate_r</body> 13372 </PathPoint> 13373 <PathPoint name="FDSL-P4"> 13374 <location> -0.00294 0.00846 -0.01213</location> 13375 <body>fourthmc_r</body> 13376 </PathPoint> 13377 <PathPoint name="FDSL-P5"> 13378 <location> -0.00032 -0.01968 -0.00757</location> 13379 <body>fifthmc_r</body> 13380 </PathPoint> 13381 <PathPoint name="FDSL-P6"> 13382 <location> -0.00323 -0.03568 -0.00417</location> 13383 <body>5proxph_r</body> 13384 </PathPoint> 13385 <PathPoint name="FDSL-P7"> 13386 <location> -0.0026 -0.01983 -0.0035</location> 13387 <body>5midph_r</body> 13388 </PathPoint> 13389 </objects> 13390 <groups /> 13391 </PathPointSet> 13392 <VisibleObject> 13393 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13394 <GeometrySet> 13395 <objects /> 13396 <groups /> 13397 </GeometrySet> 13398 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13399 <scale_factors> 1 1 1</scale_factors> 13400 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13401 <transform> -0 0 -0 0 0 0</transform> 13402 <!--Whether to show a coordinate frame--> 13403 <show_axes>false</show_axes> 13404 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13405 <display_preference>4</display_preference> 13406 </VisibleObject> 13407 <PathWrapSet> 13408 <objects /> 13409 <groups /> 13410 </PathWrapSet> 13411 </GeometryPath> 13412 <!--The maximum force this actuator can produce.--> 13413 <optimal_force>1</optimal_force> 13414 <!--Maximum isometric force that the fibers can generate--> 13415 <max_isometric_force>16.55</max_isometric_force> 13416 <!--Optimal length of the muscle fibers--> 13417 <optimal_fiber_length>0.0515</optimal_fiber_length> 13418 <!--Resting length of the tendon--> 13419 <tendon_slack_length>0.3383</tendon_slack_length> 13420 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13421 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 13422 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13423 <max_contraction_velocity>0</max_contraction_velocity> 13424 <!--Scale factor for normalizing time--> 13425 <time_scale>0.1</time_scale> 13426 <!--Parameter used in time constant of ramping up of muscle force--> 13427 <activation1>0.01</activation1> 13428 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13429 <activation2>0.04</activation2> 13430 <!--Damping factor related to maximum contraction velocity--> 13431 <damping>0.05</damping> 13432 <!--Function representing force-length behavior of tendon--> 13433 <SimmSpline name="tendon_force_length_curve"> 13434 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13435 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13436 </SimmSpline> 13437 <!--Function representing active force-length behavior of muscle fibers--> 13438 <SimmSpline name="active_force_length_curve"> 13439 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13440 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13441 </SimmSpline> 13442 <!--Function representing passive force-length behavior of muscle fibers--> 13443 <SimmSpline name="passive_force_length_curve"> 13444 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13445 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13446 </SimmSpline> 13447 </Schutte1993Muscle_Deprecated> 13448 <Schutte1993Muscle_Deprecated name="FDSR"> 13449 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13450 <isDisabled>false</isDisabled> 13451 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13452 <min_control>0</min_control> 13453 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13454 <max_control>1</max_control> 13455 <!--The set of points defining the path of the muscle.--> 13456 <GeometryPath> 13457 <PathPointSet> 13458 <objects> 13459 <PathPoint name="FDSR-P1"> 13460 <location> 0.00479 -0.2788 -0.03731</location> 13461 <body>humerus_r</body> 13462 </PathPoint> 13463 <PathPoint name="FDSR-P2"> 13464 <location> 0.01571 -0.18666 0.00267</location> 13465 <body>radius_r</body> 13466 </PathPoint> 13467 <PathPoint name="FDSR-P3"> 13468 <location> 0.00563593 0.0249574 -0.00659547</location> 13469 <body>capitate_r</body> 13470 </PathPoint> 13471 <PathPoint name="FDSR-P3"> 13472 <location> -0.00082 -0.01344 -0.01359</location> 13473 <body>capitate_r</body> 13474 </PathPoint> 13475 <PathPoint name="FDSR-P4"> 13476 <location> -0.00914 0.00544 -0.01085</location> 13477 <body>thirdmc_r</body> 13478 </PathPoint> 13479 <PathPoint name="FDSR-P5"> 13480 <location> -0.0029 -0.02334 -0.00767</location> 13481 <body>fourthmc_r</body> 13482 </PathPoint> 13483 <PathPoint name="FDSR-P6"> 13484 <location> -0.00172 -0.03947 -0.00102</location> 13485 <body>4proxph_r</body> 13486 </PathPoint> 13487 <PathPoint name="FDSR-P7"> 13488 <location> -2e-005 -0.02501 0.00029</location> 13489 <body>4midph_r</body> 13490 </PathPoint> 13491 </objects> 13492 <groups /> 13493 </PathPointSet> 13494 <VisibleObject> 13495 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13496 <GeometrySet> 13497 <objects /> 13498 <groups /> 13499 </GeometrySet> 13500 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13501 <scale_factors> 1 1 1</scale_factors> 13502 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13503 <transform> -0 0 -0 0 0 0</transform> 13504 <!--Whether to show a coordinate frame--> 13505 <show_axes>false</show_axes> 13506 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13507 <display_preference>4</display_preference> 13508 </VisibleObject> 13509 <PathWrapSet> 13510 <objects /> 13511 <groups /> 13512 </PathWrapSet> 13513 </GeometryPath> 13514 <!--The maximum force this actuator can produce.--> 13515 <optimal_force>1</optimal_force> 13516 <!--Maximum isometric force that the fibers can generate--> 13517 <max_isometric_force>57.9</max_isometric_force> 13518 <!--Optimal length of the muscle fibers--> 13519 <optimal_fiber_length>0.0736</optimal_fiber_length> 13520 <!--Resting length of the tendon--> 13521 <tendon_slack_length>0.328</tendon_slack_length> 13522 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13523 <pennation_angle_at_optimal>0.06981317</pennation_angle_at_optimal> 13524 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13525 <max_contraction_velocity>0</max_contraction_velocity> 13526 <!--Scale factor for normalizing time--> 13527 <time_scale>0.1</time_scale> 13528 <!--Parameter used in time constant of ramping up of muscle force--> 13529 <activation1>0.01</activation1> 13530 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13531 <activation2>0.04</activation2> 13532 <!--Damping factor related to maximum contraction velocity--> 13533 <damping>0.05</damping> 13534 <!--Function representing force-length behavior of tendon--> 13535 <SimmSpline name="tendon_force_length_curve"> 13536 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13537 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13538 </SimmSpline> 13539 <!--Function representing active force-length behavior of muscle fibers--> 13540 <SimmSpline name="active_force_length_curve"> 13541 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13542 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13543 </SimmSpline> 13544 <!--Function representing passive force-length behavior of muscle fibers--> 13545 <SimmSpline name="passive_force_length_curve"> 13546 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13547 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13548 </SimmSpline> 13549 </Schutte1993Muscle_Deprecated> 13550 <Schutte1993Muscle_Deprecated name="FDSM"> 13551 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13552 <isDisabled>false</isDisabled> 13553 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13554 <min_control>0</min_control> 13555 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13556 <max_control>1</max_control> 13557 <!--The set of points defining the path of the muscle.--> 13558 <GeometryPath> 13559 <PathPointSet> 13560 <objects> 13561 <PathPoint name="FDSM-P1"> 13562 <location> -0.00669 -0.02713 -0.00191</location> 13563 <body>ulna_r</body> 13564 </PathPoint> 13565 <PathPoint name="FDSM-P2"> 13566 <location> 0.01899 -0.18706 0.00424</location> 13567 <body>radius_r</body> 13568 </PathPoint> 13569 <PathPoint name="FDSM-P3"> 13570 <location> 0.0106408 0.0232774 -0.0113463</location> 13571 <body>capitate_r</body> 13572 </PathPoint> 13573 <PathPoint name="FDSM-P3"> 13574 <location> 0.0068 -0.01377 -0.01399</location> 13575 <body>capitate_r</body> 13576 </PathPoint> 13577 <PathPoint name="FDSM-P4"> 13578 <location> 0.00128 0.00639 -0.00952</location> 13579 <body>thirdmc_r</body> 13580 </PathPoint> 13581 <PathPoint name="FDSM-P5"> 13582 <location> 0.00263 -0.02478 -0.00183</location> 13583 <body>thirdmc_r</body> 13584 </PathPoint> 13585 <PathPoint name="FDSM-P6"> 13586 <location> 0.00252 -0.04307 0.00417</location> 13587 <body>3proxph_r</body> 13588 </PathPoint> 13589 <PathPoint name="FDSM-P7"> 13590 <location> 0.00155 -0.02773 0.00067</location> 13591 <body>3midph_r</body> 13592 </PathPoint> 13593 </objects> 13594 <groups /> 13595 </PathPointSet> 13596 <VisibleObject> 13597 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13598 <GeometrySet> 13599 <objects /> 13600 <groups /> 13601 </GeometrySet> 13602 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13603 <scale_factors> 1 1 1</scale_factors> 13604 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13605 <transform> -0 0 -0 0 0 0</transform> 13606 <!--Whether to show a coordinate frame--> 13607 <show_axes>false</show_axes> 13608 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13609 <display_preference>4</display_preference> 13610 </VisibleObject> 13611 <PathWrapSet> 13612 <objects /> 13613 <groups /> 13614 </PathWrapSet> 13615 </GeometryPath> 13616 <!--The maximum force this actuator can produce.--> 13617 <optimal_force>1</optimal_force> 13618 <!--Maximum isometric force that the fibers can generate--> 13619 <max_isometric_force>91.03</max_isometric_force> 13620 <!--Optimal length of the muscle fibers--> 13621 <optimal_fiber_length>0.0749</optimal_fiber_length> 13622 <!--Resting length of the tendon--> 13623 <tendon_slack_length>0.295</tendon_slack_length> 13624 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13625 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 13626 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13627 <max_contraction_velocity>0</max_contraction_velocity> 13628 <!--Scale factor for normalizing time--> 13629 <time_scale>0.1</time_scale> 13630 <!--Parameter used in time constant of ramping up of muscle force--> 13631 <activation1>0.01</activation1> 13632 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13633 <activation2>0.04</activation2> 13634 <!--Damping factor related to maximum contraction velocity--> 13635 <damping>0.05</damping> 13636 <!--Function representing force-length behavior of tendon--> 13637 <SimmSpline name="tendon_force_length_curve"> 13638 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13639 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13640 </SimmSpline> 13641 <!--Function representing active force-length behavior of muscle fibers--> 13642 <SimmSpline name="active_force_length_curve"> 13643 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13644 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13645 </SimmSpline> 13646 <!--Function representing passive force-length behavior of muscle fibers--> 13647 <SimmSpline name="passive_force_length_curve"> 13648 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13649 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13650 </SimmSpline> 13651 </Schutte1993Muscle_Deprecated> 13652 <Schutte1993Muscle_Deprecated name="FDSI"> 13653 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13654 <isDisabled>false</isDisabled> 13655 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13656 <min_control>0</min_control> 13657 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13658 <max_control>1</max_control> 13659 <!--The set of points defining the path of the muscle.--> 13660 <GeometryPath> 13661 <PathPointSet> 13662 <objects> 13663 <PathPoint name="FDSI-P1"> 13664 <location> -0.00676 -0.02819 -0.00137</location> 13665 <body>ulna_r</body> 13666 </PathPoint> 13667 <PathPoint name="FDSI-P2"> 13668 <location> 0.02145 -0.18623 0.00552</location> 13669 <body>radius_r</body> 13670 </PathPoint> 13671 <PathPoint name="FDSI-P3"> 13672 <location> 0.015 0.02328 -0.02328</location> 13673 <body>capitate_r</body> 13674 </PathPoint> 13675 <PathPoint name="FDSI-P3"> 13676 <location> 0.00889 -0.01366 -0.01387</location> 13677 <body>capitate_r</body> 13678 </PathPoint> 13679 <PathPoint name="FDSI-P4"> 13680 <location> -0.00407 -0.00025 -0.00479</location> 13681 <body>secondmc_r</body> 13682 </PathPoint> 13683 <PathPoint name="FDSI-P5"> 13684 <location> 0.00304 -0.02206 -0.00579</location> 13685 <body>secondmc_r</body> 13686 </PathPoint> 13687 <PathPoint name="FDSI-P6"> 13688 <location> 0.00427 -0.03367 0.00444</location> 13689 <body>2proxph_r</body> 13690 </PathPoint> 13691 <PathPoint name="FDSI-P7"> 13692 <location> 0.00228 -0.02088 -0.00029</location> 13693 <body>2midph_r</body> 13694 </PathPoint> 13695 </objects> 13696 <groups /> 13697 </PathPointSet> 13698 <VisibleObject> 13699 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13700 <GeometrySet> 13701 <objects /> 13702 <groups /> 13703 </GeometrySet> 13704 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13705 <scale_factors> 1 1 1</scale_factors> 13706 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13707 <transform> -0 0 -0 0 0 0</transform> 13708 <!--Whether to show a coordinate frame--> 13709 <show_axes>false</show_axes> 13710 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13711 <display_preference>4</display_preference> 13712 </VisibleObject> 13713 <PathWrapSet> 13714 <objects /> 13715 <groups /> 13716 </PathWrapSet> 13717 </GeometryPath> 13718 <!--The maximum force this actuator can produce.--> 13719 <optimal_force>1</optimal_force> 13720 <!--Maximum isometric force that the fibers can generate--> 13721 <max_isometric_force>61.24</max_isometric_force> 13722 <!--Optimal length of the muscle fibers--> 13723 <optimal_fiber_length>0.0835</optimal_fiber_length> 13724 <!--Resting length of the tendon--> 13725 <tendon_slack_length>0.275</tendon_slack_length> 13726 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13727 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 13728 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13729 <max_contraction_velocity>0</max_contraction_velocity> 13730 <!--Scale factor for normalizing time--> 13731 <time_scale>0.1</time_scale> 13732 <!--Parameter used in time constant of ramping up of muscle force--> 13733 <activation1>0.01</activation1> 13734 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13735 <activation2>0.04</activation2> 13736 <!--Damping factor related to maximum contraction velocity--> 13737 <damping>0.05</damping> 13738 <!--Function representing force-length behavior of tendon--> 13739 <SimmSpline name="tendon_force_length_curve"> 13740 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13741 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13742 </SimmSpline> 13743 <!--Function representing active force-length behavior of muscle fibers--> 13744 <SimmSpline name="active_force_length_curve"> 13745 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13746 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13747 </SimmSpline> 13748 <!--Function representing passive force-length behavior of muscle fibers--> 13749 <SimmSpline name="passive_force_length_curve"> 13750 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13751 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13752 </SimmSpline> 13753 </Schutte1993Muscle_Deprecated> 13754 <Schutte1993Muscle_Deprecated name="FDPL"> 13755 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13756 <isDisabled>false</isDisabled> 13757 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13758 <min_control>0</min_control> 13759 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13760 <max_control>1</max_control> 13761 <!--The set of points defining the path of the muscle.--> 13762 <GeometryPath> 13763 <PathPointSet> 13764 <objects> 13765 <PathPoint name="FDPL-P1"> 13766 <location> -0.00628 -0.03214 0.00254</location> 13767 <body>ulna_r</body> 13768 </PathPoint> 13769 <PathPoint name="FDPL-P2"> 13770 <location> 0.01409 -0.18516 0.00861</location> 13771 <body>radius_r</body> 13772 </PathPoint> 13773 <PathPoint name="FDPL-P3"> 13774 <location> -0.00257 0.025 -0.005</location> 13775 <body>capitate_r</body> 13776 </PathPoint> 13777 <PathPoint name="FDPL-P3"> 13778 <location> -0.00088 -0.01027 -0.01188</location> 13779 <body>capitate_r</body> 13780 </PathPoint> 13781 <PathPoint name="FDPL-P4"> 13782 <location> -0.00686 0.0089 -0.00619</location> 13783 <body>fourthmc_r</body> 13784 </PathPoint> 13785 <PathPoint name="FDPL-P5"> 13786 <location> -0.00185 -0.01878 -0.00706</location> 13787 <body>fifthmc_r</body> 13788 </PathPoint> 13789 <PathPoint name="FDPL-P6"> 13790 <location> -0.0049 -0.03465 -0.00598</location> 13791 <body>5proxph_r</body> 13792 </PathPoint> 13793 <PathPoint name="FDPL-P7"> 13794 <location> -0.00032 -0.00433 -0.00165</location> 13795 <body>5distph_r</body> 13796 </PathPoint> 13797 </objects> 13798 <groups /> 13799 </PathPointSet> 13800 <VisibleObject> 13801 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13802 <GeometrySet> 13803 <objects /> 13804 <groups /> 13805 </GeometrySet> 13806 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13807 <scale_factors> 1 1 1</scale_factors> 13808 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13809 <transform> -0 0 -0 0 0 0</transform> 13810 <!--Whether to show a coordinate frame--> 13811 <show_axes>false</show_axes> 13812 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13813 <display_preference>4</display_preference> 13814 </VisibleObject> 13815 <PathWrapSet> 13816 <objects /> 13817 <groups /> 13818 </PathWrapSet> 13819 </GeometryPath> 13820 <!--The maximum force this actuator can produce.--> 13821 <optimal_force>1</optimal_force> 13822 <!--Maximum isometric force that the fibers can generate--> 13823 <max_isometric_force>79.65</max_isometric_force> 13824 <!--Optimal length of the muscle fibers--> 13825 <optimal_fiber_length>0.0749</optimal_fiber_length> 13826 <!--Resting length of the tendon--> 13827 <tendon_slack_length>0.2819</tendon_slack_length> 13828 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13829 <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> 13830 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13831 <max_contraction_velocity>0</max_contraction_velocity> 13832 <!--Scale factor for normalizing time--> 13833 <time_scale>0.1</time_scale> 13834 <!--Parameter used in time constant of ramping up of muscle force--> 13835 <activation1>0.01</activation1> 13836 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13837 <activation2>0.04</activation2> 13838 <!--Damping factor related to maximum contraction velocity--> 13839 <damping>0.05</damping> 13840 <!--Function representing force-length behavior of tendon--> 13841 <SimmSpline name="tendon_force_length_curve"> 13842 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13843 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13844 </SimmSpline> 13845 <!--Function representing active force-length behavior of muscle fibers--> 13846 <SimmSpline name="active_force_length_curve"> 13847 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13848 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13849 </SimmSpline> 13850 <!--Function representing passive force-length behavior of muscle fibers--> 13851 <SimmSpline name="passive_force_length_curve"> 13852 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13853 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13854 </SimmSpline> 13855 </Schutte1993Muscle_Deprecated> 13856 <Schutte1993Muscle_Deprecated name="FDPR"> 13857 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13858 <isDisabled>false</isDisabled> 13859 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13860 <min_control>0</min_control> 13861 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13862 <max_control>1</max_control> 13863 <!--The set of points defining the path of the muscle.--> 13864 <GeometryPath> 13865 <PathPointSet> 13866 <objects> 13867 <PathPoint name="FDPR-P1"> 13868 <location> -0.00502 -0.03374 0.00273</location> 13869 <body>ulna_r</body> 13870 </PathPoint> 13871 <PathPoint name="FDPR-P2"> 13872 <location> 0.0158 -0.18629 0.00803</location> 13873 <body>radius_r</body> 13874 </PathPoint> 13875 <PathPoint name="FDPR-P3"> 13876 <location> -0.00257 0.025 -0.005</location> 13877 <body>capitate_r</body> 13878 </PathPoint> 13879 <PathPoint name="FDPR-P3"> 13880 <location> 0.00106 -0.01177 -0.01184</location> 13881 <body>capitate_r</body> 13882 </PathPoint> 13883 <PathPoint name="FDPR-P4"> 13884 <location> -0.0104 0.00473 -0.00804</location> 13885 <body>thirdmc_r</body> 13886 </PathPoint> 13887 <PathPoint name="FDPR-P5"> 13888 <location> -0.00289 -0.02297 -0.00609</location> 13889 <body>fourthmc_r</body> 13890 </PathPoint> 13891 <PathPoint name="FDPR-P6"> 13892 <location> -0.00304 -0.04002 -0.00075</location> 13893 <body>4proxph_r</body> 13894 </PathPoint> 13895 <PathPoint name="FDPR-P7"> 13896 <location> 0.0001 -0.0066 -0.00066</location> 13897 <body>4distph_r</body> 13898 </PathPoint> 13899 </objects> 13900 <groups /> 13901 </PathPointSet> 13902 <VisibleObject> 13903 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 13904 <GeometrySet> 13905 <objects /> 13906 <groups /> 13907 </GeometrySet> 13908 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 13909 <scale_factors> 1 1 1</scale_factors> 13910 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 13911 <transform> -0 0 -0 0 0 0</transform> 13912 <!--Whether to show a coordinate frame--> 13913 <show_axes>false</show_axes> 13914 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 13915 <display_preference>4</display_preference> 13916 </VisibleObject> 13917 <PathWrapSet> 13918 <objects /> 13919 <groups /> 13920 </PathWrapSet> 13921 </GeometryPath> 13922 <!--The maximum force this actuator can produce.--> 13923 <optimal_force>1</optimal_force> 13924 <!--Maximum isometric force that the fibers can generate--> 13925 <max_isometric_force>64.08</max_isometric_force> 13926 <!--Optimal length of the muscle fibers--> 13927 <optimal_fiber_length>0.0798</optimal_fiber_length> 13928 <!--Resting length of the tendon--> 13929 <tendon_slack_length>0.282</tendon_slack_length> 13930 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 13931 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 13932 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 13933 <max_contraction_velocity>0</max_contraction_velocity> 13934 <!--Scale factor for normalizing time--> 13935 <time_scale>0.1</time_scale> 13936 <!--Parameter used in time constant of ramping up of muscle force--> 13937 <activation1>0.01</activation1> 13938 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 13939 <activation2>0.04</activation2> 13940 <!--Damping factor related to maximum contraction velocity--> 13941 <damping>0.05</damping> 13942 <!--Function representing force-length behavior of tendon--> 13943 <SimmSpline name="tendon_force_length_curve"> 13944 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 13945 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 13946 </SimmSpline> 13947 <!--Function representing active force-length behavior of muscle fibers--> 13948 <SimmSpline name="active_force_length_curve"> 13949 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 13950 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 13951 </SimmSpline> 13952 <!--Function representing passive force-length behavior of muscle fibers--> 13953 <SimmSpline name="passive_force_length_curve"> 13954 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 13955 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 13956 </SimmSpline> 13957 </Schutte1993Muscle_Deprecated> 13958 <Schutte1993Muscle_Deprecated name="FDPM"> 13959 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 13960 <isDisabled>false</isDisabled> 13961 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 13962 <min_control>0</min_control> 13963 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 13964 <max_control>1</max_control> 13965 <!--The set of points defining the path of the muscle.--> 13966 <GeometryPath> 13967 <PathPointSet> 13968 <objects> 13969 <PathPoint name="FDPM-P1"> 13970 <location> -0.00522 -0.03327 0.0021</location> 13971 <body>ulna_r</body> 13972 </PathPoint> 13973 <PathPoint name="FDPM-P2"> 13974 <location> 0.01906 -0.18644 0.00785</location> 13975 <body>radius_r</body> 13976 </PathPoint> 13977 <PathPoint name="FDPM-P3"> 13978 <location> 0.000209 0.025 -0.005</location> 13979 <body>capitate_r</body> 13980 </PathPoint> 13981 <PathPoint name="FDPM-P3"> 13982 <location> 0.00335 -0.0128 -0.01144</location> 13983 <body>capitate_r</body> 13984 </PathPoint> 13985 <PathPoint name="FDPM-P4"> 13986 <location> -0.00128 0.00609 -0.00838</location> 13987 <body>thirdmc_r</body> 13988 </PathPoint> 13989 <PathPoint name="FDPM-P5"> 13990 <location> 0.00034 -0.02347 -0.00303</location> 13991 <body>thirdmc_r</body> 13992 </PathPoint> 13993 <PathPoint name="FDPM-P6"> 13994 <location> 0.00102 -0.04333 0.00294</location> 13995 <body>3proxph_r</body> 13996 </PathPoint> 13997 <PathPoint name="FDPM-P7"> 13998 <location> 0.00023 -0.00505 -0.00226</location> 13999 <body>3distph_r</body> 14000 </PathPoint> 14001 </objects> 14002 <groups /> 14003 </PathPointSet> 14004 <VisibleObject> 14005 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14006 <GeometrySet> 14007 <objects /> 14008 <groups /> 14009 </GeometrySet> 14010 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14011 <scale_factors> 1 1 1</scale_factors> 14012 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14013 <transform> -0 0 -0 0 0 0</transform> 14014 <!--Whether to show a coordinate frame--> 14015 <show_axes>false</show_axes> 14016 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14017 <display_preference>4</display_preference> 14018 </VisibleObject> 14019 <PathWrapSet> 14020 <objects /> 14021 <groups /> 14022 </PathWrapSet> 14023 </GeometryPath> 14024 <!--The maximum force this actuator can produce.--> 14025 <optimal_force>1</optimal_force> 14026 <!--Maximum isometric force that the fibers can generate--> 14027 <max_isometric_force>81.65</max_isometric_force> 14028 <!--Optimal length of the muscle fibers--> 14029 <optimal_fiber_length>0.0835</optimal_fiber_length> 14030 <!--Resting length of the tendon--> 14031 <tendon_slack_length>0.293</tendon_slack_length> 14032 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14033 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 14034 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14035 <max_contraction_velocity>0</max_contraction_velocity> 14036 <!--Scale factor for normalizing time--> 14037 <time_scale>0.1</time_scale> 14038 <!--Parameter used in time constant of ramping up of muscle force--> 14039 <activation1>0.01</activation1> 14040 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14041 <activation2>0.04</activation2> 14042 <!--Damping factor related to maximum contraction velocity--> 14043 <damping>0.05</damping> 14044 <!--Function representing force-length behavior of tendon--> 14045 <SimmSpline name="tendon_force_length_curve"> 14046 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14047 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14048 </SimmSpline> 14049 <!--Function representing active force-length behavior of muscle fibers--> 14050 <SimmSpline name="active_force_length_curve"> 14051 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14052 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14053 </SimmSpline> 14054 <!--Function representing passive force-length behavior of muscle fibers--> 14055 <SimmSpline name="passive_force_length_curve"> 14056 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14057 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14058 </SimmSpline> 14059 </Schutte1993Muscle_Deprecated> 14060 <Schutte1993Muscle_Deprecated name="FDPI"> 14061 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14062 <isDisabled>false</isDisabled> 14063 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14064 <min_control>0</min_control> 14065 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14066 <max_control>1</max_control> 14067 <!--The set of points defining the path of the muscle.--> 14068 <GeometryPath> 14069 <PathPointSet> 14070 <objects> 14071 <PathPoint name="FDPI-P1"> 14072 <location> -0.00647 -0.03176 0.0028</location> 14073 <body>ulna_r</body> 14074 </PathPoint> 14075 <PathPoint name="FDPI-P2"> 14076 <location> 0.0208 -0.1856 0.00915</location> 14077 <body>radius_r</body> 14078 </PathPoint> 14079 <PathPoint name="FDPI-P3"> 14080 <location> 0.003884 0.025 -0.005</location> 14081 <body>capitate_r</body> 14082 </PathPoint> 14083 <PathPoint name="FDPI-P3"> 14084 <location> 0.00896 -0.01168 -0.01212</location> 14085 <body>capitate_r</body> 14086 </PathPoint> 14087 <PathPoint name="FDPI-P4"> 14088 <location> -0.00432 0.00663 -0.00248</location> 14089 <body>secondmc_r</body> 14090 </PathPoint> 14091 <PathPoint name="FDPI-P5"> 14092 <location> 0.0042 -0.02262 -0.00499</location> 14093 <body>secondmc_r</body> 14094 </PathPoint> 14095 <PathPoint name="FDPI-P6"> 14096 <location> 0.00581 -0.03555 0.00306</location> 14097 <body>2proxph_r</body> 14098 </PathPoint> 14099 <PathPoint name="FDPI-P7"> 14100 <location> 0.00046 -0.0046 -0.00301</location> 14101 <body>2distph_r</body> 14102 </PathPoint> 14103 </objects> 14104 <groups /> 14105 </PathPointSet> 14106 <VisibleObject> 14107 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14108 <GeometrySet> 14109 <objects /> 14110 <groups /> 14111 </GeometrySet> 14112 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14113 <scale_factors> 1 1 1</scale_factors> 14114 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14115 <transform> -0 0 -0 0 0 0</transform> 14116 <!--Whether to show a coordinate frame--> 14117 <show_axes>false</show_axes> 14118 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14119 <display_preference>4</display_preference> 14120 </VisibleObject> 14121 <PathWrapSet> 14122 <objects /> 14123 <groups /> 14124 </PathWrapSet> 14125 </GeometryPath> 14126 <!--The maximum force this actuator can produce.--> 14127 <optimal_force>1</optimal_force> 14128 <!--Maximum isometric force that the fibers can generate--> 14129 <max_isometric_force>68.27</max_isometric_force> 14130 <!--Optimal length of the muscle fibers--> 14131 <optimal_fiber_length>0.0749</optimal_fiber_length> 14132 <!--Resting length of the tendon--> 14133 <tendon_slack_length>0.2935</tendon_slack_length> 14134 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14135 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 14136 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14137 <max_contraction_velocity>0</max_contraction_velocity> 14138 <!--Scale factor for normalizing time--> 14139 <time_scale>0.1</time_scale> 14140 <!--Parameter used in time constant of ramping up of muscle force--> 14141 <activation1>0.01</activation1> 14142 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14143 <activation2>0.04</activation2> 14144 <!--Damping factor related to maximum contraction velocity--> 14145 <damping>0.05</damping> 14146 <!--Function representing force-length behavior of tendon--> 14147 <SimmSpline name="tendon_force_length_curve"> 14148 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14149 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14150 </SimmSpline> 14151 <!--Function representing active force-length behavior of muscle fibers--> 14152 <SimmSpline name="active_force_length_curve"> 14153 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14154 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14155 </SimmSpline> 14156 <!--Function representing passive force-length behavior of muscle fibers--> 14157 <SimmSpline name="passive_force_length_curve"> 14158 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14159 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14160 </SimmSpline> 14161 </Schutte1993Muscle_Deprecated> 14162 <Schutte1993Muscle_Deprecated name="EDCL"> 14163 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14164 <isDisabled>false</isDisabled> 14165 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14166 <min_control>0</min_control> 14167 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14168 <max_control>1</max_control> 14169 <!--The set of points defining the path of the muscle.--> 14170 <GeometryPath> 14171 <PathPointSet> 14172 <objects> 14173 <PathPoint name="EDCL-P1"> 14174 <location> -0.0004 -0.28831 0.0187</location> 14175 <body>humerus_r</body> 14176 </PathPoint> 14177 <PathPoint name="EDCL-P2"> 14178 <location> 0.0013 -0.03888 0.01405</location> 14179 <body>radius_r</body> 14180 </PathPoint> 14181 <PathPoint name="EDCL-P3"> 14182 <location> 0.00993 -0.22304 0.03618</location> 14183 <body>radius_r</body> 14184 </PathPoint> 14185 <PathPoint name="EDCL-P4"> 14186 <location> -0.00478 -0.01915 0.00447</location> 14187 <body>fifthmc_r</body> 14188 </PathPoint> 14189 <PathPoint name="EDCL-P5"> 14190 <location> -0.00716 -0.03302 -0.00089</location> 14191 <body>5proxph_r</body> 14192 </PathPoint> 14193 <PathPoint name="EDCL-P6"> 14194 <location> -0.00142 0.00068 0.00115</location> 14195 <body>5distph_r</body> 14196 </PathPoint> 14197 </objects> 14198 <groups /> 14199 </PathPointSet> 14200 <VisibleObject> 14201 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14202 <GeometrySet> 14203 <objects /> 14204 <groups /> 14205 </GeometrySet> 14206 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14207 <scale_factors> 1 1 1</scale_factors> 14208 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14209 <transform> -0 0 -0 0 0 0</transform> 14210 <!--Whether to show a coordinate frame--> 14211 <show_axes>false</show_axes> 14212 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14213 <display_preference>4</display_preference> 14214 </VisibleObject> 14215 <PathWrapSet> 14216 <objects /> 14217 <groups /> 14218 </PathWrapSet> 14219 </GeometryPath> 14220 <!--The maximum force this actuator can produce.--> 14221 <optimal_force>1</optimal_force> 14222 <!--Maximum isometric force that the fibers can generate--> 14223 <max_isometric_force>13.11</max_isometric_force> 14224 <!--Optimal length of the muscle fibers--> 14225 <optimal_fiber_length>0.065</optimal_fiber_length> 14226 <!--Resting length of the tendon--> 14227 <tendon_slack_length>0.2965</tendon_slack_length> 14228 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14229 <pennation_angle_at_optimal>0.03490659</pennation_angle_at_optimal> 14230 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14231 <max_contraction_velocity>0</max_contraction_velocity> 14232 <!--Scale factor for normalizing time--> 14233 <time_scale>0.1</time_scale> 14234 <!--Parameter used in time constant of ramping up of muscle force--> 14235 <activation1>0.01</activation1> 14236 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14237 <activation2>0.04</activation2> 14238 <!--Damping factor related to maximum contraction velocity--> 14239 <damping>0.05</damping> 14240 <!--Function representing force-length behavior of tendon--> 14241 <SimmSpline name="tendon_force_length_curve"> 14242 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14243 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14244 </SimmSpline> 14245 <!--Function representing active force-length behavior of muscle fibers--> 14246 <SimmSpline name="active_force_length_curve"> 14247 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14248 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14249 </SimmSpline> 14250 <!--Function representing passive force-length behavior of muscle fibers--> 14251 <SimmSpline name="passive_force_length_curve"> 14252 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14253 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14254 </SimmSpline> 14255 </Schutte1993Muscle_Deprecated> 14256 <Schutte1993Muscle_Deprecated name="EDCR"> 14257 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14258 <isDisabled>false</isDisabled> 14259 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14260 <min_control>0</min_control> 14261 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14262 <max_control>1</max_control> 14263 <!--The set of points defining the path of the muscle.--> 14264 <GeometryPath> 14265 <PathPointSet> 14266 <objects> 14267 <PathPoint name="EDCR-P1"> 14268 <location> -0.00156 -0.28936 0.01782</location> 14269 <body>humerus_r</body> 14270 </PathPoint> 14271 <PathPoint name="EDCR-P2"> 14272 <location> 0.0026 -0.03991 0.01552</location> 14273 <body>radius_r</body> 14274 </PathPoint> 14275 <PathPoint name="EDCR-P3"> 14276 <location> 0.00882 -0.22366 0.04284</location> 14277 <body>radius_r</body> 14278 </PathPoint> 14279 <PathPoint name="EDCR-P4"> 14280 <location> -0.00338 -0.0233 0.00513</location> 14281 <body>fourthmc_r</body> 14282 </PathPoint> 14283 <PathPoint name="EDCR-P5"> 14284 <location> -0.00546 -0.03868 0.00413</location> 14285 <body>4proxph_r</body> 14286 </PathPoint> 14287 <PathPoint name="EDCR-P6"> 14288 <location> -0.00171 -0.00375 0.00241</location> 14289 <body>4distph_r</body> 14290 </PathPoint> 14291 </objects> 14292 <groups /> 14293 </PathPointSet> 14294 <VisibleObject> 14295 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14296 <GeometrySet> 14297 <objects /> 14298 <groups /> 14299 </GeometrySet> 14300 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14301 <scale_factors> 1 1 1</scale_factors> 14302 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14303 <transform> -0 0 -0 0 0 0</transform> 14304 <!--Whether to show a coordinate frame--> 14305 <show_axes>false</show_axes> 14306 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14307 <display_preference>4</display_preference> 14308 </VisibleObject> 14309 <PathWrapSet> 14310 <objects /> 14311 <groups /> 14312 </PathWrapSet> 14313 </GeometryPath> 14314 <!--The maximum force this actuator can produce.--> 14315 <optimal_force>1</optimal_force> 14316 <!--Maximum isometric force that the fibers can generate--> 14317 <max_isometric_force>34.04</max_isometric_force> 14318 <!--Optimal length of the muscle fibers--> 14319 <optimal_fiber_length>0.0626</optimal_fiber_length> 14320 <!--Resting length of the tendon--> 14321 <tendon_slack_length>0.327</tendon_slack_length> 14322 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14323 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 14324 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14325 <max_contraction_velocity>0</max_contraction_velocity> 14326 <!--Scale factor for normalizing time--> 14327 <time_scale>0.1</time_scale> 14328 <!--Parameter used in time constant of ramping up of muscle force--> 14329 <activation1>0.01</activation1> 14330 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14331 <activation2>0.04</activation2> 14332 <!--Damping factor related to maximum contraction velocity--> 14333 <damping>0.05</damping> 14334 <!--Function representing force-length behavior of tendon--> 14335 <SimmSpline name="tendon_force_length_curve"> 14336 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14337 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14338 </SimmSpline> 14339 <!--Function representing active force-length behavior of muscle fibers--> 14340 <SimmSpline name="active_force_length_curve"> 14341 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14342 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14343 </SimmSpline> 14344 <!--Function representing passive force-length behavior of muscle fibers--> 14345 <SimmSpline name="passive_force_length_curve"> 14346 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14347 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14348 </SimmSpline> 14349 </Schutte1993Muscle_Deprecated> 14350 <Schutte1993Muscle_Deprecated name="EDCM"> 14351 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14352 <isDisabled>false</isDisabled> 14353 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14354 <min_control>0</min_control> 14355 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14356 <max_control>1</max_control> 14357 <!--The set of points defining the path of the muscle.--> 14358 <GeometryPath> 14359 <PathPointSet> 14360 <objects> 14361 <PathPoint name="EDCM-P1"> 14362 <location> 0.00051 -0.28984 0.01949</location> 14363 <body>humerus_r</body> 14364 </PathPoint> 14365 <PathPoint name="EDCM-P2"> 14366 <location> 0.00316 -0.03948 0.01528</location> 14367 <body>radius_r</body> 14368 </PathPoint> 14369 <PathPoint name="EDCM-P3"> 14370 <location> 0.0144 -0.22323 0.04223</location> 14371 <body>radius_r</body> 14372 </PathPoint> 14373 <PathPoint name="EDCM-P4"> 14374 <location> 0.00131 -0.02342 0.00764</location> 14375 <body>thirdmc_r</body> 14376 </PathPoint> 14377 <PathPoint name="EDCM-P5"> 14378 <location> 0.00179 -0.04239 0.01003</location> 14379 <body>3proxph_r</body> 14380 </PathPoint> 14381 <PathPoint name="EDCM-P6"> 14382 <location> 0.00077 -0.01111 0.00201</location> 14383 <body>3distph_r</body> 14384 </PathPoint> 14385 </objects> 14386 <groups /> 14387 </PathPointSet> 14388 <VisibleObject> 14389 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14390 <GeometrySet> 14391 <objects /> 14392 <groups /> 14393 </GeometrySet> 14394 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14395 <scale_factors> 1 1 1</scale_factors> 14396 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14397 <transform> -0 0 -0 0 0 0</transform> 14398 <!--Whether to show a coordinate frame--> 14399 <show_axes>false</show_axes> 14400 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14401 <display_preference>4</display_preference> 14402 </VisibleObject> 14403 <PathWrapSet> 14404 <objects /> 14405 <groups /> 14406 </PathWrapSet> 14407 </GeometryPath> 14408 <!--The maximum force this actuator can produce.--> 14409 <optimal_force>1</optimal_force> 14410 <!--Maximum isometric force that the fibers can generate--> 14411 <max_isometric_force>35.32</max_isometric_force> 14412 <!--Optimal length of the muscle fibers--> 14413 <optimal_fiber_length>0.0724</optimal_fiber_length> 14414 <!--Resting length of the tendon--> 14415 <tendon_slack_length>0.335</tendon_slack_length> 14416 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14417 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 14418 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14419 <max_contraction_velocity>0</max_contraction_velocity> 14420 <!--Scale factor for normalizing time--> 14421 <time_scale>0.1</time_scale> 14422 <!--Parameter used in time constant of ramping up of muscle force--> 14423 <activation1>0.01</activation1> 14424 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14425 <activation2>0.04</activation2> 14426 <!--Damping factor related to maximum contraction velocity--> 14427 <damping>0.05</damping> 14428 <!--Function representing force-length behavior of tendon--> 14429 <SimmSpline name="tendon_force_length_curve"> 14430 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14431 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14432 </SimmSpline> 14433 <!--Function representing active force-length behavior of muscle fibers--> 14434 <SimmSpline name="active_force_length_curve"> 14435 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14436 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14437 </SimmSpline> 14438 <!--Function representing passive force-length behavior of muscle fibers--> 14439 <SimmSpline name="passive_force_length_curve"> 14440 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14441 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14442 </SimmSpline> 14443 </Schutte1993Muscle_Deprecated> 14444 <Schutte1993Muscle_Deprecated name="EDCI"> 14445 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14446 <isDisabled>false</isDisabled> 14447 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14448 <min_control>0</min_control> 14449 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14450 <max_control>1</max_control> 14451 <!--The set of points defining the path of the muscle.--> 14452 <GeometryPath> 14453 <PathPointSet> 14454 <objects> 14455 <PathPoint name="EDCI-P1"> 14456 <location> 0.00065 -0.28898 0.01869</location> 14457 <body>humerus_r</body> 14458 </PathPoint> 14459 <PathPoint name="EDCI-P2"> 14460 <location> 0.00228 -0.03918 0.01483</location> 14461 <body>radius_r</body> 14462 </PathPoint> 14463 <PathPoint name="EDCI-P3"> 14464 <location> 0.01533 -0.22314 0.04196</location> 14465 <body>radius_r</body> 14466 </PathPoint> 14467 <PathPoint name="EDCI-P4"> 14468 <location> 0.00474 -0.02656 0.01293</location> 14469 <body>secondmc_r</body> 14470 </PathPoint> 14471 <PathPoint name="EDCI-P5"> 14472 <location> 0.00192 -0.01101 0.01021</location> 14473 <body>2proxph_r</body> 14474 </PathPoint> 14475 <PathPoint name="EDCI-P6"> 14476 <location> 0.00771 -0.04191 0.01399</location> 14477 <body>2proxph_r</body> 14478 </PathPoint> 14479 <PathPoint name="EDCI-P7"> 14480 <location> 0.00123 -0.00941 0.00581</location> 14481 <body>2midph_r</body> 14482 </PathPoint> 14483 <PathPoint name="EDCI-P8"> 14484 <location> 0.0026 -0.01959 0.00363</location> 14485 <body>2midph_r</body> 14486 </PathPoint> 14487 <PathPoint name="EDCI-P9"> 14488 <location> 0.00025 -0.0037 0.00228</location> 14489 <body>2distph_r</body> 14490 </PathPoint> 14491 </objects> 14492 <groups /> 14493 </PathPointSet> 14494 <VisibleObject> 14495 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14496 <GeometrySet> 14497 <objects /> 14498 <groups /> 14499 </GeometrySet> 14500 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14501 <scale_factors> 1 1 1</scale_factors> 14502 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14503 <transform> -0 0 -0 0 0 0</transform> 14504 <!--Whether to show a coordinate frame--> 14505 <show_axes>false</show_axes> 14506 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14507 <display_preference>4</display_preference> 14508 </VisibleObject> 14509 <PathWrapSet> 14510 <objects /> 14511 <groups /> 14512 </PathWrapSet> 14513 </GeometryPath> 14514 <!--The maximum force this actuator can produce.--> 14515 <optimal_force>1</optimal_force> 14516 <!--Maximum isometric force that the fibers can generate--> 14517 <max_isometric_force>18.26</max_isometric_force> 14518 <!--Optimal length of the muscle fibers--> 14519 <optimal_fiber_length>0.07</optimal_fiber_length> 14520 <!--Resting length of the tendon--> 14521 <tendon_slack_length>0.322</tendon_slack_length> 14522 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14523 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 14524 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14525 <max_contraction_velocity>0</max_contraction_velocity> 14526 <!--Scale factor for normalizing time--> 14527 <time_scale>0.1</time_scale> 14528 <!--Parameter used in time constant of ramping up of muscle force--> 14529 <activation1>0.01</activation1> 14530 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14531 <activation2>0.04</activation2> 14532 <!--Damping factor related to maximum contraction velocity--> 14533 <damping>0.05</damping> 14534 <!--Function representing force-length behavior of tendon--> 14535 <SimmSpline name="tendon_force_length_curve"> 14536 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14537 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14538 </SimmSpline> 14539 <!--Function representing active force-length behavior of muscle fibers--> 14540 <SimmSpline name="active_force_length_curve"> 14541 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14542 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14543 </SimmSpline> 14544 <!--Function representing passive force-length behavior of muscle fibers--> 14545 <SimmSpline name="passive_force_length_curve"> 14546 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14547 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14548 </SimmSpline> 14549 </Schutte1993Muscle_Deprecated> 14550 <Schutte1993Muscle_Deprecated name="EDM"> 14551 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14552 <isDisabled>false</isDisabled> 14553 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14554 <min_control>0</min_control> 14555 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14556 <max_control>1</max_control> 14557 <!--The set of points defining the path of the muscle.--> 14558 <GeometryPath> 14559 <PathPointSet> 14560 <objects> 14561 <PathPoint name="EDM-P1"> 14562 <location> 0.00089 -0.28919 0.01847</location> 14563 <body>humerus_r</body> 14564 </PathPoint> 14565 <PathPoint name="EDM-P2"> 14566 <location> -0.00977 -0.03907 0.03085</location> 14567 <body>ulna_r</body> 14568 </PathPoint> 14569 <PathPoint name="EDM-P3"> 14570 <location> -0.00755 -0.08267 0.03646</location> 14571 <body>ulna_r</body> 14572 </PathPoint> 14573 <PathPoint name="EDM-P4"> 14574 <location> 0.00454 -0.22641 0.03678</location> 14575 <body>radius_r</body> 14576 </PathPoint> 14577 <PathPoint name="EDM-P5"> 14578 <location> 0.00131 0.02436 0.00794</location> 14579 <body>fifthmc_r</body> 14580 </PathPoint> 14581 <PathPoint name="EDM-P6"> 14582 <location> -0.00537 -0.01848 0.00316</location> 14583 <body>fifthmc_r</body> 14584 </PathPoint> 14585 <PathPoint name="EDM-P7"> 14586 <location> -0.0054 -0.03237 0.00015</location> 14587 <body>5proxph_r</body> 14588 </PathPoint> 14589 <PathPoint name="EDM-P8"> 14590 <location> -0.00226 -0.00334 0.00062</location> 14591 <body>5distph_r</body> 14592 </PathPoint> 14593 </objects> 14594 <groups /> 14595 </PathPointSet> 14596 <VisibleObject> 14597 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14598 <GeometrySet> 14599 <objects /> 14600 <groups /> 14601 </GeometrySet> 14602 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14603 <scale_factors> 1 1 1</scale_factors> 14604 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14605 <transform> -0 0 -0 0 0 0</transform> 14606 <!--Whether to show a coordinate frame--> 14607 <show_axes>false</show_axes> 14608 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14609 <display_preference>4</display_preference> 14610 </VisibleObject> 14611 <PathWrapSet> 14612 <objects /> 14613 <groups /> 14614 </PathWrapSet> 14615 </GeometryPath> 14616 <!--The maximum force this actuator can produce.--> 14617 <optimal_force>1</optimal_force> 14618 <!--Maximum isometric force that the fibers can generate--> 14619 <max_isometric_force>25.25</max_isometric_force> 14620 <!--Optimal length of the muscle fibers--> 14621 <optimal_fiber_length>0.0675</optimal_fiber_length> 14622 <!--Resting length of the tendon--> 14623 <tendon_slack_length>0.322</tendon_slack_length> 14624 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14625 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 14626 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14627 <max_contraction_velocity>0</max_contraction_velocity> 14628 <!--Scale factor for normalizing time--> 14629 <time_scale>0.1</time_scale> 14630 <!--Parameter used in time constant of ramping up of muscle force--> 14631 <activation1>0.01</activation1> 14632 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14633 <activation2>0.04</activation2> 14634 <!--Damping factor related to maximum contraction velocity--> 14635 <damping>0.05</damping> 14636 <!--Function representing force-length behavior of tendon--> 14637 <SimmSpline name="tendon_force_length_curve"> 14638 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14639 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14640 </SimmSpline> 14641 <!--Function representing active force-length behavior of muscle fibers--> 14642 <SimmSpline name="active_force_length_curve"> 14643 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14644 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14645 </SimmSpline> 14646 <!--Function representing passive force-length behavior of muscle fibers--> 14647 <SimmSpline name="passive_force_length_curve"> 14648 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14649 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14650 </SimmSpline> 14651 </Schutte1993Muscle_Deprecated> 14652 <Schutte1993Muscle_Deprecated name="EIP"> 14653 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14654 <isDisabled>false</isDisabled> 14655 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14656 <min_control>0</min_control> 14657 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14658 <max_control>1</max_control> 14659 <!--The set of points defining the path of the muscle.--> 14660 <GeometryPath> 14661 <PathPointSet> 14662 <objects> 14663 <PathPoint name="EIP-P1"> 14664 <location> -0.00394 -0.16652 0.03682</location> 14665 <body>ulna_r</body> 14666 </PathPoint> 14667 <PathPoint name="EIP-P2"> 14668 <location> 0.00171 -0.17469 0.04049</location> 14669 <body>ulna_r</body> 14670 </PathPoint> 14671 <PathPoint name="EIP-P3"> 14672 <location> 0.01076 -0.22783 0.03664</location> 14673 <body>radius_r</body> 14674 </PathPoint> 14675 <PathPoint name="EIP-P4"> 14676 <location> -0.01081 0.01528 0.00681</location> 14677 <body>secondmc_r</body> 14678 </PathPoint> 14679 <PathPoint name="EIP-P5"> 14680 <location> 0.00441 -0.02602 0.01285</location> 14681 <body>secondmc_r</body> 14682 </PathPoint> 14683 <PathPoint name="EIP-P6"> 14684 <location> 0.00171 -0.01033 0.00947</location> 14685 <body>2proxph_r</body> 14686 </PathPoint> 14687 <PathPoint name="EIP-P7"> 14688 <location> 0.00714 -0.04133 0.01413</location> 14689 <body>2proxph_r</body> 14690 </PathPoint> 14691 <PathPoint name="EIP-P8"> 14692 <location> 0.00115 -0.00899 0.00597</location> 14693 <body>2midph_r</body> 14694 </PathPoint> 14695 <PathPoint name="EIP-P9"> 14696 <location> 0.00294 -0.02043 0.00377</location> 14697 <body>2midph_r</body> 14698 </PathPoint> 14699 <PathPoint name="EIP-P10"> 14700 <location> 0.00264 -0.01233 0.00266</location> 14701 <body>2distph_r</body> 14702 </PathPoint> 14703 </objects> 14704 <groups /> 14705 </PathPointSet> 14706 <VisibleObject> 14707 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14708 <GeometrySet> 14709 <objects /> 14710 <groups /> 14711 </GeometrySet> 14712 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14713 <scale_factors> 1 1 1</scale_factors> 14714 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14715 <transform> -0 0 -0 0 0 0</transform> 14716 <!--Whether to show a coordinate frame--> 14717 <show_axes>false</show_axes> 14718 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14719 <display_preference>4</display_preference> 14720 </VisibleObject> 14721 <PathWrapSet> 14722 <objects /> 14723 <groups /> 14724 </PathWrapSet> 14725 </GeometryPath> 14726 <!--The maximum force this actuator can produce.--> 14727 <optimal_force>1</optimal_force> 14728 <!--Maximum isometric force that the fibers can generate--> 14729 <max_isometric_force>21.7</max_isometric_force> 14730 <!--Optimal length of the muscle fibers--> 14731 <optimal_fiber_length>0.0589</optimal_fiber_length> 14732 <!--Resting length of the tendon--> 14733 <tendon_slack_length>0.186</tendon_slack_length> 14734 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14735 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 14736 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14737 <max_contraction_velocity>0</max_contraction_velocity> 14738 <!--Scale factor for normalizing time--> 14739 <time_scale>0.1</time_scale> 14740 <!--Parameter used in time constant of ramping up of muscle force--> 14741 <activation1>0.01</activation1> 14742 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14743 <activation2>0.04</activation2> 14744 <!--Damping factor related to maximum contraction velocity--> 14745 <damping>0.05</damping> 14746 <!--Function representing force-length behavior of tendon--> 14747 <SimmSpline name="tendon_force_length_curve"> 14748 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14749 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14750 </SimmSpline> 14751 <!--Function representing active force-length behavior of muscle fibers--> 14752 <SimmSpline name="active_force_length_curve"> 14753 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14754 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14755 </SimmSpline> 14756 <!--Function representing passive force-length behavior of muscle fibers--> 14757 <SimmSpline name="passive_force_length_curve"> 14758 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14759 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14760 </SimmSpline> 14761 </Schutte1993Muscle_Deprecated> 14762 <Schutte1993Muscle_Deprecated name="EPL"> 14763 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14764 <isDisabled>false</isDisabled> 14765 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14766 <min_control>0</min_control> 14767 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14768 <max_control>1</max_control> 14769 <!--The set of points defining the path of the muscle.--> 14770 <GeometryPath> 14771 <PathPointSet> 14772 <objects> 14773 <PathPoint name="EPL-P1"> 14774 <location> -0.01412 -0.09706 0.02952</location> 14775 <body>ulna_r</body> 14776 </PathPoint> 14777 <PathPoint name="EPL-P2"> 14778 <location> 0.00124 -0.13668 0.0227</location> 14779 <body>radius_r</body> 14780 </PathPoint> 14781 <PathPoint name="EPL-P3"> 14782 <location> 0.02702 -0.21872 0.03828</location> 14783 <body>radius_r</body> 14784 </PathPoint> 14785 <PathPoint name="EPL-P4"> 14786 <location> 0.03382 -0.22754 0.04607</location> 14787 <body>radius_r</body> 14788 </PathPoint> 14789 <PathPoint name="EPL-P5"> 14790 <location> 0.04234 -0.23771 0.04173</location> 14791 <body>radius_r</body> 14792 </PathPoint> 14793 <PathPoint name="EPL-P6"> 14794 <location> 0.02428 0.00014 0.00608</location> 14795 <body>capitate_r</body> 14796 </PathPoint> 14797 <PathPoint name="EPL-P7"> 14798 <location> 0.00809 -0.0046 0.00992</location> 14799 <body>trapezium_r</body> 14800 </PathPoint> 14801 <PathPoint name="EPL-P8"> 14802 <location> 0.00656 -0.0043 0.00792</location> 14803 <body>firstmc_r</body> 14804 </PathPoint> 14805 <PathPoint name="EPL-P9"> 14806 <location> 0.02165 -0.0242 -0.00533</location> 14807 <body>firstmc_r</body> 14808 </PathPoint> 14809 <PathPoint name="EPL-P10"> 14810 <location> 0.01147 -0.00362 0.00156</location> 14811 <body>proximal_thumb_r</body> 14812 </PathPoint> 14813 <PathPoint name="EPL-P11"> 14814 <location> 0.01921 -0.0265 -0.01038</location> 14815 <body>proximal_thumb_r</body> 14816 </PathPoint> 14817 <PathPoint name="EPL-P12"> 14818 <location> 0.00543 -0.00714 -0.00464</location> 14819 <body>distal_thumb_r</body> 14820 </PathPoint> 14821 </objects> 14822 <groups /> 14823 </PathPointSet> 14824 <VisibleObject> 14825 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14826 <GeometrySet> 14827 <objects /> 14828 <groups /> 14829 </GeometrySet> 14830 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14831 <scale_factors> 1 1 1</scale_factors> 14832 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14833 <transform> -0 0 -0 0 0 0</transform> 14834 <!--Whether to show a coordinate frame--> 14835 <show_axes>false</show_axes> 14836 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14837 <display_preference>4</display_preference> 14838 </VisibleObject> 14839 <PathWrapSet> 14840 <objects /> 14841 <groups /> 14842 </PathWrapSet> 14843 </GeometryPath> 14844 <!--The maximum force this actuator can produce.--> 14845 <optimal_force>1</optimal_force> 14846 <!--Maximum isometric force that the fibers can generate--> 14847 <max_isometric_force>39.46</max_isometric_force> 14848 <!--Optimal length of the muscle fibers--> 14849 <optimal_fiber_length>0.054</optimal_fiber_length> 14850 <!--Resting length of the tendon--> 14851 <tendon_slack_length>0.2205</tendon_slack_length> 14852 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14853 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 14854 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14855 <max_contraction_velocity>0</max_contraction_velocity> 14856 <!--Scale factor for normalizing time--> 14857 <time_scale>0.1</time_scale> 14858 <!--Parameter used in time constant of ramping up of muscle force--> 14859 <activation1>0.01</activation1> 14860 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14861 <activation2>0.04</activation2> 14862 <!--Damping factor related to maximum contraction velocity--> 14863 <damping>0.05</damping> 14864 <!--Function representing force-length behavior of tendon--> 14865 <SimmSpline name="tendon_force_length_curve"> 14866 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14867 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14868 </SimmSpline> 14869 <!--Function representing active force-length behavior of muscle fibers--> 14870 <SimmSpline name="active_force_length_curve"> 14871 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14872 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14873 </SimmSpline> 14874 <!--Function representing passive force-length behavior of muscle fibers--> 14875 <SimmSpline name="passive_force_length_curve"> 14876 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14877 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14878 </SimmSpline> 14879 </Schutte1993Muscle_Deprecated> 14880 <Schutte1993Muscle_Deprecated name="EPB"> 14881 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14882 <isDisabled>false</isDisabled> 14883 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14884 <min_control>0</min_control> 14885 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14886 <max_control>1</max_control> 14887 <!--The set of points defining the path of the muscle.--> 14888 <GeometryPath> 14889 <PathPointSet> 14890 <objects> 14891 <PathPoint name="EPB-P1"> 14892 <location> 0.01924 -0.14695 0.02114</location> 14893 <body>radius_r</body> 14894 </PathPoint> 14895 <PathPoint name="EPB-P2"> 14896 <location> 0.02276 -0.15857 0.02665</location> 14897 <body>radius_r</body> 14898 </PathPoint> 14899 <PathPoint name="EPB-P3"> 14900 <location> 0.03831 -0.19722 0.03834</location> 14901 <body>radius_r</body> 14902 </PathPoint> 14903 <PathPoint name="EPB-P4"> 14904 <location> 0.05235 -0.23611 0.02699</location> 14905 <body>radius_r</body> 14906 </PathPoint> 14907 <PathPoint name="EPB-P5"> 14908 <location> 0.03123 0.00256 -0.00327</location> 14909 <body>capitate_r</body> 14910 </PathPoint> 14911 <PathPoint name="EPB-P6"> 14912 <location> 0.01443 -0.00337 -0.00405</location> 14913 <body>trapezium_r</body> 14914 </PathPoint> 14915 <PathPoint name="EPB-P7"> 14916 <location> 0.02173 -0.02303 -0.01141</location> 14917 <body>firstmc_r</body> 14918 </PathPoint> 14919 <PathPoint name="EPB-P8"> 14920 <location> 0.00927 -0.00618 -0.00557</location> 14921 <body>proximal_thumb_r</body> 14922 </PathPoint> 14923 </objects> 14924 <groups /> 14925 </PathPointSet> 14926 <VisibleObject> 14927 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 14928 <GeometrySet> 14929 <objects /> 14930 <groups /> 14931 </GeometrySet> 14932 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 14933 <scale_factors> 1 1 1</scale_factors> 14934 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 14935 <transform> -0 0 -0 0 0 0</transform> 14936 <!--Whether to show a coordinate frame--> 14937 <show_axes>false</show_axes> 14938 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 14939 <display_preference>4</display_preference> 14940 </VisibleObject> 14941 <PathWrapSet> 14942 <objects /> 14943 <groups /> 14944 </PathWrapSet> 14945 </GeometryPath> 14946 <!--The maximum force this actuator can produce.--> 14947 <optimal_force>1</optimal_force> 14948 <!--Maximum isometric force that the fibers can generate--> 14949 <max_isometric_force>14.2</max_isometric_force> 14950 <!--Optimal length of the muscle fibers--> 14951 <optimal_fiber_length>0.0675</optimal_fiber_length> 14952 <!--Resting length of the tendon--> 14953 <tendon_slack_length>0.1155</tendon_slack_length> 14954 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 14955 <pennation_angle_at_optimal>0.12566371</pennation_angle_at_optimal> 14956 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 14957 <max_contraction_velocity>0</max_contraction_velocity> 14958 <!--Scale factor for normalizing time--> 14959 <time_scale>0.1</time_scale> 14960 <!--Parameter used in time constant of ramping up of muscle force--> 14961 <activation1>0.01</activation1> 14962 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 14963 <activation2>0.04</activation2> 14964 <!--Damping factor related to maximum contraction velocity--> 14965 <damping>0.05</damping> 14966 <!--Function representing force-length behavior of tendon--> 14967 <SimmSpline name="tendon_force_length_curve"> 14968 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 14969 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 14970 </SimmSpline> 14971 <!--Function representing active force-length behavior of muscle fibers--> 14972 <SimmSpline name="active_force_length_curve"> 14973 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 14974 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 14975 </SimmSpline> 14976 <!--Function representing passive force-length behavior of muscle fibers--> 14977 <SimmSpline name="passive_force_length_curve"> 14978 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 14979 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 14980 </SimmSpline> 14981 </Schutte1993Muscle_Deprecated> 14982 <Schutte1993Muscle_Deprecated name="FPL"> 14983 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 14984 <isDisabled>false</isDisabled> 14985 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 14986 <min_control>0</min_control> 14987 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 14988 <max_control>1</max_control> 14989 <!--The set of points defining the path of the muscle.--> 14990 <GeometryPath> 14991 <PathPointSet> 14992 <objects> 14993 <PathPoint name="FPL-P1"> 14994 <location> 0.00971 -0.09458 0.01769</location> 14995 <body>radius_r</body> 14996 </PathPoint> 14997 <PathPoint name="FPL-P2"> 14998 <location> 0.01658 -0.13525 0.01915</location> 14999 <body>radius_r</body> 15000 </PathPoint> 15001 <PathPoint name="FPL-P3"> 15002 <location> 0.01869 -0.17932 0.01988</location> 15003 <body>radius_r</body> 15004 </PathPoint> 15005 <PathPoint name="FPL-P4"> 15006 <location> 0.038 -0.23171 0.0158</location> 15007 <body>radius_r</body> 15008 </PathPoint> 15009 <PathPoint name="FPL-P5"> 15010 <location> 0.01869 0.00882 -0.01547</location> 15011 <body>capitate_r</body> 15012 </PathPoint> 15013 <PathPoint name="FPL-P6"> 15014 <location> 0.01244 -0.02207 -0.02089</location> 15015 <body>capitate_r</body> 15016 </PathPoint> 15017 <PathPoint name="FPL-P7"> 15018 <location> -0.00608 -0.01624 -0.0094</location> 15019 <body>firstmc_r</body> 15020 </PathPoint> 15021 <PathPoint name="FPL-P8"> 15022 <location> 0.00208 -0.02297 -0.00956</location> 15023 <body>firstmc_r</body> 15024 </PathPoint> 15025 <PathPoint name="FPL-P9"> 15026 <location> -0.0045 -0.01842 -0.00508</location> 15027 <body>proximal_thumb_r</body> 15028 </PathPoint> 15029 <PathPoint name="FPL-P10"> 15030 <location> 0.0059 -0.02602 -0.01114</location> 15031 <body>proximal_thumb_r</body> 15032 </PathPoint> 15033 <PathPoint name="FPL-P11"> 15034 <location> 0.00242 -0.01127 -0.00412</location> 15035 <body>distal_thumb_r</body> 15036 </PathPoint> 15037 </objects> 15038 <groups /> 15039 </PathPointSet> 15040 <VisibleObject> 15041 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15042 <GeometrySet> 15043 <objects /> 15044 <groups /> 15045 </GeometrySet> 15046 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15047 <scale_factors> 1 1 1</scale_factors> 15048 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15049 <transform> -0 0 -0 0 0 0</transform> 15050 <!--Whether to show a coordinate frame--> 15051 <show_axes>false</show_axes> 15052 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15053 <display_preference>4</display_preference> 15054 </VisibleObject> 15055 <PathWrapSet> 15056 <objects /> 15057 <groups /> 15058 </PathWrapSet> 15059 </GeometryPath> 15060 <!--The maximum force this actuator can produce.--> 15061 <optimal_force>1</optimal_force> 15062 <!--Maximum isometric force that the fibers can generate--> 15063 <max_isometric_force>77.2</max_isometric_force> 15064 <!--Optimal length of the muscle fibers--> 15065 <optimal_fiber_length>0.0552</optimal_fiber_length> 15066 <!--Resting length of the tendon--> 15067 <tendon_slack_length>0.1938</tendon_slack_length> 15068 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15069 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 15070 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15071 <max_contraction_velocity>0</max_contraction_velocity> 15072 <!--Scale factor for normalizing time--> 15073 <time_scale>0.1</time_scale> 15074 <!--Parameter used in time constant of ramping up of muscle force--> 15075 <activation1>0.01</activation1> 15076 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15077 <activation2>0.04</activation2> 15078 <!--Damping factor related to maximum contraction velocity--> 15079 <damping>0.05</damping> 15080 <!--Function representing force-length behavior of tendon--> 15081 <SimmSpline name="tendon_force_length_curve"> 15082 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15083 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15084 </SimmSpline> 15085 <!--Function representing active force-length behavior of muscle fibers--> 15086 <SimmSpline name="active_force_length_curve"> 15087 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15088 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15089 </SimmSpline> 15090 <!--Function representing passive force-length behavior of muscle fibers--> 15091 <SimmSpline name="passive_force_length_curve"> 15092 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15093 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15094 </SimmSpline> 15095 </Schutte1993Muscle_Deprecated> 15096 <Schutte1993Muscle_Deprecated name="APL"> 15097 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15098 <isDisabled>false</isDisabled> 15099 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15100 <min_control>0</min_control> 15101 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15102 <max_control>1</max_control> 15103 <!--The set of points defining the path of the muscle.--> 15104 <GeometryPath> 15105 <PathPointSet> 15106 <objects> 15107 <PathPoint name="APL-P1"> 15108 <location> 0.01154 -0.09477 0.01681</location> 15109 <body>radius_r</body> 15110 </PathPoint> 15111 <PathPoint name="APL-P2"> 15112 <location> 0.0303 -0.1397 0.03507</location> 15113 <body>radius_r</body> 15114 </PathPoint> 15115 <PathPoint name="APL-P3"> 15116 <location> 0.03993 -0.16072 0.034</location> 15117 <body>radius_r</body> 15118 </PathPoint> 15119 <PathPoint name="APL-P4"> 15120 <location> 0.04397 -0.17845 0.03134</location> 15121 <body>radius_r</body> 15122 </PathPoint> 15123 <PathPoint name="APL-P5"> 15124 <location> 0.05505 -0.23084 0.02368</location> 15125 <body>radius_r</body> 15126 </PathPoint> 15127 <PathPoint name="APL-P6"> 15128 <location> 0.03385 0.00634 -0.00745</location> 15129 <body>capitate_r</body> 15130 </PathPoint> 15131 <PathPoint name="APL-P7"> 15132 <location> 0.01058 0.00662 -0.00619</location> 15133 <body>trapezium_r</body> 15134 </PathPoint> 15135 <PathPoint name="APL-P8"> 15136 <location> 0.00629 0.00323 -0.00589</location> 15137 <body>firstmc_r</body> 15138 </PathPoint> 15139 <PathPoint name="APL-P9"> 15140 <location> 0.00827 -0.00586 -0.00604</location> 15141 <body>firstmc_r</body> 15142 </PathPoint> 15143 </objects> 15144 <groups /> 15145 </PathPointSet> 15146 <VisibleObject> 15147 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15148 <GeometrySet> 15149 <objects /> 15150 <groups /> 15151 </GeometrySet> 15152 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15153 <scale_factors> 1 1 1</scale_factors> 15154 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15155 <transform> -0 0 -0 0 0 0</transform> 15156 <!--Whether to show a coordinate frame--> 15157 <show_axes>false</show_axes> 15158 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15159 <display_preference>4</display_preference> 15160 </VisibleObject> 15161 <PathWrapSet> 15162 <objects /> 15163 <groups /> 15164 </PathWrapSet> 15165 </GeometryPath> 15166 <!--The maximum force this actuator can produce.--> 15167 <optimal_force>1</optimal_force> 15168 <!--Maximum isometric force that the fibers can generate--> 15169 <max_isometric_force>59.53</max_isometric_force> 15170 <!--Optimal length of the muscle fibers--> 15171 <optimal_fiber_length>0.0713</optimal_fiber_length> 15172 <!--Resting length of the tendon--> 15173 <tendon_slack_length>0.1295</tendon_slack_length> 15174 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15175 <pennation_angle_at_optimal>0.13089969</pennation_angle_at_optimal> 15176 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15177 <max_contraction_velocity>0</max_contraction_velocity> 15178 <!--Scale factor for normalizing time--> 15179 <time_scale>0.1</time_scale> 15180 <!--Parameter used in time constant of ramping up of muscle force--> 15181 <activation1>0.01</activation1> 15182 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15183 <activation2>0.04</activation2> 15184 <!--Damping factor related to maximum contraction velocity--> 15185 <damping>0.05</damping> 15186 <!--Function representing force-length behavior of tendon--> 15187 <SimmSpline name="tendon_force_length_curve"> 15188 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15189 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15190 </SimmSpline> 15191 <!--Function representing active force-length behavior of muscle fibers--> 15192 <SimmSpline name="active_force_length_curve"> 15193 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15194 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15195 </SimmSpline> 15196 <!--Function representing passive force-length behavior of muscle fibers--> 15197 <SimmSpline name="passive_force_length_curve"> 15198 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15199 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15200 </SimmSpline> 15201 </Schutte1993Muscle_Deprecated> 15202 <Schutte1993Muscle_Deprecated name="DELT1_l"> 15203 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15204 <isDisabled>false</isDisabled> 15205 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15206 <min_control>0</min_control> 15207 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15208 <max_control>1</max_control> 15209 <!--The set of points defining the path of the muscle.--> 15210 <GeometryPath> 15211 <PathPointSet> 15212 <objects> 15213 <PathPoint name="DELT1_l-P1"> 15214 <location> 0.00896 -0.11883 -0.00585</location> 15215 <body>humerus_l</body> 15216 </PathPoint> 15217 <PathPoint name="DELT1_l-P2"> 15218 <location> 0.01623 -0.11033 -0.00412</location> 15219 <body>humerus_l</body> 15220 </PathPoint> 15221 <PathPoint name="DELT1_l-P3"> 15222 <location> 0.04347 -0.03252 -0.00099</location> 15223 <body>scapula_l</body> 15224 </PathPoint> 15225 <PathPoint name="DELT1_l-P4"> 15226 <location> -0.014 0.01106 -0.08021</location> 15227 <body>clavicle_l</body> 15228 </PathPoint> 15229 </objects> 15230 <groups /> 15231 </PathPointSet> 15232 <VisibleObject> 15233 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15234 <GeometrySet> 15235 <objects /> 15236 <groups /> 15237 </GeometrySet> 15238 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15239 <scale_factors> 1 1 1</scale_factors> 15240 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15241 <transform> -0 0 -0 0 0 0</transform> 15242 <!--Whether to show a coordinate frame--> 15243 <show_axes>false</show_axes> 15244 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15245 <display_preference>4</display_preference> 15246 </VisibleObject> 15247 <PathWrapSet> 15248 <objects /> 15249 <groups /> 15250 </PathWrapSet> 15251 </GeometryPath> 15252 <!--The maximum force this actuator can produce.--> 15253 <optimal_force>1</optimal_force> 15254 <!--Maximum isometric force that the fibers can generate--> 15255 <max_isometric_force>1142.6</max_isometric_force> 15256 <!--Optimal length of the muscle fibers--> 15257 <optimal_fiber_length>0.0976</optimal_fiber_length> 15258 <!--Resting length of the tendon--> 15259 <tendon_slack_length>0.093</tendon_slack_length> 15260 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15261 <pennation_angle_at_optimal>0.38397244</pennation_angle_at_optimal> 15262 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15263 <max_contraction_velocity>0</max_contraction_velocity> 15264 <!--Scale factor for normalizing time--> 15265 <time_scale>0.1</time_scale> 15266 <!--Parameter used in time constant of ramping up of muscle force--> 15267 <activation1>0.01</activation1> 15268 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15269 <activation2>0.04</activation2> 15270 <!--Damping factor related to maximum contraction velocity--> 15271 <damping>0.05</damping> 15272 <!--Function representing force-length behavior of tendon--> 15273 <SimmSpline name="tendon_force_length_curve"> 15274 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15275 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15276 </SimmSpline> 15277 <!--Function representing active force-length behavior of muscle fibers--> 15278 <SimmSpline name="active_force_length_curve"> 15279 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15280 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15281 </SimmSpline> 15282 <!--Function representing passive force-length behavior of muscle fibers--> 15283 <SimmSpline name="passive_force_length_curve"> 15284 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15285 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15286 </SimmSpline> 15287 </Schutte1993Muscle_Deprecated> 15288 <Schutte1993Muscle_Deprecated name="DELT2_l"> 15289 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15290 <isDisabled>false</isDisabled> 15291 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15292 <min_control>0</min_control> 15293 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15294 <max_control>1</max_control> 15295 <!--The set of points defining the path of the muscle.--> 15296 <GeometryPath> 15297 <PathPointSet> 15298 <objects> 15299 <PathPoint name="DELT2_l-P1"> 15300 <location> 0.00461 -0.13611 -0.0056</location> 15301 <body>humerus_l</body> 15302 </PathPoint> 15303 <PathPoint name="DELT2_l-P2"> 15304 <location> -0.00197 -0.02848 -0.02365</location> 15305 <body>humerus_l</body> 15306 </PathPoint> 15307 <PathPoint name="DELT2_l-P3"> 15308 <location> 0.00129 -0.00232 -0.0259</location> 15309 <body>scapula_l</body> 15310 </PathPoint> 15311 <PathPoint name="DELT2_l-P4"> 15312 <location> -0.01078 -0.00034 -0.0062</location> 15313 <body>scapula_l</body> 15314 </PathPoint> 15315 </objects> 15316 <groups /> 15317 </PathPointSet> 15318 <VisibleObject> 15319 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15320 <GeometrySet> 15321 <objects /> 15322 <groups /> 15323 </GeometrySet> 15324 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15325 <scale_factors> 1 1 1</scale_factors> 15326 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15327 <transform> -0 0 -0 0 0 0</transform> 15328 <!--Whether to show a coordinate frame--> 15329 <show_axes>false</show_axes> 15330 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15331 <display_preference>4</display_preference> 15332 </VisibleObject> 15333 <PathWrapSet> 15334 <objects /> 15335 <groups /> 15336 </PathWrapSet> 15337 </GeometryPath> 15338 <!--The maximum force this actuator can produce.--> 15339 <optimal_force>1</optimal_force> 15340 <!--Maximum isometric force that the fibers can generate--> 15341 <max_isometric_force>1142.6</max_isometric_force> 15342 <!--Optimal length of the muscle fibers--> 15343 <optimal_fiber_length>0.1078</optimal_fiber_length> 15344 <!--Resting length of the tendon--> 15345 <tendon_slack_length>0.1095</tendon_slack_length> 15346 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15347 <pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal> 15348 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15349 <max_contraction_velocity>0</max_contraction_velocity> 15350 <!--Scale factor for normalizing time--> 15351 <time_scale>0.1</time_scale> 15352 <!--Parameter used in time constant of ramping up of muscle force--> 15353 <activation1>0.01</activation1> 15354 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15355 <activation2>0.04</activation2> 15356 <!--Damping factor related to maximum contraction velocity--> 15357 <damping>0.05</damping> 15358 <!--Function representing force-length behavior of tendon--> 15359 <SimmSpline name="tendon_force_length_curve"> 15360 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15361 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15362 </SimmSpline> 15363 <!--Function representing active force-length behavior of muscle fibers--> 15364 <SimmSpline name="active_force_length_curve"> 15365 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15366 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15367 </SimmSpline> 15368 <!--Function representing passive force-length behavior of muscle fibers--> 15369 <SimmSpline name="passive_force_length_curve"> 15370 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15371 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15372 </SimmSpline> 15373 </Schutte1993Muscle_Deprecated> 15374 <Schutte1993Muscle_Deprecated name="DELT3_l"> 15375 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15376 <isDisabled>false</isDisabled> 15377 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15378 <min_control>0</min_control> 15379 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15380 <max_control>1</max_control> 15381 <!--The set of points defining the path of the muscle.--> 15382 <GeometryPath> 15383 <PathPointSet> 15384 <objects> 15385 <PathPoint name="DELT3_l-P1"> 15386 <location> -0.05573 0.00122 0.02512</location> 15387 <body>scapula_l</body> 15388 </PathPoint> 15389 <PathPoint name="DELT3_l-P2"> 15390 <location> -0.06187 -0.02908 -0.01184</location> 15391 <body>scapula_l</body> 15392 </PathPoint> 15393 <PathPoint name="DELT3_l-P3"> 15394 <location> -0.01643 0.002 -0.03477</location> 15395 <body>humerus_l</body> 15396 </PathPoint> 15397 <PathPoint name="DELT3_l-P3"> 15398 <location> 0.00206 -0.07602 -0.01045</location> 15399 <body>humerus_l</body> 15400 </PathPoint> 15401 </objects> 15402 <groups /> 15403 </PathPointSet> 15404 <VisibleObject> 15405 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15406 <GeometrySet> 15407 <objects /> 15408 <groups /> 15409 </GeometrySet> 15410 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15411 <scale_factors> 1 1 1</scale_factors> 15412 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15413 <transform> -0 0 -0 0 0 0</transform> 15414 <!--Whether to show a coordinate frame--> 15415 <show_axes>false</show_axes> 15416 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15417 <display_preference>4</display_preference> 15418 </VisibleObject> 15419 <PathWrapSet> 15420 <objects /> 15421 <groups /> 15422 </PathWrapSet> 15423 </GeometryPath> 15424 <!--The maximum force this actuator can produce.--> 15425 <optimal_force>1</optimal_force> 15426 <!--Maximum isometric force that the fibers can generate--> 15427 <max_isometric_force>259.88</max_isometric_force> 15428 <!--Optimal length of the muscle fibers--> 15429 <optimal_fiber_length>0.1367</optimal_fiber_length> 15430 <!--Resting length of the tendon--> 15431 <tendon_slack_length>0.038</tendon_slack_length> 15432 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15433 <pennation_angle_at_optimal>0.31415927</pennation_angle_at_optimal> 15434 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15435 <max_contraction_velocity>0</max_contraction_velocity> 15436 <!--Scale factor for normalizing time--> 15437 <time_scale>0.1</time_scale> 15438 <!--Parameter used in time constant of ramping up of muscle force--> 15439 <activation1>0.01</activation1> 15440 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15441 <activation2>0.04</activation2> 15442 <!--Damping factor related to maximum contraction velocity--> 15443 <damping>0.05</damping> 15444 <!--Function representing force-length behavior of tendon--> 15445 <SimmSpline name="tendon_force_length_curve"> 15446 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15447 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15448 </SimmSpline> 15449 <!--Function representing active force-length behavior of muscle fibers--> 15450 <SimmSpline name="active_force_length_curve"> 15451 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15452 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15453 </SimmSpline> 15454 <!--Function representing passive force-length behavior of muscle fibers--> 15455 <SimmSpline name="passive_force_length_curve"> 15456 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15457 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15458 </SimmSpline> 15459 </Schutte1993Muscle_Deprecated> 15460 <Schutte1993Muscle_Deprecated name="SUPSP_l"> 15461 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15462 <isDisabled>false</isDisabled> 15463 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15464 <min_control>0</min_control> 15465 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15466 <max_control>1</max_control> 15467 <!--The set of points defining the path of the muscle.--> 15468 <GeometryPath> 15469 <PathPointSet> 15470 <objects> 15471 <PathPoint name="SUPSP_l-P1"> 15472 <location> 0.00256 0.01063 -0.02593</location> 15473 <body>humerus_l</body> 15474 </PathPoint> 15475 <PathPoint name="SUPSP_l-P2"> 15476 <location> -0.03316 0.00182 -0.01156</location> 15477 <body>scapula_l</body> 15478 </PathPoint> 15479 <PathPoint name="SUPSP_l-P3"> 15480 <location> -0.0481 0.00663 0.02239</location> 15481 <body>scapula_l</body> 15482 </PathPoint> 15483 <PathPoint name="SUPSP_l-P3"> 15484 <location> -0.04472 -0.0125 0.05563</location> 15485 <body>scapula_l</body> 15486 </PathPoint> 15487 </objects> 15488 <groups /> 15489 </PathPointSet> 15490 <VisibleObject> 15491 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15492 <GeometrySet> 15493 <objects /> 15494 <groups /> 15495 </GeometrySet> 15496 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15497 <scale_factors> 1 1 1</scale_factors> 15498 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15499 <transform> -0 0 -0 0 0 0</transform> 15500 <!--Whether to show a coordinate frame--> 15501 <show_axes>false</show_axes> 15502 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15503 <display_preference>4</display_preference> 15504 </VisibleObject> 15505 <PathWrapSet> 15506 <objects /> 15507 <groups /> 15508 </PathWrapSet> 15509 </GeometryPath> 15510 <!--The maximum force this actuator can produce.--> 15511 <optimal_force>1</optimal_force> 15512 <!--Maximum isometric force that the fibers can generate--> 15513 <max_isometric_force>487.82</max_isometric_force> 15514 <!--Optimal length of the muscle fibers--> 15515 <optimal_fiber_length>0.0682</optimal_fiber_length> 15516 <!--Resting length of the tendon--> 15517 <tendon_slack_length>0.0395</tendon_slack_length> 15518 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15519 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 15520 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15521 <max_contraction_velocity>0</max_contraction_velocity> 15522 <!--Scale factor for normalizing time--> 15523 <time_scale>0.1</time_scale> 15524 <!--Parameter used in time constant of ramping up of muscle force--> 15525 <activation1>0.01</activation1> 15526 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15527 <activation2>0.04</activation2> 15528 <!--Damping factor related to maximum contraction velocity--> 15529 <damping>0.05</damping> 15530 <!--Function representing force-length behavior of tendon--> 15531 <SimmSpline name="tendon_force_length_curve"> 15532 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15533 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15534 </SimmSpline> 15535 <!--Function representing active force-length behavior of muscle fibers--> 15536 <SimmSpline name="active_force_length_curve"> 15537 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15538 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15539 </SimmSpline> 15540 <!--Function representing passive force-length behavior of muscle fibers--> 15541 <SimmSpline name="passive_force_length_curve"> 15542 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15543 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15544 </SimmSpline> 15545 </Schutte1993Muscle_Deprecated> 15546 <Schutte1993Muscle_Deprecated name="INFSP_l"> 15547 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15548 <isDisabled>false</isDisabled> 15549 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15550 <min_control>0</min_control> 15551 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15552 <max_control>1</max_control> 15553 <!--The set of points defining the path of the muscle.--> 15554 <GeometryPath> 15555 <PathPointSet> 15556 <objects> 15557 <PathPoint name="INFSP_l-P1"> 15558 <location> -0.00887 0.00484 -0.02448</location> 15559 <body>humerus_l</body> 15560 </PathPoint> 15561 <PathPoint name="INFSP_l-P2"> 15562 <location> -0.05576 -0.04191 0.02667</location> 15563 <body>scapula_l</body> 15564 </PathPoint> 15565 <PathPoint name="INFSP_l-P2"> 15566 <location> -0.07434 -0.05555 0.04276</location> 15567 <body>scapula_l</body> 15568 </PathPoint> 15569 </objects> 15570 <groups /> 15571 </PathPointSet> 15572 <VisibleObject> 15573 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15574 <GeometrySet> 15575 <objects /> 15576 <groups /> 15577 </GeometrySet> 15578 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15579 <scale_factors> 1 1 1</scale_factors> 15580 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15581 <transform> -0 0 -0 0 0 0</transform> 15582 <!--Whether to show a coordinate frame--> 15583 <show_axes>false</show_axes> 15584 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15585 <display_preference>4</display_preference> 15586 </VisibleObject> 15587 <PathWrapSet> 15588 <objects /> 15589 <groups /> 15590 </PathWrapSet> 15591 </GeometryPath> 15592 <!--The maximum force this actuator can produce.--> 15593 <optimal_force>1</optimal_force> 15594 <!--Maximum isometric force that the fibers can generate--> 15595 <max_isometric_force>1210.84</max_isometric_force> 15596 <!--Optimal length of the muscle fibers--> 15597 <optimal_fiber_length>0.0755</optimal_fiber_length> 15598 <!--Resting length of the tendon--> 15599 <tendon_slack_length>0.0308</tendon_slack_length> 15600 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15601 <pennation_angle_at_optimal>0.32288591</pennation_angle_at_optimal> 15602 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15603 <max_contraction_velocity>0</max_contraction_velocity> 15604 <!--Scale factor for normalizing time--> 15605 <time_scale>0.1</time_scale> 15606 <!--Parameter used in time constant of ramping up of muscle force--> 15607 <activation1>0.01</activation1> 15608 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15609 <activation2>0.04</activation2> 15610 <!--Damping factor related to maximum contraction velocity--> 15611 <damping>0.05</damping> 15612 <!--Function representing force-length behavior of tendon--> 15613 <SimmSpline name="tendon_force_length_curve"> 15614 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15615 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15616 </SimmSpline> 15617 <!--Function representing active force-length behavior of muscle fibers--> 15618 <SimmSpline name="active_force_length_curve"> 15619 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15620 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15621 </SimmSpline> 15622 <!--Function representing passive force-length behavior of muscle fibers--> 15623 <SimmSpline name="passive_force_length_curve"> 15624 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15625 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15626 </SimmSpline> 15627 </Schutte1993Muscle_Deprecated> 15628 <Schutte1993Muscle_Deprecated name="SUBSC_l"> 15629 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15630 <isDisabled>false</isDisabled> 15631 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15632 <min_control>0</min_control> 15633 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15634 <max_control>1</max_control> 15635 <!--The set of points defining the path of the muscle.--> 15636 <GeometryPath> 15637 <PathPointSet> 15638 <objects> 15639 <PathPoint name="SUBSC_l-P1"> 15640 <location> 0.01403 0.0084 0.01331</location> 15641 <body>humerus_l</body> 15642 </PathPoint> 15643 <PathPoint name="SUBSC_l-P2"> 15644 <location> -0.01831 -0.05223 0.02457</location> 15645 <body>scapula_l</body> 15646 </PathPoint> 15647 <PathPoint name="SUBSC_l-P3"> 15648 <location> -0.07289 -0.04118 0.06612</location> 15649 <body>scapula_l</body> 15650 </PathPoint> 15651 </objects> 15652 <groups /> 15653 </PathPointSet> 15654 <VisibleObject> 15655 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15656 <GeometrySet> 15657 <objects /> 15658 <groups /> 15659 </GeometrySet> 15660 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15661 <scale_factors> 1 1 1</scale_factors> 15662 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15663 <transform> -0 0 -0 0 0 0</transform> 15664 <!--Whether to show a coordinate frame--> 15665 <show_axes>false</show_axes> 15666 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15667 <display_preference>4</display_preference> 15668 </VisibleObject> 15669 <PathWrapSet> 15670 <objects /> 15671 <groups /> 15672 </PathWrapSet> 15673 </GeometryPath> 15674 <!--The maximum force this actuator can produce.--> 15675 <optimal_force>1</optimal_force> 15676 <!--Maximum isometric force that the fibers can generate--> 15677 <max_isometric_force>1377.81</max_isometric_force> 15678 <!--Optimal length of the muscle fibers--> 15679 <optimal_fiber_length>0.0873</optimal_fiber_length> 15680 <!--Resting length of the tendon--> 15681 <tendon_slack_length>0.033</tendon_slack_length> 15682 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15683 <pennation_angle_at_optimal>0.34906585</pennation_angle_at_optimal> 15684 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15685 <max_contraction_velocity>0</max_contraction_velocity> 15686 <!--Scale factor for normalizing time--> 15687 <time_scale>0.1</time_scale> 15688 <!--Parameter used in time constant of ramping up of muscle force--> 15689 <activation1>0.01</activation1> 15690 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15691 <activation2>0.04</activation2> 15692 <!--Damping factor related to maximum contraction velocity--> 15693 <damping>0.05</damping> 15694 <!--Function representing force-length behavior of tendon--> 15695 <SimmSpline name="tendon_force_length_curve"> 15696 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15697 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15698 </SimmSpline> 15699 <!--Function representing active force-length behavior of muscle fibers--> 15700 <SimmSpline name="active_force_length_curve"> 15701 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15702 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15703 </SimmSpline> 15704 <!--Function representing passive force-length behavior of muscle fibers--> 15705 <SimmSpline name="passive_force_length_curve"> 15706 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15707 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15708 </SimmSpline> 15709 </Schutte1993Muscle_Deprecated> 15710 <Schutte1993Muscle_Deprecated name="TMIN_l"> 15711 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15712 <isDisabled>false</isDisabled> 15713 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15714 <min_control>0</min_control> 15715 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15716 <max_control>1</max_control> 15717 <!--The set of points defining the path of the muscle.--> 15718 <GeometryPath> 15719 <PathPointSet> 15720 <objects> 15721 <PathPoint name="TMIN_l-P1"> 15722 <location> -0.0011 -0.01264 -0.02156</location> 15723 <body>humerus_l</body> 15724 </PathPoint> 15725 <PathPoint name="TMIN_l-P2"> 15726 <location> -0.01883 -0.0136 -0.03106</location> 15727 <body>scapula_l</body> 15728 </PathPoint> 15729 <PathPoint name="TMIN_l-P2"> 15730 <location> -0.09473 -0.07991 0.04737</location> 15731 <body>scapula_l</body> 15732 </PathPoint> 15733 <PathPoint name="TMIN_l-P3"> 15734 <location> -0.09643 -0.08121 0.05298</location> 15735 <body>scapula_l</body> 15736 </PathPoint> 15737 </objects> 15738 <groups /> 15739 </PathPointSet> 15740 <VisibleObject> 15741 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15742 <GeometrySet> 15743 <objects /> 15744 <groups /> 15745 </GeometrySet> 15746 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15747 <scale_factors> 1 1 1</scale_factors> 15748 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15749 <transform> -0 0 -0 0 0 0</transform> 15750 <!--Whether to show a coordinate frame--> 15751 <show_axes>false</show_axes> 15752 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15753 <display_preference>4</display_preference> 15754 </VisibleObject> 15755 <PathWrapSet> 15756 <objects /> 15757 <groups /> 15758 </PathWrapSet> 15759 </GeometryPath> 15760 <!--The maximum force this actuator can produce.--> 15761 <optimal_force>1</optimal_force> 15762 <!--Maximum isometric force that the fibers can generate--> 15763 <max_isometric_force>354.25</max_isometric_force> 15764 <!--Optimal length of the muscle fibers--> 15765 <optimal_fiber_length>0.0741</optimal_fiber_length> 15766 <!--Resting length of the tendon--> 15767 <tendon_slack_length>0.0713</tendon_slack_length> 15768 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15769 <pennation_angle_at_optimal>0.41887902</pennation_angle_at_optimal> 15770 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15771 <max_contraction_velocity>0</max_contraction_velocity> 15772 <!--Scale factor for normalizing time--> 15773 <time_scale>0.1</time_scale> 15774 <!--Parameter used in time constant of ramping up of muscle force--> 15775 <activation1>0.01</activation1> 15776 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15777 <activation2>0.04</activation2> 15778 <!--Damping factor related to maximum contraction velocity--> 15779 <damping>0.05</damping> 15780 <!--Function representing force-length behavior of tendon--> 15781 <SimmSpline name="tendon_force_length_curve"> 15782 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15783 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15784 </SimmSpline> 15785 <!--Function representing active force-length behavior of muscle fibers--> 15786 <SimmSpline name="active_force_length_curve"> 15787 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15788 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15789 </SimmSpline> 15790 <!--Function representing passive force-length behavior of muscle fibers--> 15791 <SimmSpline name="passive_force_length_curve"> 15792 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15793 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15794 </SimmSpline> 15795 </Schutte1993Muscle_Deprecated> 15796 <Schutte1993Muscle_Deprecated name="TMAJ_l"> 15797 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15798 <isDisabled>false</isDisabled> 15799 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15800 <min_control>0</min_control> 15801 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15802 <max_control>1</max_control> 15803 <!--The set of points defining the path of the muscle.--> 15804 <GeometryPath> 15805 <PathPointSet> 15806 <objects> 15807 <PathPoint name="TMAJ_l-P1"> 15808 <location> 0.00998 -0.05419 0.00568</location> 15809 <body>humerus_l</body> 15810 </PathPoint> 15811 <PathPoint name="TMAJ_l-P2"> 15812 <location> -0.10264 -0.10319 0.05829</location> 15813 <body>scapula_l</body> 15814 </PathPoint> 15815 <PathPoint name="TMAJ_l-P3"> 15816 <location> -0.10489 -0.10895 0.07117</location> 15817 <body>scapula_l</body> 15818 </PathPoint> 15819 </objects> 15820 <groups /> 15821 </PathPointSet> 15822 <VisibleObject> 15823 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15824 <GeometrySet> 15825 <objects /> 15826 <groups /> 15827 </GeometrySet> 15828 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15829 <scale_factors> 1 1 1</scale_factors> 15830 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15831 <transform> -0 0 -0 0 0 0</transform> 15832 <!--Whether to show a coordinate frame--> 15833 <show_axes>false</show_axes> 15834 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15835 <display_preference>4</display_preference> 15836 </VisibleObject> 15837 <PathWrapSet> 15838 <objects /> 15839 <groups /> 15840 </PathWrapSet> 15841 </GeometryPath> 15842 <!--The maximum force this actuator can produce.--> 15843 <optimal_force>1</optimal_force> 15844 <!--Maximum isometric force that the fibers can generate--> 15845 <max_isometric_force>425.39</max_isometric_force> 15846 <!--Optimal length of the muscle fibers--> 15847 <optimal_fiber_length>0.1624</optimal_fiber_length> 15848 <!--Resting length of the tendon--> 15849 <tendon_slack_length>0.02</tendon_slack_length> 15850 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15851 <pennation_angle_at_optimal>0.27925268</pennation_angle_at_optimal> 15852 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15853 <max_contraction_velocity>0</max_contraction_velocity> 15854 <!--Scale factor for normalizing time--> 15855 <time_scale>0.1</time_scale> 15856 <!--Parameter used in time constant of ramping up of muscle force--> 15857 <activation1>0.01</activation1> 15858 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15859 <activation2>0.04</activation2> 15860 <!--Damping factor related to maximum contraction velocity--> 15861 <damping>0.05</damping> 15862 <!--Function representing force-length behavior of tendon--> 15863 <SimmSpline name="tendon_force_length_curve"> 15864 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15865 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15866 </SimmSpline> 15867 <!--Function representing active force-length behavior of muscle fibers--> 15868 <SimmSpline name="active_force_length_curve"> 15869 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15870 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15871 </SimmSpline> 15872 <!--Function representing passive force-length behavior of muscle fibers--> 15873 <SimmSpline name="passive_force_length_curve"> 15874 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15875 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15876 </SimmSpline> 15877 </Schutte1993Muscle_Deprecated> 15878 <Schutte1993Muscle_Deprecated name="PECM1_l"> 15879 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15880 <isDisabled>false</isDisabled> 15881 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15882 <min_control>0</min_control> 15883 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15884 <max_control>1</max_control> 15885 <!--The set of points defining the path of the muscle.--> 15886 <GeometryPath> 15887 <PathPointSet> 15888 <objects> 15889 <PathPoint name="PECM1_l-P1"> 15890 <location> 0.01169 -0.04191 -0.0078</location> 15891 <body>humerus_l</body> 15892 </PathPoint> 15893 <PathPoint name="PECM1_l-P2"> 15894 <location> 0.01615 -0.04045 0.00577</location> 15895 <body>humerus_l</body> 15896 </PathPoint> 15897 <PathPoint name="PECM1_l-P3"> 15898 <location> 0.00958 -0.01509 -0.12664</location> 15899 <body>thorax</body> 15900 </PathPoint> 15901 <PathPoint name="PECM1_l-P4"> 15902 <location> 0.00321 -0.00013 -0.05113</location> 15903 <body>clavicle_l</body> 15904 </PathPoint> 15905 </objects> 15906 <groups /> 15907 </PathPointSet> 15908 <VisibleObject> 15909 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 15910 <GeometrySet> 15911 <objects /> 15912 <groups /> 15913 </GeometrySet> 15914 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 15915 <scale_factors> 1 1 1</scale_factors> 15916 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 15917 <transform> -0 0 -0 0 0 0</transform> 15918 <!--Whether to show a coordinate frame--> 15919 <show_axes>false</show_axes> 15920 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 15921 <display_preference>4</display_preference> 15922 </VisibleObject> 15923 <PathWrapSet> 15924 <objects /> 15925 <groups /> 15926 </PathWrapSet> 15927 </GeometryPath> 15928 <!--The maximum force this actuator can produce.--> 15929 <optimal_force>1</optimal_force> 15930 <!--Maximum isometric force that the fibers can generate--> 15931 <max_isometric_force>364.41</max_isometric_force> 15932 <!--Optimal length of the muscle fibers--> 15933 <optimal_fiber_length>0.1442</optimal_fiber_length> 15934 <!--Resting length of the tendon--> 15935 <tendon_slack_length>0.0028</tendon_slack_length> 15936 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 15937 <pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal> 15938 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 15939 <max_contraction_velocity>0</max_contraction_velocity> 15940 <!--Scale factor for normalizing time--> 15941 <time_scale>0.1</time_scale> 15942 <!--Parameter used in time constant of ramping up of muscle force--> 15943 <activation1>0.01</activation1> 15944 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 15945 <activation2>0.04</activation2> 15946 <!--Damping factor related to maximum contraction velocity--> 15947 <damping>0.05</damping> 15948 <!--Function representing force-length behavior of tendon--> 15949 <SimmSpline name="tendon_force_length_curve"> 15950 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 15951 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 15952 </SimmSpline> 15953 <!--Function representing active force-length behavior of muscle fibers--> 15954 <SimmSpline name="active_force_length_curve"> 15955 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 15956 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 15957 </SimmSpline> 15958 <!--Function representing passive force-length behavior of muscle fibers--> 15959 <SimmSpline name="passive_force_length_curve"> 15960 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 15961 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 15962 </SimmSpline> 15963 </Schutte1993Muscle_Deprecated> 15964 <Schutte1993Muscle_Deprecated name="PECM2_l"> 15965 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 15966 <isDisabled>false</isDisabled> 15967 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 15968 <min_control>0</min_control> 15969 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 15970 <max_control>1</max_control> 15971 <!--The set of points defining the path of the muscle.--> 15972 <GeometryPath> 15973 <PathPointSet> 15974 <objects> 15975 <PathPoint name="PECM2_l-P1"> 15976 <location> 0.01274 -0.04289 -0.00785</location> 15977 <body>humerus_l</body> 15978 </PathPoint> 15979 <PathPoint name="PECM2_l-P2"> 15980 <location> 0.01453 -0.04568 0.00687</location> 15981 <body>humerus_l</body> 15982 </PathPoint> 15983 <PathPoint name="PECM2_l-P3"> 15984 <location> 0.02018 -0.04165 -0.1269</location> 15985 <body>thorax</body> 15986 </PathPoint> 15987 <PathPoint name="PECM2_l-P4"> 15988 <location> 0.03091 -0.03922 -0.09705</location> 15989 <body>thorax</body> 15990 </PathPoint> 15991 <PathPoint name="PECM2_l-P5"> 15992 <location> 0.02769 -0.04498 -0.02271</location> 15993 <body>thorax</body> 15994 </PathPoint> 15995 </objects> 15996 <groups /> 15997 </PathPointSet> 15998 <VisibleObject> 15999 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16000 <GeometrySet> 16001 <objects /> 16002 <groups /> 16003 </GeometrySet> 16004 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16005 <scale_factors> 1 1 1</scale_factors> 16006 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16007 <transform> -0 0 -0 0 0 0</transform> 16008 <!--Whether to show a coordinate frame--> 16009 <show_axes>false</show_axes> 16010 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16011 <display_preference>4</display_preference> 16012 </VisibleObject> 16013 <PathWrapSet> 16014 <objects /> 16015 <groups /> 16016 </PathWrapSet> 16017 </GeometryPath> 16018 <!--The maximum force this actuator can produce.--> 16019 <optimal_force>1</optimal_force> 16020 <!--Maximum isometric force that the fibers can generate--> 16021 <max_isometric_force>515.41</max_isometric_force> 16022 <!--Optimal length of the muscle fibers--> 16023 <optimal_fiber_length>0.1385</optimal_fiber_length> 16024 <!--Resting length of the tendon--> 16025 <tendon_slack_length>0.089</tendon_slack_length> 16026 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16027 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 16028 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16029 <max_contraction_velocity>0</max_contraction_velocity> 16030 <!--Scale factor for normalizing time--> 16031 <time_scale>0.1</time_scale> 16032 <!--Parameter used in time constant of ramping up of muscle force--> 16033 <activation1>0.01</activation1> 16034 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16035 <activation2>0.04</activation2> 16036 <!--Damping factor related to maximum contraction velocity--> 16037 <damping>0.05</damping> 16038 <!--Function representing force-length behavior of tendon--> 16039 <SimmSpline name="tendon_force_length_curve"> 16040 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16041 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16042 </SimmSpline> 16043 <!--Function representing active force-length behavior of muscle fibers--> 16044 <SimmSpline name="active_force_length_curve"> 16045 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16046 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16047 </SimmSpline> 16048 <!--Function representing passive force-length behavior of muscle fibers--> 16049 <SimmSpline name="passive_force_length_curve"> 16050 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16051 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16052 </SimmSpline> 16053 </Schutte1993Muscle_Deprecated> 16054 <Schutte1993Muscle_Deprecated name="PECM3_l"> 16055 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16056 <isDisabled>false</isDisabled> 16057 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16058 <min_control>0</min_control> 16059 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16060 <max_control>1</max_control> 16061 <!--The set of points defining the path of the muscle.--> 16062 <GeometryPath> 16063 <PathPointSet> 16064 <objects> 16065 <PathPoint name="PECM3_l-P1"> 16066 <location> 0.01269 -0.04375 -0.0075</location> 16067 <body>humerus_l</body> 16068 </PathPoint> 16069 <PathPoint name="PECM3_l-P2"> 16070 <location> 0.01243 -0.05157 0.01807</location> 16071 <body>humerus_l</body> 16072 </PathPoint> 16073 <PathPoint name="PECM3_l-P3"> 16074 <location> 0.02984 -0.071 -0.1151</location> 16075 <body>thorax</body> 16076 </PathPoint> 16077 <PathPoint name="PECM3_l-P4"> 16078 <location> 0.0525 -0.08417 -0.08935</location> 16079 <body>thorax</body> 16080 </PathPoint> 16081 <PathPoint name="PECM3_l-P5"> 16082 <location> 0.05724 -0.11654 -0.03787</location> 16083 <body>thorax</body> 16084 </PathPoint> 16085 </objects> 16086 <groups /> 16087 </PathPointSet> 16088 <VisibleObject> 16089 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16090 <GeometrySet> 16091 <objects /> 16092 <groups /> 16093 </GeometrySet> 16094 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16095 <scale_factors> 1 1 1</scale_factors> 16096 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16097 <transform> -0 0 -0 0 0 0</transform> 16098 <!--Whether to show a coordinate frame--> 16099 <show_axes>false</show_axes> 16100 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16101 <display_preference>4</display_preference> 16102 </VisibleObject> 16103 <PathWrapSet> 16104 <objects /> 16105 <groups /> 16106 </PathWrapSet> 16107 </GeometryPath> 16108 <!--The maximum force this actuator can produce.--> 16109 <optimal_force>1</optimal_force> 16110 <!--Maximum isometric force that the fibers can generate--> 16111 <max_isometric_force>390.55</max_isometric_force> 16112 <!--Optimal length of the muscle fibers--> 16113 <optimal_fiber_length>0.1385</optimal_fiber_length> 16114 <!--Resting length of the tendon--> 16115 <tendon_slack_length>0.132</tendon_slack_length> 16116 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16117 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 16118 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16119 <max_contraction_velocity>0</max_contraction_velocity> 16120 <!--Scale factor for normalizing time--> 16121 <time_scale>0.1</time_scale> 16122 <!--Parameter used in time constant of ramping up of muscle force--> 16123 <activation1>0.01</activation1> 16124 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16125 <activation2>0.04</activation2> 16126 <!--Damping factor related to maximum contraction velocity--> 16127 <damping>0.05</damping> 16128 <!--Function representing force-length behavior of tendon--> 16129 <SimmSpline name="tendon_force_length_curve"> 16130 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16131 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16132 </SimmSpline> 16133 <!--Function representing active force-length behavior of muscle fibers--> 16134 <SimmSpline name="active_force_length_curve"> 16135 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16136 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16137 </SimmSpline> 16138 <!--Function representing passive force-length behavior of muscle fibers--> 16139 <SimmSpline name="passive_force_length_curve"> 16140 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16141 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16142 </SimmSpline> 16143 </Schutte1993Muscle_Deprecated> 16144 <Schutte1993Muscle_Deprecated name="LAT1_l"> 16145 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16146 <isDisabled>false</isDisabled> 16147 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16148 <min_control>0</min_control> 16149 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16150 <max_control>1</max_control> 16151 <!--The set of points defining the path of the muscle.--> 16152 <GeometryPath> 16153 <PathPointSet> 16154 <objects> 16155 <PathPoint name="LAT1_l-P1"> 16156 <location> 0.0105 -0.03415 0.00653</location> 16157 <body>humerus_l</body> 16158 </PathPoint> 16159 <PathPoint name="LAT1_l-P2"> 16160 <location> -0.07947 -0.08581 0.02188</location> 16161 <body>scapula_l</body> 16162 </PathPoint> 16163 <PathPoint name="LAT1_l-P3"> 16164 <location> -0.11215 -0.09779 0.05322</location> 16165 <body>scapula_l</body> 16166 </PathPoint> 16167 <PathPoint name="LAT1_l-P4"> 16168 <location> -0.11828 -0.10118 -0.03316</location> 16169 <body>thorax</body> 16170 </PathPoint> 16171 <PathPoint name="LAT1_l-P5"> 16172 <location> -0.09578 -0.11724 -0.00882</location> 16173 <body>thorax</body> 16174 </PathPoint> 16175 </objects> 16176 <groups /> 16177 </PathPointSet> 16178 <VisibleObject> 16179 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16180 <GeometrySet> 16181 <objects /> 16182 <groups /> 16183 </GeometrySet> 16184 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16185 <scale_factors> 1 1 1</scale_factors> 16186 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16187 <transform> -0 0 -0 0 0 0</transform> 16188 <!--Whether to show a coordinate frame--> 16189 <show_axes>false</show_axes> 16190 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16191 <display_preference>4</display_preference> 16192 </VisibleObject> 16193 <PathWrapSet> 16194 <objects /> 16195 <groups /> 16196 </PathWrapSet> 16197 </GeometryPath> 16198 <!--The maximum force this actuator can produce.--> 16199 <optimal_force>1</optimal_force> 16200 <!--Maximum isometric force that the fibers can generate--> 16201 <max_isometric_force>389.1</max_isometric_force> 16202 <!--Optimal length of the muscle fibers--> 16203 <optimal_fiber_length>0.254</optimal_fiber_length> 16204 <!--Resting length of the tendon--> 16205 <tendon_slack_length>0.12</tendon_slack_length> 16206 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16207 <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal> 16208 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16209 <max_contraction_velocity>0</max_contraction_velocity> 16210 <!--Scale factor for normalizing time--> 16211 <time_scale>0.1</time_scale> 16212 <!--Parameter used in time constant of ramping up of muscle force--> 16213 <activation1>0.01</activation1> 16214 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16215 <activation2>0.04</activation2> 16216 <!--Damping factor related to maximum contraction velocity--> 16217 <damping>0.05</damping> 16218 <!--Function representing force-length behavior of tendon--> 16219 <SimmSpline name="tendon_force_length_curve"> 16220 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16221 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16222 </SimmSpline> 16223 <!--Function representing active force-length behavior of muscle fibers--> 16224 <SimmSpline name="active_force_length_curve"> 16225 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16226 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16227 </SimmSpline> 16228 <!--Function representing passive force-length behavior of muscle fibers--> 16229 <SimmSpline name="passive_force_length_curve"> 16230 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16231 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16232 </SimmSpline> 16233 </Schutte1993Muscle_Deprecated> 16234 <Schutte1993Muscle_Deprecated name="LAT2_l"> 16235 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16236 <isDisabled>false</isDisabled> 16237 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16238 <min_control>0</min_control> 16239 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16240 <max_control>1</max_control> 16241 <!--The set of points defining the path of the muscle.--> 16242 <GeometryPath> 16243 <PathPointSet> 16244 <objects> 16245 <PathPoint name="LAT2_l-P1"> 16246 <location> 0.00968 -0.04071 0.00611</location> 16247 <body>humerus_l</body> 16248 </PathPoint> 16249 <PathPoint name="LAT2_l-P2"> 16250 <location> -0.0764 -0.1022 0.01808</location> 16251 <body>scapula_l</body> 16252 </PathPoint> 16253 <PathPoint name="LAT2_l-P3"> 16254 <location> -0.10054 -0.13969 0.05258</location> 16255 <body>scapula_l</body> 16256 </PathPoint> 16257 <PathPoint name="LAT2_l-P4"> 16258 <location> -0.10992 -0.16908 -0.02878</location> 16259 <body>thorax</body> 16260 </PathPoint> 16261 <PathPoint name="LAT2_l-P5"> 16262 <location> -0.07186 -0.18818 -0.00815</location> 16263 <body>thorax</body> 16264 </PathPoint> 16265 </objects> 16266 <groups /> 16267 </PathPointSet> 16268 <VisibleObject> 16269 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16270 <GeometrySet> 16271 <objects /> 16272 <groups /> 16273 </GeometrySet> 16274 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16275 <scale_factors> 1 1 1</scale_factors> 16276 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16277 <transform> -0 0 -0 0 0 0</transform> 16278 <!--Whether to show a coordinate frame--> 16279 <show_axes>false</show_axes> 16280 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16281 <display_preference>4</display_preference> 16282 </VisibleObject> 16283 <PathWrapSet> 16284 <objects /> 16285 <groups /> 16286 </PathWrapSet> 16287 </GeometryPath> 16288 <!--The maximum force this actuator can produce.--> 16289 <optimal_force>1</optimal_force> 16290 <!--Maximum isometric force that the fibers can generate--> 16291 <max_isometric_force>389.1</max_isometric_force> 16292 <!--Optimal length of the muscle fibers--> 16293 <optimal_fiber_length>0.2324</optimal_fiber_length> 16294 <!--Resting length of the tendon--> 16295 <tendon_slack_length>0.1765</tendon_slack_length> 16296 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16297 <pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal> 16298 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16299 <max_contraction_velocity>0</max_contraction_velocity> 16300 <!--Scale factor for normalizing time--> 16301 <time_scale>0.1</time_scale> 16302 <!--Parameter used in time constant of ramping up of muscle force--> 16303 <activation1>0.01</activation1> 16304 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16305 <activation2>0.04</activation2> 16306 <!--Damping factor related to maximum contraction velocity--> 16307 <damping>0.05</damping> 16308 <!--Function representing force-length behavior of tendon--> 16309 <SimmSpline name="tendon_force_length_curve"> 16310 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16311 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16312 </SimmSpline> 16313 <!--Function representing active force-length behavior of muscle fibers--> 16314 <SimmSpline name="active_force_length_curve"> 16315 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16316 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16317 </SimmSpline> 16318 <!--Function representing passive force-length behavior of muscle fibers--> 16319 <SimmSpline name="passive_force_length_curve"> 16320 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16321 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16322 </SimmSpline> 16323 </Schutte1993Muscle_Deprecated> 16324 <Schutte1993Muscle_Deprecated name="LAT3_l"> 16325 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16326 <isDisabled>false</isDisabled> 16327 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16328 <min_control>0</min_control> 16329 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16330 <max_control>1</max_control> 16331 <!--The set of points defining the path of the muscle.--> 16332 <GeometryPath> 16333 <PathPointSet> 16334 <objects> 16335 <PathPoint name="LAT3_l-P1"> 16336 <location> 0.01208 -0.03922 0.00416</location> 16337 <body>humerus_l</body> 16338 </PathPoint> 16339 <PathPoint name="LAT3_l-P2"> 16340 <location> -0.05678 -0.13303 0.0213</location> 16341 <body>scapula_l</body> 16342 </PathPoint> 16343 <PathPoint name="LAT3_l-P3"> 16344 <location> -0.09449 -0.17553 0.04606</location> 16345 <body>scapula_l</body> 16346 </PathPoint> 16347 <PathPoint name="LAT3_l-P4"> 16348 <location> -0.11157 -0.19387 -0.05532</location> 16349 <body>thorax</body> 16350 </PathPoint> 16351 <PathPoint name="LAT3_l-P5"> 16352 <location> -0.07117 -0.24858 -0.00907</location> 16353 <body>thorax</body> 16354 </PathPoint> 16355 </objects> 16356 <groups /> 16357 </PathPointSet> 16358 <VisibleObject> 16359 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16360 <GeometrySet> 16361 <objects /> 16362 <groups /> 16363 </GeometrySet> 16364 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16365 <scale_factors> 1 1 1</scale_factors> 16366 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16367 <transform> -0 0 -0 0 0 0</transform> 16368 <!--Whether to show a coordinate frame--> 16369 <show_axes>false</show_axes> 16370 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16371 <display_preference>4</display_preference> 16372 </VisibleObject> 16373 <PathWrapSet> 16374 <objects /> 16375 <groups /> 16376 </PathWrapSet> 16377 </GeometryPath> 16378 <!--The maximum force this actuator can produce.--> 16379 <optimal_force>1</optimal_force> 16380 <!--Maximum isometric force that the fibers can generate--> 16381 <max_isometric_force>281.66</max_isometric_force> 16382 <!--Optimal length of the muscle fibers--> 16383 <optimal_fiber_length>0.2789</optimal_fiber_length> 16384 <!--Resting length of the tendon--> 16385 <tendon_slack_length>0.1403</tendon_slack_length> 16386 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16387 <pennation_angle_at_optimal>0.36651914</pennation_angle_at_optimal> 16388 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16389 <max_contraction_velocity>0</max_contraction_velocity> 16390 <!--Scale factor for normalizing time--> 16391 <time_scale>0.1</time_scale> 16392 <!--Parameter used in time constant of ramping up of muscle force--> 16393 <activation1>0.01</activation1> 16394 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16395 <activation2>0.04</activation2> 16396 <!--Damping factor related to maximum contraction velocity--> 16397 <damping>0.05</damping> 16398 <!--Function representing force-length behavior of tendon--> 16399 <SimmSpline name="tendon_force_length_curve"> 16400 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16401 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16402 </SimmSpline> 16403 <!--Function representing active force-length behavior of muscle fibers--> 16404 <SimmSpline name="active_force_length_curve"> 16405 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16406 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16407 </SimmSpline> 16408 <!--Function representing passive force-length behavior of muscle fibers--> 16409 <SimmSpline name="passive_force_length_curve"> 16410 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16411 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16412 </SimmSpline> 16413 </Schutte1993Muscle_Deprecated> 16414 <Schutte1993Muscle_Deprecated name="CORB_l"> 16415 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16416 <isDisabled>false</isDisabled> 16417 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16418 <min_control>0</min_control> 16419 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16420 <max_control>1</max_control> 16421 <!--The set of points defining the path of the muscle.--> 16422 <GeometryPath> 16423 <PathPointSet> 16424 <objects> 16425 <PathPoint name="CORB_l-P1"> 16426 <location> 0.0125 -0.04127 0.02652</location> 16427 <body>scapula_l</body> 16428 </PathPoint> 16429 <PathPoint name="CORB_l-P2"> 16430 <location> 0.007 -0.0594 0.0091</location> 16431 <body>scapula_l</body> 16432 </PathPoint> 16433 <PathPoint name="CORB_l-P3"> 16434 <location> 0.00743 -0.15048 0.00782</location> 16435 <body>humerus_l</body> 16436 </PathPoint> 16437 </objects> 16438 <groups /> 16439 </PathPointSet> 16440 <VisibleObject> 16441 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16442 <GeometrySet> 16443 <objects /> 16444 <groups /> 16445 </GeometrySet> 16446 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16447 <scale_factors> 1 1 1</scale_factors> 16448 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16449 <transform> -0 0 -0 0 0 0</transform> 16450 <!--Whether to show a coordinate frame--> 16451 <show_axes>false</show_axes> 16452 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16453 <display_preference>4</display_preference> 16454 </VisibleObject> 16455 <PathWrapSet> 16456 <objects /> 16457 <groups /> 16458 </PathWrapSet> 16459 </GeometryPath> 16460 <!--The maximum force this actuator can produce.--> 16461 <optimal_force>1</optimal_force> 16462 <!--Maximum isometric force that the fibers can generate--> 16463 <max_isometric_force>242.46</max_isometric_force> 16464 <!--Optimal length of the muscle fibers--> 16465 <optimal_fiber_length>0.0932</optimal_fiber_length> 16466 <!--Resting length of the tendon--> 16467 <tendon_slack_length>0.097</tendon_slack_length> 16468 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16469 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 16470 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16471 <max_contraction_velocity>0</max_contraction_velocity> 16472 <!--Scale factor for normalizing time--> 16473 <time_scale>0.1</time_scale> 16474 <!--Parameter used in time constant of ramping up of muscle force--> 16475 <activation1>0.01</activation1> 16476 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16477 <activation2>0.04</activation2> 16478 <!--Damping factor related to maximum contraction velocity--> 16479 <damping>0.05</damping> 16480 <!--Function representing force-length behavior of tendon--> 16481 <SimmSpline name="tendon_force_length_curve"> 16482 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16483 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16484 </SimmSpline> 16485 <!--Function representing active force-length behavior of muscle fibers--> 16486 <SimmSpline name="active_force_length_curve"> 16487 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16488 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16489 </SimmSpline> 16490 <!--Function representing passive force-length behavior of muscle fibers--> 16491 <SimmSpline name="passive_force_length_curve"> 16492 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16493 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16494 </SimmSpline> 16495 </Schutte1993Muscle_Deprecated> 16496 <Schutte1993Muscle_Deprecated name="TRIlong_l"> 16497 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16498 <isDisabled>false</isDisabled> 16499 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16500 <min_control>0</min_control> 16501 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16502 <max_control>1</max_control> 16503 <!--The set of points defining the path of the muscle.--> 16504 <GeometryPath> 16505 <PathPointSet> 16506 <objects> 16507 <PathPoint name="TRIlong_l-P1"> 16508 <location> -0.04565 -0.04073 0.01377</location> 16509 <body>scapula_l</body> 16510 </PathPoint> 16511 <PathPoint name="TRIlong_l-P2"> 16512 <location> -0.02714 -0.11441 0.00664</location> 16513 <body>humerus_l</body> 16514 </PathPoint> 16515 <PathPoint name="TRIlong_l-P3"> 16516 <location> -0.03184 -0.22637 0.01217</location> 16517 <body>humerus_l</body> 16518 </PathPoint> 16519 <PathPoint name="TRIlong_l-P4"> 16520 <location> -0.01743 -0.26757 0.01208</location> 16521 <body>humerus_l</body> 16522 </PathPoint> 16523 <PathPoint name="TRIlong_l-P5"> 16524 <location> -0.0219 0.01046 0.00078</location> 16525 <body>ulna_l</body> 16526 </PathPoint> 16527 </objects> 16528 <groups /> 16529 </PathPointSet> 16530 <VisibleObject> 16531 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16532 <GeometrySet> 16533 <objects /> 16534 <groups /> 16535 </GeometrySet> 16536 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16537 <scale_factors> 1 1 1</scale_factors> 16538 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16539 <transform> -0 0 -0 0 0 0</transform> 16540 <!--Whether to show a coordinate frame--> 16541 <show_axes>false</show_axes> 16542 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16543 <display_preference>4</display_preference> 16544 </VisibleObject> 16545 <PathWrapSet> 16546 <objects /> 16547 <groups /> 16548 </PathWrapSet> 16549 </GeometryPath> 16550 <!--The maximum force this actuator can produce.--> 16551 <optimal_force>1</optimal_force> 16552 <!--Maximum isometric force that the fibers can generate--> 16553 <max_isometric_force>798.52</max_isometric_force> 16554 <!--Optimal length of the muscle fibers--> 16555 <optimal_fiber_length>0.134</optimal_fiber_length> 16556 <!--Resting length of the tendon--> 16557 <tendon_slack_length>0.143</tendon_slack_length> 16558 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16559 <pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal> 16560 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16561 <max_contraction_velocity>0</max_contraction_velocity> 16562 <!--Scale factor for normalizing time--> 16563 <time_scale>0.1</time_scale> 16564 <!--Parameter used in time constant of ramping up of muscle force--> 16565 <activation1>0.01</activation1> 16566 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16567 <activation2>0.04</activation2> 16568 <!--Damping factor related to maximum contraction velocity--> 16569 <damping>0.05</damping> 16570 <!--Function representing force-length behavior of tendon--> 16571 <SimmSpline name="tendon_force_length_curve"> 16572 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16573 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16574 </SimmSpline> 16575 <!--Function representing active force-length behavior of muscle fibers--> 16576 <SimmSpline name="active_force_length_curve"> 16577 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16578 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16579 </SimmSpline> 16580 <!--Function representing passive force-length behavior of muscle fibers--> 16581 <SimmSpline name="passive_force_length_curve"> 16582 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16583 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16584 </SimmSpline> 16585 </Schutte1993Muscle_Deprecated> 16586 <Schutte1993Muscle_Deprecated name="TRIlat_l"> 16587 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16588 <isDisabled>false</isDisabled> 16589 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16590 <min_control>0</min_control> 16591 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16592 <max_control>1</max_control> 16593 <!--The set of points defining the path of the muscle.--> 16594 <GeometryPath> 16595 <PathPointSet> 16596 <objects> 16597 <PathPoint name="TRIlat_l-P1"> 16598 <location> -0.00599 -0.12646 -0.00428</location> 16599 <body>humerus_l</body> 16600 </PathPoint> 16601 <PathPoint name="TRIlat_l-P2"> 16602 <location> -0.02344 -0.14528 -0.00928</location> 16603 <body>humerus_l</body> 16604 </PathPoint> 16605 <PathPoint name="TRIlat_l-P3"> 16606 <location> -0.03184 -0.22637 0.01217</location> 16607 <body>humerus_l</body> 16608 </PathPoint> 16609 <PathPoint name="TRIlat_l-P4"> 16610 <location> -0.01743 -0.26757 0.01208</location> 16611 <body>humerus_l</body> 16612 </PathPoint> 16613 <PathPoint name="TRIlat_l-P5"> 16614 <location> -0.0219 0.01046 0.00078</location> 16615 <body>ulna_l</body> 16616 </PathPoint> 16617 </objects> 16618 <groups /> 16619 </PathPointSet> 16620 <VisibleObject> 16621 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16622 <GeometrySet> 16623 <objects /> 16624 <groups /> 16625 </GeometrySet> 16626 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16627 <scale_factors> 1 1 1</scale_factors> 16628 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16629 <transform> -0 0 -0 0 0 0</transform> 16630 <!--Whether to show a coordinate frame--> 16631 <show_axes>false</show_axes> 16632 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16633 <display_preference>4</display_preference> 16634 </VisibleObject> 16635 <PathWrapSet> 16636 <objects /> 16637 <groups /> 16638 </PathWrapSet> 16639 </GeometryPath> 16640 <!--The maximum force this actuator can produce.--> 16641 <optimal_force>1</optimal_force> 16642 <!--Maximum isometric force that the fibers can generate--> 16643 <max_isometric_force>624.3</max_isometric_force> 16644 <!--Optimal length of the muscle fibers--> 16645 <optimal_fiber_length>0.1138</optimal_fiber_length> 16646 <!--Resting length of the tendon--> 16647 <tendon_slack_length>0.098</tendon_slack_length> 16648 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16649 <pennation_angle_at_optimal>0.15707963</pennation_angle_at_optimal> 16650 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16651 <max_contraction_velocity>0</max_contraction_velocity> 16652 <!--Scale factor for normalizing time--> 16653 <time_scale>0.1</time_scale> 16654 <!--Parameter used in time constant of ramping up of muscle force--> 16655 <activation1>0.01</activation1> 16656 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16657 <activation2>0.04</activation2> 16658 <!--Damping factor related to maximum contraction velocity--> 16659 <damping>0.05</damping> 16660 <!--Function representing force-length behavior of tendon--> 16661 <SimmSpline name="tendon_force_length_curve"> 16662 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16663 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16664 </SimmSpline> 16665 <!--Function representing active force-length behavior of muscle fibers--> 16666 <SimmSpline name="active_force_length_curve"> 16667 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16668 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16669 </SimmSpline> 16670 <!--Function representing passive force-length behavior of muscle fibers--> 16671 <SimmSpline name="passive_force_length_curve"> 16672 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16673 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16674 </SimmSpline> 16675 </Schutte1993Muscle_Deprecated> 16676 <Schutte1993Muscle_Deprecated name="TRImed_l"> 16677 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16678 <isDisabled>false</isDisabled> 16679 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16680 <min_control>0</min_control> 16681 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16682 <max_control>1</max_control> 16683 <!--The set of points defining the path of the muscle.--> 16684 <GeometryPath> 16685 <PathPointSet> 16686 <objects> 16687 <PathPoint name="TRImed_l-P1"> 16688 <location> -0.00838 -0.13695 0.00906</location> 16689 <body>humerus_l</body> 16690 </PathPoint> 16691 <PathPoint name="TRImed_l-P2"> 16692 <location> -0.02601 -0.15139 0.0108</location> 16693 <body>humerus_l</body> 16694 </PathPoint> 16695 <PathPoint name="TRImed_l-P3"> 16696 <location> -0.03184 -0.22637 0.01217</location> 16697 <body>humerus_l</body> 16698 </PathPoint> 16699 <PathPoint name="TRImed_l-P4"> 16700 <location> -0.01743 -0.26757 0.01208</location> 16701 <body>humerus_l</body> 16702 </PathPoint> 16703 <PathPoint name="TRImed_l-P5"> 16704 <location> -0.0219 0.01046 0.00078</location> 16705 <body>ulna_l</body> 16706 </PathPoint> 16707 </objects> 16708 <groups /> 16709 </PathPointSet> 16710 <VisibleObject> 16711 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16712 <GeometrySet> 16713 <objects /> 16714 <groups /> 16715 </GeometrySet> 16716 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16717 <scale_factors> 1 1 1</scale_factors> 16718 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16719 <transform> -0 0 -0 0 0 0</transform> 16720 <!--Whether to show a coordinate frame--> 16721 <show_axes>false</show_axes> 16722 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16723 <display_preference>4</display_preference> 16724 </VisibleObject> 16725 <PathWrapSet> 16726 <objects /> 16727 <groups /> 16728 </PathWrapSet> 16729 </GeometryPath> 16730 <!--The maximum force this actuator can produce.--> 16731 <optimal_force>1</optimal_force> 16732 <!--Maximum isometric force that the fibers can generate--> 16733 <max_isometric_force>624.3</max_isometric_force> 16734 <!--Optimal length of the muscle fibers--> 16735 <optimal_fiber_length>0.1138</optimal_fiber_length> 16736 <!--Resting length of the tendon--> 16737 <tendon_slack_length>0.0908</tendon_slack_length> 16738 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16739 <pennation_angle_at_optimal>0.15707963</pennation_angle_at_optimal> 16740 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16741 <max_contraction_velocity>0</max_contraction_velocity> 16742 <!--Scale factor for normalizing time--> 16743 <time_scale>0.1</time_scale> 16744 <!--Parameter used in time constant of ramping up of muscle force--> 16745 <activation1>0.01</activation1> 16746 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16747 <activation2>0.04</activation2> 16748 <!--Damping factor related to maximum contraction velocity--> 16749 <damping>0.05</damping> 16750 <!--Function representing force-length behavior of tendon--> 16751 <SimmSpline name="tendon_force_length_curve"> 16752 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16753 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16754 </SimmSpline> 16755 <!--Function representing active force-length behavior of muscle fibers--> 16756 <SimmSpline name="active_force_length_curve"> 16757 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16758 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16759 </SimmSpline> 16760 <!--Function representing passive force-length behavior of muscle fibers--> 16761 <SimmSpline name="passive_force_length_curve"> 16762 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16763 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16764 </SimmSpline> 16765 </Schutte1993Muscle_Deprecated> 16766 <Schutte1993Muscle_Deprecated name="ANC_l"> 16767 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16768 <isDisabled>false</isDisabled> 16769 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16770 <min_control>0</min_control> 16771 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16772 <max_control>1</max_control> 16773 <!--The set of points defining the path of the muscle.--> 16774 <GeometryPath> 16775 <PathPointSet> 16776 <objects> 16777 <PathPoint name="ANC_l-P1"> 16778 <location> -0.00744 -0.28359 -0.00979</location> 16779 <body>humerus_l</body> 16780 </PathPoint> 16781 <PathPoint name="ANC_l-P2"> 16782 <location> -0.02532 -0.00124 -0.006</location> 16783 <body>ulna_l</body> 16784 </PathPoint> 16785 </objects> 16786 <groups /> 16787 </PathPointSet> 16788 <VisibleObject> 16789 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16790 <GeometrySet> 16791 <objects /> 16792 <groups /> 16793 </GeometrySet> 16794 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16795 <scale_factors> 1 1 1</scale_factors> 16796 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16797 <transform> -0 0 -0 0 0 0</transform> 16798 <!--Whether to show a coordinate frame--> 16799 <show_axes>false</show_axes> 16800 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16801 <display_preference>4</display_preference> 16802 </VisibleObject> 16803 <PathWrapSet> 16804 <objects /> 16805 <groups /> 16806 </PathWrapSet> 16807 </GeometryPath> 16808 <!--The maximum force this actuator can produce.--> 16809 <optimal_force>1</optimal_force> 16810 <!--Maximum isometric force that the fibers can generate--> 16811 <max_isometric_force>350</max_isometric_force> 16812 <!--Optimal length of the muscle fibers--> 16813 <optimal_fiber_length>0.027</optimal_fiber_length> 16814 <!--Resting length of the tendon--> 16815 <tendon_slack_length>0.018</tendon_slack_length> 16816 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16817 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 16818 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16819 <max_contraction_velocity>0</max_contraction_velocity> 16820 <!--Scale factor for normalizing time--> 16821 <time_scale>0.1</time_scale> 16822 <!--Parameter used in time constant of ramping up of muscle force--> 16823 <activation1>0.01</activation1> 16824 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16825 <activation2>0.04</activation2> 16826 <!--Damping factor related to maximum contraction velocity--> 16827 <damping>0.05</damping> 16828 <!--Function representing force-length behavior of tendon--> 16829 <SimmSpline name="tendon_force_length_curve"> 16830 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16831 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16832 </SimmSpline> 16833 <!--Function representing active force-length behavior of muscle fibers--> 16834 <SimmSpline name="active_force_length_curve"> 16835 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16836 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16837 </SimmSpline> 16838 <!--Function representing passive force-length behavior of muscle fibers--> 16839 <SimmSpline name="passive_force_length_curve"> 16840 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16841 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16842 </SimmSpline> 16843 </Schutte1993Muscle_Deprecated> 16844 <Schutte1993Muscle_Deprecated name="SUP_l"> 16845 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16846 <isDisabled>false</isDisabled> 16847 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16848 <min_control>0</min_control> 16849 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16850 <max_control>1</max_control> 16851 <!--The set of points defining the path of the muscle.--> 16852 <GeometryPath> 16853 <PathPointSet> 16854 <objects> 16855 <PathPoint name="SUP_l-P1"> 16856 <location> 0.00996 -0.06096 -0.00075</location> 16857 <body>radius_l</body> 16858 </PathPoint> 16859 <PathPoint name="SUP_l-P2"> 16860 <location> 0.01201 -0.0517 0.00107</location> 16861 <body>radius_l</body> 16862 </PathPoint> 16863 <PathPoint name="SUP_l-P3"> 16864 <location> -0.0136 -0.03384 -0.02013</location> 16865 <body>ulna_l</body> 16866 </PathPoint> 16867 </objects> 16868 <groups /> 16869 </PathPointSet> 16870 <VisibleObject> 16871 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16872 <GeometrySet> 16873 <objects /> 16874 <groups /> 16875 </GeometrySet> 16876 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16877 <scale_factors> 1 1 1</scale_factors> 16878 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16879 <transform> -0 0 -0 0 0 0</transform> 16880 <!--Whether to show a coordinate frame--> 16881 <show_axes>false</show_axes> 16882 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16883 <display_preference>4</display_preference> 16884 </VisibleObject> 16885 <PathWrapSet> 16886 <objects /> 16887 <groups /> 16888 </PathWrapSet> 16889 </GeometryPath> 16890 <!--The maximum force this actuator can produce.--> 16891 <optimal_force>1</optimal_force> 16892 <!--Maximum isometric force that the fibers can generate--> 16893 <max_isometric_force>476</max_isometric_force> 16894 <!--Optimal length of the muscle fibers--> 16895 <optimal_fiber_length>0.033</optimal_fiber_length> 16896 <!--Resting length of the tendon--> 16897 <tendon_slack_length>0.028</tendon_slack_length> 16898 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 16899 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 16900 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 16901 <max_contraction_velocity>0</max_contraction_velocity> 16902 <!--Scale factor for normalizing time--> 16903 <time_scale>0.1</time_scale> 16904 <!--Parameter used in time constant of ramping up of muscle force--> 16905 <activation1>0.01</activation1> 16906 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 16907 <activation2>0.04</activation2> 16908 <!--Damping factor related to maximum contraction velocity--> 16909 <damping>0.05</damping> 16910 <!--Function representing force-length behavior of tendon--> 16911 <SimmSpline name="tendon_force_length_curve"> 16912 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 16913 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 16914 </SimmSpline> 16915 <!--Function representing active force-length behavior of muscle fibers--> 16916 <SimmSpline name="active_force_length_curve"> 16917 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 16918 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 16919 </SimmSpline> 16920 <!--Function representing passive force-length behavior of muscle fibers--> 16921 <SimmSpline name="passive_force_length_curve"> 16922 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 16923 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 16924 </SimmSpline> 16925 </Schutte1993Muscle_Deprecated> 16926 <Schutte1993Muscle_Deprecated name="BIClong_l"> 16927 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 16928 <isDisabled>false</isDisabled> 16929 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 16930 <min_control>0</min_control> 16931 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 16932 <max_control>1</max_control> 16933 <!--The set of points defining the path of the muscle.--> 16934 <GeometryPath> 16935 <PathPointSet> 16936 <objects> 16937 <PathPoint name="BIClong_l-P1"> 16938 <location> -0.03123 -0.02353 0.01305</location> 16939 <body>scapula_l</body> 16940 </PathPoint> 16941 <PathPoint name="BIClong_l-P2"> 16942 <location> -0.02094 -0.01309 0.00461</location> 16943 <body>scapula_l</body> 16944 </PathPoint> 16945 <PathPoint name="BIClong_l-P3"> 16946 <location> 0.02131 0.01793 -0.01028</location> 16947 <body>humerus_l</body> 16948 </PathPoint> 16949 <PathPoint name="BIClong_l-P4"> 16950 <location> 0.02378 -0.00511 -0.01201</location> 16951 <body>humerus_l</body> 16952 </PathPoint> 16953 <PathPoint name="BIClong_l-P5"> 16954 <location> 0.01345 -0.02827 -0.00136</location> 16955 <body>humerus_l</body> 16956 </PathPoint> 16957 <PathPoint name="BIClong_l-P6"> 16958 <location> 0.01068 -0.07736 0.00165</location> 16959 <body>humerus_l</body> 16960 </PathPoint> 16961 <PathPoint name="BIClong_l-P7"> 16962 <location> 0.01703 -0.12125 -0.00024</location> 16963 <body>humerus_l</body> 16964 </PathPoint> 16965 <PathPoint name="BIClong_l-P8"> 16966 <location> 0.0228 -0.1754 0.0063</location> 16967 <body>humerus_l</body> 16968 </PathPoint> 16969 <ConditionalPathPoint name="BIClong_l-P10"> 16970 <location> -0.00079 0.02719 -0.00657</location> 16971 <body>radius_l</body> 16972 <range> -0.638791 1.5708</range> 16973 <coordinate>pro_sup_l</coordinate> 16974 </ConditionalPathPoint> 16975 <PathPoint name="BIClong_l-P10"> 16976 <location> -0.00505 0.00636 -0.01184</location> 16977 <body>radius_l</body> 16978 </PathPoint> 16979 <PathPoint name="BIClong_l-P11"> 16980 <location> -0.002 -0.0375 0.002</location> 16981 <body>radius_l</body> 16982 </PathPoint> 16983 </objects> 16984 <groups /> 16985 </PathPointSet> 16986 <VisibleObject> 16987 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 16988 <GeometrySet> 16989 <objects /> 16990 <groups /> 16991 </GeometrySet> 16992 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 16993 <scale_factors> 1 1 1</scale_factors> 16994 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 16995 <transform> -0 0 -0 0 0 0</transform> 16996 <!--Whether to show a coordinate frame--> 16997 <show_axes>false</show_axes> 16998 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 16999 <display_preference>4</display_preference> 17000 </VisibleObject> 17001 <PathWrapSet> 17002 <objects /> 17003 <groups /> 17004 </PathWrapSet> 17005 </GeometryPath> 17006 <!--The maximum force this actuator can produce.--> 17007 <optimal_force>1</optimal_force> 17008 <!--Maximum isometric force that the fibers can generate--> 17009 <max_isometric_force>624.3</max_isometric_force> 17010 <!--Optimal length of the muscle fibers--> 17011 <optimal_fiber_length>0.1157</optimal_fiber_length> 17012 <!--Resting length of the tendon--> 17013 <tendon_slack_length>0.2723</tendon_slack_length> 17014 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17015 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 17016 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17017 <max_contraction_velocity>0</max_contraction_velocity> 17018 <!--Scale factor for normalizing time--> 17019 <time_scale>0.1</time_scale> 17020 <!--Parameter used in time constant of ramping up of muscle force--> 17021 <activation1>0.01</activation1> 17022 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17023 <activation2>0.04</activation2> 17024 <!--Damping factor related to maximum contraction velocity--> 17025 <damping>0.05</damping> 17026 <!--Function representing force-length behavior of tendon--> 17027 <SimmSpline name="tendon_force_length_curve"> 17028 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17029 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17030 </SimmSpline> 17031 <!--Function representing active force-length behavior of muscle fibers--> 17032 <SimmSpline name="active_force_length_curve"> 17033 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17034 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17035 </SimmSpline> 17036 <!--Function representing passive force-length behavior of muscle fibers--> 17037 <SimmSpline name="passive_force_length_curve"> 17038 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17039 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17040 </SimmSpline> 17041 </Schutte1993Muscle_Deprecated> 17042 <Schutte1993Muscle_Deprecated name="BICshort_l"> 17043 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17044 <isDisabled>false</isDisabled> 17045 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17046 <min_control>0</min_control> 17047 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17048 <max_control>1</max_control> 17049 <!--The set of points defining the path of the muscle.--> 17050 <GeometryPath> 17051 <PathPointSet> 17052 <objects> 17053 <PathPoint name="BICshort_l-P1"> 17054 <location> 0.01268 -0.03931 0.02625</location> 17055 <body>scapula_l</body> 17056 </PathPoint> 17057 <PathPoint name="BICshort_l-P2"> 17058 <location> 0.0142 -0.06136 -0.0061</location> 17059 <body>scapula_l</body> 17060 </PathPoint> 17061 <PathPoint name="BICshort_l-P3"> 17062 <location> 0.01117 -0.07576 0.01101</location> 17063 <body>humerus_l</body> 17064 </PathPoint> 17065 <PathPoint name="BICshort_l-P4"> 17066 <location> 0.01703 -0.12125 0.01079</location> 17067 <body>humerus_l</body> 17068 </PathPoint> 17069 <PathPoint name="BICshort_l-P5"> 17070 <location> 0.0228 -0.1754 0.0063</location> 17071 <body>humerus_l</body> 17072 </PathPoint> 17073 <ConditionalPathPoint name="BICshort_l-P7"> 17074 <location> -0.00079 0.02719 -0.00657</location> 17075 <body>radius_l</body> 17076 <range> -0.638791 1.5708</range> 17077 <coordinate>pro_sup_l</coordinate> 17078 </ConditionalPathPoint> 17079 <PathPoint name="BICshort_l-P7"> 17080 <location> -0.00505 0.00636 -0.01184</location> 17081 <body>radius_l</body> 17082 </PathPoint> 17083 <PathPoint name="BICshort_l-P8"> 17084 <location> -0.002 -0.0375 0.002</location> 17085 <body>radius_l</body> 17086 </PathPoint> 17087 </objects> 17088 <groups /> 17089 </PathPointSet> 17090 <VisibleObject> 17091 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17092 <GeometrySet> 17093 <objects /> 17094 <groups /> 17095 </GeometrySet> 17096 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17097 <scale_factors> 1 1 1</scale_factors> 17098 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17099 <transform> -0 0 -0 0 0 0</transform> 17100 <!--Whether to show a coordinate frame--> 17101 <show_axes>false</show_axes> 17102 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17103 <display_preference>4</display_preference> 17104 </VisibleObject> 17105 <PathWrapSet> 17106 <objects /> 17107 <groups /> 17108 </PathWrapSet> 17109 </GeometryPath> 17110 <!--The maximum force this actuator can produce.--> 17111 <optimal_force>1</optimal_force> 17112 <!--Maximum isometric force that the fibers can generate--> 17113 <max_isometric_force>435.56</max_isometric_force> 17114 <!--Optimal length of the muscle fibers--> 17115 <optimal_fiber_length>0.1321</optimal_fiber_length> 17116 <!--Resting length of the tendon--> 17117 <tendon_slack_length>0.1923</tendon_slack_length> 17118 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17119 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 17120 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17121 <max_contraction_velocity>0</max_contraction_velocity> 17122 <!--Scale factor for normalizing time--> 17123 <time_scale>0.1</time_scale> 17124 <!--Parameter used in time constant of ramping up of muscle force--> 17125 <activation1>0.01</activation1> 17126 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17127 <activation2>0.04</activation2> 17128 <!--Damping factor related to maximum contraction velocity--> 17129 <damping>0.05</damping> 17130 <!--Function representing force-length behavior of tendon--> 17131 <SimmSpline name="tendon_force_length_curve"> 17132 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17133 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17134 </SimmSpline> 17135 <!--Function representing active force-length behavior of muscle fibers--> 17136 <SimmSpline name="active_force_length_curve"> 17137 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17138 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17139 </SimmSpline> 17140 <!--Function representing passive force-length behavior of muscle fibers--> 17141 <SimmSpline name="passive_force_length_curve"> 17142 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17143 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17144 </SimmSpline> 17145 </Schutte1993Muscle_Deprecated> 17146 <Schutte1993Muscle_Deprecated name="BRA_l"> 17147 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17148 <isDisabled>false</isDisabled> 17149 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17150 <min_control>0</min_control> 17151 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17152 <max_control>1</max_control> 17153 <!--The set of points defining the path of the muscle.--> 17154 <GeometryPath> 17155 <PathPointSet> 17156 <objects> 17157 <PathPoint name="BRA_l-P1"> 17158 <location> 0.0068 -0.1739 0.0036</location> 17159 <body>humerus_l</body> 17160 </PathPoint> 17161 <ConditionalPathPoint name="BRA_l-P2"> 17162 <location> 0.01894 -0.28559 0.01105</location> 17163 <body>humerus_l</body> 17164 <range> 0 0.813149</range> 17165 <coordinate>elbow_flexion_l</coordinate> 17166 </ConditionalPathPoint> 17167 <ConditionalPathPoint name="BRA_l-P3"> 17168 <location> 0.00498 -0.01463 -0.00128</location> 17169 <body>ulna_l</body> 17170 <range> 0 0.813149</range> 17171 <coordinate>elbow_flexion_l</coordinate> 17172 </ConditionalPathPoint> 17173 <PathPoint name="BRA_l-P4"> 17174 <location> -0.0032 -0.0239 -0.0009</location> 17175 <body>ulna_l</body> 17176 </PathPoint> 17177 </objects> 17178 <groups /> 17179 </PathPointSet> 17180 <VisibleObject> 17181 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17182 <GeometrySet> 17183 <objects /> 17184 <groups /> 17185 </GeometrySet> 17186 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17187 <scale_factors> 1 1 1</scale_factors> 17188 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17189 <transform> -0 0 -0 0 0 0</transform> 17190 <!--Whether to show a coordinate frame--> 17191 <show_axes>false</show_axes> 17192 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17193 <display_preference>4</display_preference> 17194 </VisibleObject> 17195 <PathWrapSet> 17196 <objects /> 17197 <groups /> 17198 </PathWrapSet> 17199 </GeometryPath> 17200 <!--The maximum force this actuator can produce.--> 17201 <optimal_force>1</optimal_force> 17202 <!--Maximum isometric force that the fibers can generate--> 17203 <max_isometric_force>987.26</max_isometric_force> 17204 <!--Optimal length of the muscle fibers--> 17205 <optimal_fiber_length>0.0858</optimal_fiber_length> 17206 <!--Resting length of the tendon--> 17207 <tendon_slack_length>0.0535</tendon_slack_length> 17208 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17209 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 17210 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17211 <max_contraction_velocity>0</max_contraction_velocity> 17212 <!--Scale factor for normalizing time--> 17213 <time_scale>0.1</time_scale> 17214 <!--Parameter used in time constant of ramping up of muscle force--> 17215 <activation1>0.01</activation1> 17216 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17217 <activation2>0.04</activation2> 17218 <!--Damping factor related to maximum contraction velocity--> 17219 <damping>0.05</damping> 17220 <!--Function representing force-length behavior of tendon--> 17221 <SimmSpline name="tendon_force_length_curve"> 17222 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17223 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17224 </SimmSpline> 17225 <!--Function representing active force-length behavior of muscle fibers--> 17226 <SimmSpline name="active_force_length_curve"> 17227 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17228 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17229 </SimmSpline> 17230 <!--Function representing passive force-length behavior of muscle fibers--> 17231 <SimmSpline name="passive_force_length_curve"> 17232 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17233 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17234 </SimmSpline> 17235 </Schutte1993Muscle_Deprecated> 17236 <Schutte1993Muscle_Deprecated name="BRD_l"> 17237 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17238 <isDisabled>false</isDisabled> 17239 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17240 <min_control>0</min_control> 17241 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17242 <max_control>1</max_control> 17243 <!--The set of points defining the path of the muscle.--> 17244 <GeometryPath> 17245 <PathPointSet> 17246 <objects> 17247 <PathPoint name="BRD_l-P1"> 17248 <location> -0.0098 -0.19963 -0.00223</location> 17249 <body>humerus_l</body> 17250 </PathPoint> 17251 <PathPoint name="BRD_l-P2"> 17252 <location> 0.0084 0.0041 -0.01424</location> 17253 <body>radius_l</body> 17254 </PathPoint> 17255 <PathPoint name="BRD_l-P2"> 17256 <location> 0.03577 -0.12742 -0.02315</location> 17257 <body>radius_l</body> 17258 </PathPoint> 17259 <PathPoint name="BRD_l-P3"> 17260 <location> 0.0419 -0.221 -0.0224</location> 17261 <body>radius_l</body> 17262 </PathPoint> 17263 </objects> 17264 <groups /> 17265 </PathPointSet> 17266 <VisibleObject> 17267 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17268 <GeometrySet> 17269 <objects /> 17270 <groups /> 17271 </GeometrySet> 17272 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17273 <scale_factors> 1 1 1</scale_factors> 17274 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17275 <transform> -0 0 -0 0 0 0</transform> 17276 <!--Whether to show a coordinate frame--> 17277 <show_axes>false</show_axes> 17278 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17279 <display_preference>4</display_preference> 17280 </VisibleObject> 17281 <PathWrapSet> 17282 <objects /> 17283 <groups /> 17284 </PathWrapSet> 17285 </GeometryPath> 17286 <!--The maximum force this actuator can produce.--> 17287 <optimal_force>1</optimal_force> 17288 <!--Maximum isometric force that the fibers can generate--> 17289 <max_isometric_force>261.33</max_isometric_force> 17290 <!--Optimal length of the muscle fibers--> 17291 <optimal_fiber_length>0.1726</optimal_fiber_length> 17292 <!--Resting length of the tendon--> 17293 <tendon_slack_length>0.133</tendon_slack_length> 17294 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17295 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 17296 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17297 <max_contraction_velocity>0</max_contraction_velocity> 17298 <!--Scale factor for normalizing time--> 17299 <time_scale>0.1</time_scale> 17300 <!--Parameter used in time constant of ramping up of muscle force--> 17301 <activation1>0.01</activation1> 17302 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17303 <activation2>0.04</activation2> 17304 <!--Damping factor related to maximum contraction velocity--> 17305 <damping>0.05</damping> 17306 <!--Function representing force-length behavior of tendon--> 17307 <SimmSpline name="tendon_force_length_curve"> 17308 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17309 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17310 </SimmSpline> 17311 <!--Function representing active force-length behavior of muscle fibers--> 17312 <SimmSpline name="active_force_length_curve"> 17313 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17314 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17315 </SimmSpline> 17316 <!--Function representing passive force-length behavior of muscle fibers--> 17317 <SimmSpline name="passive_force_length_curve"> 17318 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17319 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17320 </SimmSpline> 17321 </Schutte1993Muscle_Deprecated> 17322 <Schutte1993Muscle_Deprecated name="ECRL_l"> 17323 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17324 <isDisabled>false</isDisabled> 17325 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17326 <min_control>0</min_control> 17327 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17328 <max_control>1</max_control> 17329 <!--The set of points defining the path of the muscle.--> 17330 <GeometryPath> 17331 <PathPointSet> 17332 <objects> 17333 <PathPoint name="ECRL_l-P1"> 17334 <location> -0.0073 -0.2609 -0.0091</location> 17335 <body>humerus_l</body> 17336 </PathPoint> 17337 <PathPoint name="ECRL_l-P2"> 17338 <location> 0.03415 0.03747 -0.00758</location> 17339 <body>radius_l</body> 17340 </PathPoint> 17341 <PathPoint name="ECRL_l-P2"> 17342 <location> 0.03195 -0.13463 -0.02779</location> 17343 <body>radius_l</body> 17344 </PathPoint> 17345 <PathPoint name="ECRL_l-P3"> 17346 <location> 0.04243 -0.23684 -0.0362</location> 17347 <body>radius_l</body> 17348 </PathPoint> 17349 <PathPoint name="ECRL_l-P4"> 17350 <location> 0.00249 0.0164 -0.0008</location> 17351 <body>secondmc_l</body> 17352 </PathPoint> 17353 </objects> 17354 <groups /> 17355 </PathPointSet> 17356 <VisibleObject> 17357 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17358 <GeometrySet> 17359 <objects /> 17360 <groups /> 17361 </GeometrySet> 17362 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17363 <scale_factors> 1 1 1</scale_factors> 17364 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17365 <transform> -0 0 -0 0 0 0</transform> 17366 <!--Whether to show a coordinate frame--> 17367 <show_axes>false</show_axes> 17368 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17369 <display_preference>4</display_preference> 17370 </VisibleObject> 17371 <PathWrapSet> 17372 <objects /> 17373 <groups /> 17374 </PathWrapSet> 17375 </GeometryPath> 17376 <!--The maximum force this actuator can produce.--> 17377 <optimal_force>1</optimal_force> 17378 <!--Maximum isometric force that the fibers can generate--> 17379 <max_isometric_force>304.89</max_isometric_force> 17380 <!--Optimal length of the muscle fibers--> 17381 <optimal_fiber_length>0.081</optimal_fiber_length> 17382 <!--Resting length of the tendon--> 17383 <tendon_slack_length>0.224</tendon_slack_length> 17384 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17385 <pennation_angle_at_optimal>0</pennation_angle_at_optimal> 17386 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17387 <max_contraction_velocity>0</max_contraction_velocity> 17388 <!--Scale factor for normalizing time--> 17389 <time_scale>0.1</time_scale> 17390 <!--Parameter used in time constant of ramping up of muscle force--> 17391 <activation1>0.01</activation1> 17392 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17393 <activation2>0.04</activation2> 17394 <!--Damping factor related to maximum contraction velocity--> 17395 <damping>0.05</damping> 17396 <!--Function representing force-length behavior of tendon--> 17397 <SimmSpline name="tendon_force_length_curve"> 17398 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17399 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17400 </SimmSpline> 17401 <!--Function representing active force-length behavior of muscle fibers--> 17402 <SimmSpline name="active_force_length_curve"> 17403 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17404 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17405 </SimmSpline> 17406 <!--Function representing passive force-length behavior of muscle fibers--> 17407 <SimmSpline name="passive_force_length_curve"> 17408 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17409 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17410 </SimmSpline> 17411 </Schutte1993Muscle_Deprecated> 17412 <Schutte1993Muscle_Deprecated name="ECRB_l"> 17413 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17414 <isDisabled>false</isDisabled> 17415 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17416 <min_control>0</min_control> 17417 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17418 <max_control>1</max_control> 17419 <!--The set of points defining the path of the muscle.--> 17420 <GeometryPath> 17421 <PathPointSet> 17422 <objects> 17423 <PathPoint name="ECRB_l-P1"> 17424 <location> 0.01349 -0.29048 -0.01698</location> 17425 <body>humerus_l</body> 17426 </PathPoint> 17427 <PathPoint name="ECRB_l-P2"> 17428 <location> 0.02905 -0.13086 -0.02385</location> 17429 <body>radius_l</body> 17430 </PathPoint> 17431 <PathPoint name="ECRB_l-P3"> 17432 <location> 0.03549 -0.22805 -0.03937</location> 17433 <body>radius_l</body> 17434 </PathPoint> 17435 <PathPoint name="ECRB_l-P4"> 17436 <location> 0.00452 0.02788 -0.00112</location> 17437 <body>thirdmc_l</body> 17438 </PathPoint> 17439 </objects> 17440 <groups /> 17441 </PathPointSet> 17442 <VisibleObject> 17443 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17444 <GeometrySet> 17445 <objects /> 17446 <groups /> 17447 </GeometrySet> 17448 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17449 <scale_factors> 1 1 1</scale_factors> 17450 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17451 <transform> -0 0 -0 0 0 0</transform> 17452 <!--Whether to show a coordinate frame--> 17453 <show_axes>false</show_axes> 17454 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17455 <display_preference>4</display_preference> 17456 </VisibleObject> 17457 <PathWrapSet> 17458 <objects /> 17459 <groups /> 17460 </PathWrapSet> 17461 </GeometryPath> 17462 <!--The maximum force this actuator can produce.--> 17463 <optimal_force>1</optimal_force> 17464 <!--Maximum isometric force that the fibers can generate--> 17465 <max_isometric_force>100.52</max_isometric_force> 17466 <!--Optimal length of the muscle fibers--> 17467 <optimal_fiber_length>0.0585</optimal_fiber_length> 17468 <!--Resting length of the tendon--> 17469 <tendon_slack_length>0.2223</tendon_slack_length> 17470 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17471 <pennation_angle_at_optimal>0.1553343</pennation_angle_at_optimal> 17472 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17473 <max_contraction_velocity>0</max_contraction_velocity> 17474 <!--Scale factor for normalizing time--> 17475 <time_scale>0.1</time_scale> 17476 <!--Parameter used in time constant of ramping up of muscle force--> 17477 <activation1>0.01</activation1> 17478 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17479 <activation2>0.04</activation2> 17480 <!--Damping factor related to maximum contraction velocity--> 17481 <damping>0.05</damping> 17482 <!--Function representing force-length behavior of tendon--> 17483 <SimmSpline name="tendon_force_length_curve"> 17484 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17485 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17486 </SimmSpline> 17487 <!--Function representing active force-length behavior of muscle fibers--> 17488 <SimmSpline name="active_force_length_curve"> 17489 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17490 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17491 </SimmSpline> 17492 <!--Function representing passive force-length behavior of muscle fibers--> 17493 <SimmSpline name="passive_force_length_curve"> 17494 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17495 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17496 </SimmSpline> 17497 </Schutte1993Muscle_Deprecated> 17498 <Schutte1993Muscle_Deprecated name="ECU_l"> 17499 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17500 <isDisabled>false</isDisabled> 17501 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17502 <min_control>0</min_control> 17503 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17504 <max_control>1</max_control> 17505 <!--The set of points defining the path of the muscle.--> 17506 <GeometryPath> 17507 <PathPointSet> 17508 <objects> 17509 <PathPoint name="ECU_l-P1"> 17510 <location> 0.00083 -0.28955 -0.0188</location> 17511 <body>humerus_l</body> 17512 </PathPoint> 17513 <PathPoint name="ECU_l-P2"> 17514 <location> -0.01391 -0.03201 -0.02947</location> 17515 <body>ulna_l</body> 17516 </PathPoint> 17517 <PathPoint name="ECU_l-P3"> 17518 <location> -0.01705 -0.05428 -0.02868</location> 17519 <body>ulna_l</body> 17520 </PathPoint> 17521 <PathPoint name="ECU_l-P4"> 17522 <location> -0.01793 -0.09573 -0.03278</location> 17523 <body>ulna_l</body> 17524 </PathPoint> 17525 <PathPoint name="ECU_l-P5"> 17526 <location> -0.01421 -0.22696 -0.03481</location> 17527 <body>radius_l</body> 17528 </PathPoint> 17529 <PathPoint name="ECU_l-P6"> 17530 <location> -0.00061 0.02067 -0.00294</location> 17531 <body>fifthmc_l</body> 17532 </PathPoint> 17533 </objects> 17534 <groups /> 17535 </PathPointSet> 17536 <VisibleObject> 17537 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17538 <GeometrySet> 17539 <objects /> 17540 <groups /> 17541 </GeometrySet> 17542 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17543 <scale_factors> 1 1 1</scale_factors> 17544 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17545 <transform> -0 0 -0 0 0 0</transform> 17546 <!--Whether to show a coordinate frame--> 17547 <show_axes>false</show_axes> 17548 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17549 <display_preference>4</display_preference> 17550 </VisibleObject> 17551 <PathWrapSet> 17552 <objects /> 17553 <groups /> 17554 </PathWrapSet> 17555 </GeometryPath> 17556 <!--The maximum force this actuator can produce.--> 17557 <optimal_force>1</optimal_force> 17558 <!--Maximum isometric force that the fibers can generate--> 17559 <max_isometric_force>93.17</max_isometric_force> 17560 <!--Optimal length of the muscle fibers--> 17561 <optimal_fiber_length>0.0622</optimal_fiber_length> 17562 <!--Resting length of the tendon--> 17563 <tendon_slack_length>0.2285</tendon_slack_length> 17564 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17565 <pennation_angle_at_optimal>0.06108652</pennation_angle_at_optimal> 17566 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17567 <max_contraction_velocity>0</max_contraction_velocity> 17568 <!--Scale factor for normalizing time--> 17569 <time_scale>0.1</time_scale> 17570 <!--Parameter used in time constant of ramping up of muscle force--> 17571 <activation1>0.01</activation1> 17572 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17573 <activation2>0.04</activation2> 17574 <!--Damping factor related to maximum contraction velocity--> 17575 <damping>0.05</damping> 17576 <!--Function representing force-length behavior of tendon--> 17577 <SimmSpline name="tendon_force_length_curve"> 17578 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17579 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17580 </SimmSpline> 17581 <!--Function representing active force-length behavior of muscle fibers--> 17582 <SimmSpline name="active_force_length_curve"> 17583 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17584 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17585 </SimmSpline> 17586 <!--Function representing passive force-length behavior of muscle fibers--> 17587 <SimmSpline name="passive_force_length_curve"> 17588 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17589 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17590 </SimmSpline> 17591 </Schutte1993Muscle_Deprecated> 17592 <Schutte1993Muscle_Deprecated name="FCR_l"> 17593 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17594 <isDisabled>false</isDisabled> 17595 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17596 <min_control>0</min_control> 17597 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17598 <max_control>1</max_control> 17599 <!--The set of points defining the path of the muscle.--> 17600 <GeometryPath> 17601 <PathPointSet> 17602 <objects> 17603 <PathPoint name="FCR_l-P1"> 17604 <location> 0.00758 -0.27806 0.03705</location> 17605 <body>humerus_l</body> 17606 </PathPoint> 17607 <PathPoint name="FCR_l-P2"> 17608 <location> 0.0211 -0.21943 -0.00127</location> 17609 <body>radius_l</body> 17610 </PathPoint> 17611 <PathPoint name="FCR_l-P3"> 17612 <location> -0.01 0.04 0.025</location> 17613 <body>secondmc_l</body> 17614 </PathPoint> 17615 <PathPoint name="FCR_l-P3"> 17616 <location> -0.00345 0.01918 0.00921</location> 17617 <body>secondmc_l</body> 17618 </PathPoint> 17619 </objects> 17620 <groups /> 17621 </PathPointSet> 17622 <VisibleObject> 17623 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17624 <GeometrySet> 17625 <objects /> 17626 <groups /> 17627 </GeometrySet> 17628 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17629 <scale_factors> 1 1 1</scale_factors> 17630 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17631 <transform> -0 0 -0 0 0 0</transform> 17632 <!--Whether to show a coordinate frame--> 17633 <show_axes>false</show_axes> 17634 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17635 <display_preference>4</display_preference> 17636 </VisibleObject> 17637 <PathWrapSet> 17638 <objects /> 17639 <groups /> 17640 </PathWrapSet> 17641 </GeometryPath> 17642 <!--The maximum force this actuator can produce.--> 17643 <optimal_force>1</optimal_force> 17644 <!--Maximum isometric force that the fibers can generate--> 17645 <max_isometric_force>73.96</max_isometric_force> 17646 <!--Optimal length of the muscle fibers--> 17647 <optimal_fiber_length>0.0628</optimal_fiber_length> 17648 <!--Resting length of the tendon--> 17649 <tendon_slack_length>0.244</tendon_slack_length> 17650 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17651 <pennation_angle_at_optimal>0.05410521</pennation_angle_at_optimal> 17652 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17653 <max_contraction_velocity>0</max_contraction_velocity> 17654 <!--Scale factor for normalizing time--> 17655 <time_scale>0.1</time_scale> 17656 <!--Parameter used in time constant of ramping up of muscle force--> 17657 <activation1>0.01</activation1> 17658 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17659 <activation2>0.04</activation2> 17660 <!--Damping factor related to maximum contraction velocity--> 17661 <damping>0.05</damping> 17662 <!--Function representing force-length behavior of tendon--> 17663 <SimmSpline name="tendon_force_length_curve"> 17664 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17665 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17666 </SimmSpline> 17667 <!--Function representing active force-length behavior of muscle fibers--> 17668 <SimmSpline name="active_force_length_curve"> 17669 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17670 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17671 </SimmSpline> 17672 <!--Function representing passive force-length behavior of muscle fibers--> 17673 <SimmSpline name="passive_force_length_curve"> 17674 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17675 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17676 </SimmSpline> 17677 </Schutte1993Muscle_Deprecated> 17678 <Schutte1993Muscle_Deprecated name="FCU_l"> 17679 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17680 <isDisabled>false</isDisabled> 17681 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17682 <min_control>0</min_control> 17683 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17684 <max_control>1</max_control> 17685 <!--The set of points defining the path of the muscle.--> 17686 <GeometryPath> 17687 <PathPointSet> 17688 <objects> 17689 <PathPoint name="FCU_l-P1"> 17690 <location> 0.00219 -0.2774 0.0388</location> 17691 <body>humerus_l</body> 17692 </PathPoint> 17693 <PathPoint name="FCU_l-P2"> 17694 <location> 0.05127 0.0136 0.00279</location> 17695 <body>radius_l</body> 17696 </PathPoint> 17697 <PathPoint name="FCU_l-P3"> 17698 <location> 0.00121 -0.26351 -0.02627</location> 17699 <body>radius_l</body> 17700 </PathPoint> 17701 <PathPoint name="FCU_l-P4"> 17702 <location> 0.00154 0.01703 0.0033</location> 17703 <body>fifthmc_l</body> 17704 </PathPoint> 17705 </objects> 17706 <groups /> 17707 </PathPointSet> 17708 <VisibleObject> 17709 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17710 <GeometrySet> 17711 <objects /> 17712 <groups /> 17713 </GeometrySet> 17714 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17715 <scale_factors> 1 1 1</scale_factors> 17716 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17717 <transform> -0 0 -0 0 0 0</transform> 17718 <!--Whether to show a coordinate frame--> 17719 <show_axes>false</show_axes> 17720 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17721 <display_preference>4</display_preference> 17722 </VisibleObject> 17723 <PathWrapSet> 17724 <objects /> 17725 <groups /> 17726 </PathWrapSet> 17727 </GeometryPath> 17728 <!--The maximum force this actuator can produce.--> 17729 <optimal_force>1</optimal_force> 17730 <!--Maximum isometric force that the fibers can generate--> 17731 <max_isometric_force>128.93</max_isometric_force> 17732 <!--Optimal length of the muscle fibers--> 17733 <optimal_fiber_length>0.0509</optimal_fiber_length> 17734 <!--Resting length of the tendon--> 17735 <tendon_slack_length>0.265</tendon_slack_length> 17736 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17737 <pennation_angle_at_optimal>0.21118484</pennation_angle_at_optimal> 17738 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17739 <max_contraction_velocity>0</max_contraction_velocity> 17740 <!--Scale factor for normalizing time--> 17741 <time_scale>0.1</time_scale> 17742 <!--Parameter used in time constant of ramping up of muscle force--> 17743 <activation1>0.01</activation1> 17744 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17745 <activation2>0.04</activation2> 17746 <!--Damping factor related to maximum contraction velocity--> 17747 <damping>0.05</damping> 17748 <!--Function representing force-length behavior of tendon--> 17749 <SimmSpline name="tendon_force_length_curve"> 17750 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17751 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17752 </SimmSpline> 17753 <!--Function representing active force-length behavior of muscle fibers--> 17754 <SimmSpline name="active_force_length_curve"> 17755 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17756 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17757 </SimmSpline> 17758 <!--Function representing passive force-length behavior of muscle fibers--> 17759 <SimmSpline name="passive_force_length_curve"> 17760 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17761 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17762 </SimmSpline> 17763 </Schutte1993Muscle_Deprecated> 17764 <Schutte1993Muscle_Deprecated name="PL_l"> 17765 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17766 <isDisabled>false</isDisabled> 17767 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17768 <min_control>0</min_control> 17769 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17770 <max_control>1</max_control> 17771 <!--The set of points defining the path of the muscle.--> 17772 <GeometryPath> 17773 <PathPointSet> 17774 <objects> 17775 <PathPoint name="PL_l-P1"> 17776 <location> 0.00457 -0.27519 0.03865</location> 17777 <body>humerus_l</body> 17778 </PathPoint> 17779 <PathPoint name="PL_l-P2"> 17780 <location> 0.02531 -0.23915 0.00276</location> 17781 <body>radius_l</body> 17782 </PathPoint> 17783 <PathPoint name="PL_l-P3"> 17784 <location> 0.00917 -0.01898 0.01754</location> 17785 <body>capitate_l</body> 17786 </PathPoint> 17787 <PathPoint name="PL_l-P4"> 17788 <location> 0.00179 0.00828 0.00245</location> 17789 <body>thirdmc_l</body> 17790 </PathPoint> 17791 </objects> 17792 <groups /> 17793 </PathPointSet> 17794 <VisibleObject> 17795 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17796 <GeometrySet> 17797 <objects /> 17798 <groups /> 17799 </GeometrySet> 17800 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17801 <scale_factors> 1 1 1</scale_factors> 17802 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17803 <transform> -0 0 -0 0 0 0</transform> 17804 <!--Whether to show a coordinate frame--> 17805 <show_axes>false</show_axes> 17806 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17807 <display_preference>4</display_preference> 17808 </VisibleObject> 17809 <PathWrapSet> 17810 <objects /> 17811 <groups /> 17812 </PathWrapSet> 17813 </GeometryPath> 17814 <!--The maximum force this actuator can produce.--> 17815 <optimal_force>1</optimal_force> 17816 <!--Maximum isometric force that the fibers can generate--> 17817 <max_isometric_force>26.72</max_isometric_force> 17818 <!--Optimal length of the muscle fibers--> 17819 <optimal_fiber_length>0.0638</optimal_fiber_length> 17820 <!--Resting length of the tendon--> 17821 <tendon_slack_length>0.2694</tendon_slack_length> 17822 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17823 <pennation_angle_at_optimal>0.06981317</pennation_angle_at_optimal> 17824 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17825 <max_contraction_velocity>0</max_contraction_velocity> 17826 <!--Scale factor for normalizing time--> 17827 <time_scale>0.1</time_scale> 17828 <!--Parameter used in time constant of ramping up of muscle force--> 17829 <activation1>0.01</activation1> 17830 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17831 <activation2>0.04</activation2> 17832 <!--Damping factor related to maximum contraction velocity--> 17833 <damping>0.05</damping> 17834 <!--Function representing force-length behavior of tendon--> 17835 <SimmSpline name="tendon_force_length_curve"> 17836 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17837 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17838 </SimmSpline> 17839 <!--Function representing active force-length behavior of muscle fibers--> 17840 <SimmSpline name="active_force_length_curve"> 17841 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17842 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17843 </SimmSpline> 17844 <!--Function representing passive force-length behavior of muscle fibers--> 17845 <SimmSpline name="passive_force_length_curve"> 17846 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17847 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17848 </SimmSpline> 17849 </Schutte1993Muscle_Deprecated> 17850 <Schutte1993Muscle_Deprecated name="PT_l"> 17851 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17852 <isDisabled>false</isDisabled> 17853 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17854 <min_control>0</min_control> 17855 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17856 <max_control>1</max_control> 17857 <!--The set of points defining the path of the muscle.--> 17858 <GeometryPath> 17859 <PathPointSet> 17860 <objects> 17861 <PathPoint name="PT_l-P1"> 17862 <location> 0.0036 -0.2759 0.0365</location> 17863 <body>humerus_l</body> 17864 </PathPoint> 17865 <PathPoint name="PT_l-P2"> 17866 <location> 0.00846 -0.03373 0.01432</location> 17867 <body>ulna_l</body> 17868 </PathPoint> 17869 <PathPoint name="PT_l-P3"> 17870 <location> 0.00464 -0.00026 0.00214</location> 17871 <body>ulna_l</body> 17872 </PathPoint> 17873 <ConditionalPathPoint name="PT_l-P4"> 17874 <location> 0.0236 -0.0934 -0.0094</location> 17875 <body>radius_l</body> 17876 <range> -1.5708 0.509636</range> 17877 <coordinate>pro_sup_l</coordinate> 17878 </ConditionalPathPoint> 17879 <PathPoint name="PT_l-P5"> 17880 <location> 0.0254 -0.1088 -0.0198</location> 17881 <body>radius_l</body> 17882 </PathPoint> 17883 </objects> 17884 <groups /> 17885 </PathPointSet> 17886 <VisibleObject> 17887 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17888 <GeometrySet> 17889 <objects /> 17890 <groups /> 17891 </GeometrySet> 17892 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17893 <scale_factors> 1 1 1</scale_factors> 17894 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17895 <transform> -0 0 -0 0 0 0</transform> 17896 <!--Whether to show a coordinate frame--> 17897 <show_axes>false</show_axes> 17898 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17899 <display_preference>4</display_preference> 17900 </VisibleObject> 17901 <PathWrapSet> 17902 <objects /> 17903 <groups /> 17904 </PathWrapSet> 17905 </GeometryPath> 17906 <!--The maximum force this actuator can produce.--> 17907 <optimal_force>1</optimal_force> 17908 <!--Maximum isometric force that the fibers can generate--> 17909 <max_isometric_force>566.22</max_isometric_force> 17910 <!--Optimal length of the muscle fibers--> 17911 <optimal_fiber_length>0.0492</optimal_fiber_length> 17912 <!--Resting length of the tendon--> 17913 <tendon_slack_length>0.098</tendon_slack_length> 17914 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17915 <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> 17916 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17917 <max_contraction_velocity>0</max_contraction_velocity> 17918 <!--Scale factor for normalizing time--> 17919 <time_scale>0.1</time_scale> 17920 <!--Parameter used in time constant of ramping up of muscle force--> 17921 <activation1>0.01</activation1> 17922 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 17923 <activation2>0.04</activation2> 17924 <!--Damping factor related to maximum contraction velocity--> 17925 <damping>0.05</damping> 17926 <!--Function representing force-length behavior of tendon--> 17927 <SimmSpline name="tendon_force_length_curve"> 17928 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 17929 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 17930 </SimmSpline> 17931 <!--Function representing active force-length behavior of muscle fibers--> 17932 <SimmSpline name="active_force_length_curve"> 17933 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 17934 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 17935 </SimmSpline> 17936 <!--Function representing passive force-length behavior of muscle fibers--> 17937 <SimmSpline name="passive_force_length_curve"> 17938 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 17939 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 17940 </SimmSpline> 17941 </Schutte1993Muscle_Deprecated> 17942 <Schutte1993Muscle_Deprecated name="PQ_l"> 17943 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 17944 <isDisabled>false</isDisabled> 17945 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 17946 <min_control>0</min_control> 17947 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 17948 <max_control>1</max_control> 17949 <!--The set of points defining the path of the muscle.--> 17950 <GeometryPath> 17951 <PathPointSet> 17952 <objects> 17953 <PathPoint name="PQ_l-P1"> 17954 <location> 0.03245 -0.19998 -0.01962</location> 17955 <body>radius_l</body> 17956 </PathPoint> 17957 <PathPoint name="PQ_l-P2"> 17958 <location> 0.00193 -0.20972 -0.03632</location> 17959 <body>ulna_l</body> 17960 </PathPoint> 17961 </objects> 17962 <groups /> 17963 </PathPointSet> 17964 <VisibleObject> 17965 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 17966 <GeometrySet> 17967 <objects /> 17968 <groups /> 17969 </GeometrySet> 17970 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 17971 <scale_factors> 1 1 1</scale_factors> 17972 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 17973 <transform> -0 0 -0 0 0 0</transform> 17974 <!--Whether to show a coordinate frame--> 17975 <show_axes>false</show_axes> 17976 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 17977 <display_preference>4</display_preference> 17978 </VisibleObject> 17979 <PathWrapSet> 17980 <objects /> 17981 <groups /> 17982 </PathWrapSet> 17983 </GeometryPath> 17984 <!--The maximum force this actuator can produce.--> 17985 <optimal_force>1</optimal_force> 17986 <!--Maximum isometric force that the fibers can generate--> 17987 <max_isometric_force>75.48</max_isometric_force> 17988 <!--Optimal length of the muscle fibers--> 17989 <optimal_fiber_length>0.0282</optimal_fiber_length> 17990 <!--Resting length of the tendon--> 17991 <tendon_slack_length>0.005</tendon_slack_length> 17992 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 17993 <pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal> 17994 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 17995 <max_contraction_velocity>0</max_contraction_velocity> 17996 <!--Scale factor for normalizing time--> 17997 <time_scale>0.1</time_scale> 17998 <!--Parameter used in time constant of ramping up of muscle force--> 17999 <activation1>0.01</activation1> 18000 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18001 <activation2>0.04</activation2> 18002 <!--Damping factor related to maximum contraction velocity--> 18003 <damping>0.05</damping> 18004 <!--Function representing force-length behavior of tendon--> 18005 <SimmSpline name="tendon_force_length_curve"> 18006 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18007 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18008 </SimmSpline> 18009 <!--Function representing active force-length behavior of muscle fibers--> 18010 <SimmSpline name="active_force_length_curve"> 18011 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18012 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18013 </SimmSpline> 18014 <!--Function representing passive force-length behavior of muscle fibers--> 18015 <SimmSpline name="passive_force_length_curve"> 18016 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18017 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18018 </SimmSpline> 18019 </Schutte1993Muscle_Deprecated> 18020 <Schutte1993Muscle_Deprecated name="FDSL_l"> 18021 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18022 <isDisabled>false</isDisabled> 18023 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18024 <min_control>0</min_control> 18025 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18026 <max_control>1</max_control> 18027 <!--The set of points defining the path of the muscle.--> 18028 <GeometryPath> 18029 <PathPointSet> 18030 <objects> 18031 <PathPoint name="FDSL_l-P1"> 18032 <location> 0.00421 -0.27598 0.03864</location> 18033 <body>humerus_l</body> 18034 </PathPoint> 18035 <PathPoint name="FDSL_l-P2"> 18036 <location> 0.01377 -0.18718 -0.00205</location> 18037 <body>radius_l</body> 18038 </PathPoint> 18039 <PathPoint name="FDSL_l-P3"> 18040 <location> -0.00235 -0.01393 0.01376</location> 18041 <body>capitate_l</body> 18042 </PathPoint> 18043 <PathPoint name="FDSL_l-P4"> 18044 <location> -0.00294 0.00846 0.01213</location> 18045 <body>fourthmc_l</body> 18046 </PathPoint> 18047 <PathPoint name="FDSL_l-P5"> 18048 <location> -0.00032 -0.01968 0.00757</location> 18049 <body>fifthmc_l</body> 18050 </PathPoint> 18051 <PathPoint name="FDSL_l-P6"> 18052 <location> -0.00323 -0.03568 0.00417</location> 18053 <body>5proxph_l</body> 18054 </PathPoint> 18055 <PathPoint name="FDSL_l-P7"> 18056 <location> -0.0026 -0.01983 0.0035</location> 18057 <body>5midph_l</body> 18058 </PathPoint> 18059 </objects> 18060 <groups /> 18061 </PathPointSet> 18062 <VisibleObject> 18063 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18064 <GeometrySet> 18065 <objects /> 18066 <groups /> 18067 </GeometrySet> 18068 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18069 <scale_factors> 1 1 1</scale_factors> 18070 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18071 <transform> -0 0 -0 0 0 0</transform> 18072 <!--Whether to show a coordinate frame--> 18073 <show_axes>false</show_axes> 18074 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18075 <display_preference>4</display_preference> 18076 </VisibleObject> 18077 <PathWrapSet> 18078 <objects /> 18079 <groups /> 18080 </PathWrapSet> 18081 </GeometryPath> 18082 <!--The maximum force this actuator can produce.--> 18083 <optimal_force>1</optimal_force> 18084 <!--Maximum isometric force that the fibers can generate--> 18085 <max_isometric_force>16.55</max_isometric_force> 18086 <!--Optimal length of the muscle fibers--> 18087 <optimal_fiber_length>0.0515</optimal_fiber_length> 18088 <!--Resting length of the tendon--> 18089 <tendon_slack_length>0.3383</tendon_slack_length> 18090 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18091 <pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal> 18092 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18093 <max_contraction_velocity>0</max_contraction_velocity> 18094 <!--Scale factor for normalizing time--> 18095 <time_scale>0.1</time_scale> 18096 <!--Parameter used in time constant of ramping up of muscle force--> 18097 <activation1>0.01</activation1> 18098 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18099 <activation2>0.04</activation2> 18100 <!--Damping factor related to maximum contraction velocity--> 18101 <damping>0.05</damping> 18102 <!--Function representing force-length behavior of tendon--> 18103 <SimmSpline name="tendon_force_length_curve"> 18104 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18105 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18106 </SimmSpline> 18107 <!--Function representing active force-length behavior of muscle fibers--> 18108 <SimmSpline name="active_force_length_curve"> 18109 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18110 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18111 </SimmSpline> 18112 <!--Function representing passive force-length behavior of muscle fibers--> 18113 <SimmSpline name="passive_force_length_curve"> 18114 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18115 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18116 </SimmSpline> 18117 </Schutte1993Muscle_Deprecated> 18118 <Schutte1993Muscle_Deprecated name="FDSR_l"> 18119 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18120 <isDisabled>false</isDisabled> 18121 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18122 <min_control>0</min_control> 18123 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18124 <max_control>1</max_control> 18125 <!--The set of points defining the path of the muscle.--> 18126 <GeometryPath> 18127 <PathPointSet> 18128 <objects> 18129 <PathPoint name="FDSR_l-P1"> 18130 <location> 0.00479 -0.2788 0.03731</location> 18131 <body>humerus_l</body> 18132 </PathPoint> 18133 <PathPoint name="FDSR_l-P2"> 18134 <location> 0.01571 -0.18666 -0.00267</location> 18135 <body>radius_l</body> 18136 </PathPoint> 18137 <PathPoint name="FDSR_l-P3"> 18138 <location> 0.00564 0.02496 0.0066</location> 18139 <body>capitate_l</body> 18140 </PathPoint> 18141 <PathPoint name="FDSR_l-P3"> 18142 <location> -0.00082 -0.01344 0.01359</location> 18143 <body>capitate_l</body> 18144 </PathPoint> 18145 <PathPoint name="FDSR_l-P4"> 18146 <location> -0.00914 0.00544 0.01085</location> 18147 <body>thirdmc_l</body> 18148 </PathPoint> 18149 <PathPoint name="FDSR_l-P5"> 18150 <location> -0.0029 -0.02334 0.00767</location> 18151 <body>fourthmc_l</body> 18152 </PathPoint> 18153 <PathPoint name="FDSR_l-P6"> 18154 <location> -0.00172 -0.03947 0.00102</location> 18155 <body>4proxph_l</body> 18156 </PathPoint> 18157 <PathPoint name="FDSR_l-P7"> 18158 <location> -2e-005 -0.02501 -0.00029</location> 18159 <body>4midph_l</body> 18160 </PathPoint> 18161 </objects> 18162 <groups /> 18163 </PathPointSet> 18164 <VisibleObject> 18165 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18166 <GeometrySet> 18167 <objects /> 18168 <groups /> 18169 </GeometrySet> 18170 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18171 <scale_factors> 1 1 1</scale_factors> 18172 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18173 <transform> -0 0 -0 0 0 0</transform> 18174 <!--Whether to show a coordinate frame--> 18175 <show_axes>false</show_axes> 18176 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18177 <display_preference>4</display_preference> 18178 </VisibleObject> 18179 <PathWrapSet> 18180 <objects /> 18181 <groups /> 18182 </PathWrapSet> 18183 </GeometryPath> 18184 <!--The maximum force this actuator can produce.--> 18185 <optimal_force>1</optimal_force> 18186 <!--Maximum isometric force that the fibers can generate--> 18187 <max_isometric_force>57.9</max_isometric_force> 18188 <!--Optimal length of the muscle fibers--> 18189 <optimal_fiber_length>0.0736</optimal_fiber_length> 18190 <!--Resting length of the tendon--> 18191 <tendon_slack_length>0.328</tendon_slack_length> 18192 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18193 <pennation_angle_at_optimal>0.06981317</pennation_angle_at_optimal> 18194 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18195 <max_contraction_velocity>0</max_contraction_velocity> 18196 <!--Scale factor for normalizing time--> 18197 <time_scale>0.1</time_scale> 18198 <!--Parameter used in time constant of ramping up of muscle force--> 18199 <activation1>0.01</activation1> 18200 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18201 <activation2>0.04</activation2> 18202 <!--Damping factor related to maximum contraction velocity--> 18203 <damping>0.05</damping> 18204 <!--Function representing force-length behavior of tendon--> 18205 <SimmSpline name="tendon_force_length_curve"> 18206 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18207 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18208 </SimmSpline> 18209 <!--Function representing active force-length behavior of muscle fibers--> 18210 <SimmSpline name="active_force_length_curve"> 18211 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18212 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18213 </SimmSpline> 18214 <!--Function representing passive force-length behavior of muscle fibers--> 18215 <SimmSpline name="passive_force_length_curve"> 18216 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18217 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18218 </SimmSpline> 18219 </Schutte1993Muscle_Deprecated> 18220 <Schutte1993Muscle_Deprecated name="FDSM_l"> 18221 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18222 <isDisabled>false</isDisabled> 18223 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18224 <min_control>0</min_control> 18225 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18226 <max_control>1</max_control> 18227 <!--The set of points defining the path of the muscle.--> 18228 <GeometryPath> 18229 <PathPointSet> 18230 <objects> 18231 <PathPoint name="FDSM_l-P1"> 18232 <location> -0.00669 -0.02713 0.00191</location> 18233 <body>ulna_l</body> 18234 </PathPoint> 18235 <PathPoint name="FDSM_l-P2"> 18236 <location> 0.01899 -0.18706 -0.00424</location> 18237 <body>radius_l</body> 18238 </PathPoint> 18239 <PathPoint name="FDSM_l-P3"> 18240 <location> 0.01064 0.02328 0.01135</location> 18241 <body>capitate_l</body> 18242 </PathPoint> 18243 <PathPoint name="FDSM_l-P3"> 18244 <location> 0.0068 -0.01377 0.01399</location> 18245 <body>capitate_l</body> 18246 </PathPoint> 18247 <PathPoint name="FDSM_l-P4"> 18248 <location> 0.00128 0.00639 0.00952</location> 18249 <body>thirdmc_l</body> 18250 </PathPoint> 18251 <PathPoint name="FDSM_l-P5"> 18252 <location> 0.00263 -0.02478 0.00183</location> 18253 <body>thirdmc_l</body> 18254 </PathPoint> 18255 <PathPoint name="FDSM_l-P6"> 18256 <location> 0.00252 -0.04307 -0.00417</location> 18257 <body>3proxph_l</body> 18258 </PathPoint> 18259 <PathPoint name="FDSM_l-P7"> 18260 <location> 0.00155 -0.02773 -0.00067</location> 18261 <body>3midph_l</body> 18262 </PathPoint> 18263 </objects> 18264 <groups /> 18265 </PathPointSet> 18266 <VisibleObject> 18267 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18268 <GeometrySet> 18269 <objects /> 18270 <groups /> 18271 </GeometrySet> 18272 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18273 <scale_factors> 1 1 1</scale_factors> 18274 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18275 <transform> -0 0 -0 0 0 0</transform> 18276 <!--Whether to show a coordinate frame--> 18277 <show_axes>false</show_axes> 18278 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18279 <display_preference>4</display_preference> 18280 </VisibleObject> 18281 <PathWrapSet> 18282 <objects /> 18283 <groups /> 18284 </PathWrapSet> 18285 </GeometryPath> 18286 <!--The maximum force this actuator can produce.--> 18287 <optimal_force>1</optimal_force> 18288 <!--Maximum isometric force that the fibers can generate--> 18289 <max_isometric_force>91.03</max_isometric_force> 18290 <!--Optimal length of the muscle fibers--> 18291 <optimal_fiber_length>0.0749</optimal_fiber_length> 18292 <!--Resting length of the tendon--> 18293 <tendon_slack_length>0.295</tendon_slack_length> 18294 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18295 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 18296 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18297 <max_contraction_velocity>0</max_contraction_velocity> 18298 <!--Scale factor for normalizing time--> 18299 <time_scale>0.1</time_scale> 18300 <!--Parameter used in time constant of ramping up of muscle force--> 18301 <activation1>0.01</activation1> 18302 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18303 <activation2>0.04</activation2> 18304 <!--Damping factor related to maximum contraction velocity--> 18305 <damping>0.05</damping> 18306 <!--Function representing force-length behavior of tendon--> 18307 <SimmSpline name="tendon_force_length_curve"> 18308 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18309 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18310 </SimmSpline> 18311 <!--Function representing active force-length behavior of muscle fibers--> 18312 <SimmSpline name="active_force_length_curve"> 18313 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18314 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18315 </SimmSpline> 18316 <!--Function representing passive force-length behavior of muscle fibers--> 18317 <SimmSpline name="passive_force_length_curve"> 18318 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18319 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18320 </SimmSpline> 18321 </Schutte1993Muscle_Deprecated> 18322 <Schutte1993Muscle_Deprecated name="FDSI_l"> 18323 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18324 <isDisabled>false</isDisabled> 18325 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18326 <min_control>0</min_control> 18327 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18328 <max_control>1</max_control> 18329 <!--The set of points defining the path of the muscle.--> 18330 <GeometryPath> 18331 <PathPointSet> 18332 <objects> 18333 <PathPoint name="FDSI_l-P1"> 18334 <location> -0.00676 -0.02819 0.00137</location> 18335 <body>ulna_l</body> 18336 </PathPoint> 18337 <PathPoint name="FDSI_l-P2"> 18338 <location> 0.02145 -0.18623 -0.00552</location> 18339 <body>radius_l</body> 18340 </PathPoint> 18341 <PathPoint name="FDSI_l-P3"> 18342 <location> 0.015 0.02328 0.02328</location> 18343 <body>capitate_l</body> 18344 </PathPoint> 18345 <PathPoint name="FDSI_l-P3"> 18346 <location> 0.00889 -0.01366 0.01387</location> 18347 <body>capitate_l</body> 18348 </PathPoint> 18349 <PathPoint name="FDSI_l-P4"> 18350 <location> -0.00407 -0.00025 0.00479</location> 18351 <body>secondmc_l</body> 18352 </PathPoint> 18353 <PathPoint name="FDSI_l-P5"> 18354 <location> 0.00304 -0.02206 0.00579</location> 18355 <body>secondmc_l</body> 18356 </PathPoint> 18357 <PathPoint name="FDSI_l-P6"> 18358 <location> 0.00427 -0.03367 -0.00444</location> 18359 <body>2proxph_l</body> 18360 </PathPoint> 18361 <PathPoint name="FDSI_l-P7"> 18362 <location> 0.00228 -0.02088 0.00029</location> 18363 <body>2midph_l</body> 18364 </PathPoint> 18365 </objects> 18366 <groups /> 18367 </PathPointSet> 18368 <VisibleObject> 18369 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18370 <GeometrySet> 18371 <objects /> 18372 <groups /> 18373 </GeometrySet> 18374 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18375 <scale_factors> 1 1 1</scale_factors> 18376 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18377 <transform> -0 0 -0 0 0 0</transform> 18378 <!--Whether to show a coordinate frame--> 18379 <show_axes>false</show_axes> 18380 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18381 <display_preference>4</display_preference> 18382 </VisibleObject> 18383 <PathWrapSet> 18384 <objects /> 18385 <groups /> 18386 </PathWrapSet> 18387 </GeometryPath> 18388 <!--The maximum force this actuator can produce.--> 18389 <optimal_force>1</optimal_force> 18390 <!--Maximum isometric force that the fibers can generate--> 18391 <max_isometric_force>61.24</max_isometric_force> 18392 <!--Optimal length of the muscle fibers--> 18393 <optimal_fiber_length>0.0835</optimal_fiber_length> 18394 <!--Resting length of the tendon--> 18395 <tendon_slack_length>0.275</tendon_slack_length> 18396 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18397 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 18398 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18399 <max_contraction_velocity>0</max_contraction_velocity> 18400 <!--Scale factor for normalizing time--> 18401 <time_scale>0.1</time_scale> 18402 <!--Parameter used in time constant of ramping up of muscle force--> 18403 <activation1>0.01</activation1> 18404 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18405 <activation2>0.04</activation2> 18406 <!--Damping factor related to maximum contraction velocity--> 18407 <damping>0.05</damping> 18408 <!--Function representing force-length behavior of tendon--> 18409 <SimmSpline name="tendon_force_length_curve"> 18410 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18411 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18412 </SimmSpline> 18413 <!--Function representing active force-length behavior of muscle fibers--> 18414 <SimmSpline name="active_force_length_curve"> 18415 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18416 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18417 </SimmSpline> 18418 <!--Function representing passive force-length behavior of muscle fibers--> 18419 <SimmSpline name="passive_force_length_curve"> 18420 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18421 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18422 </SimmSpline> 18423 </Schutte1993Muscle_Deprecated> 18424 <Schutte1993Muscle_Deprecated name="FDPL_l"> 18425 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18426 <isDisabled>false</isDisabled> 18427 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18428 <min_control>0</min_control> 18429 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18430 <max_control>1</max_control> 18431 <!--The set of points defining the path of the muscle.--> 18432 <GeometryPath> 18433 <PathPointSet> 18434 <objects> 18435 <PathPoint name="FDPL_l-P1"> 18436 <location> -0.00628 -0.03214 -0.00254</location> 18437 <body>ulna_l</body> 18438 </PathPoint> 18439 <PathPoint name="FDPL_l-P2"> 18440 <location> 0.01409 -0.18516 -0.00861</location> 18441 <body>radius_l</body> 18442 </PathPoint> 18443 <PathPoint name="FDPL_l-P3"> 18444 <location> -0.00257 0.025 0.005</location> 18445 <body>capitate_l</body> 18446 </PathPoint> 18447 <PathPoint name="FDPL_l-P3"> 18448 <location> -0.00088 -0.01027 0.01188</location> 18449 <body>capitate_l</body> 18450 </PathPoint> 18451 <PathPoint name="FDPL_l-P4"> 18452 <location> -0.00686 0.0089 0.00619</location> 18453 <body>fourthmc_l</body> 18454 </PathPoint> 18455 <PathPoint name="FDPL_l-P5"> 18456 <location> -0.00185 -0.01878 0.00706</location> 18457 <body>fifthmc_l</body> 18458 </PathPoint> 18459 <PathPoint name="FDPL_l-P6"> 18460 <location> -0.0049 -0.03465 0.00598</location> 18461 <body>5proxph_l</body> 18462 </PathPoint> 18463 <PathPoint name="FDPL_l-P7"> 18464 <location> -0.00032 -0.00433 0.00165</location> 18465 <body>5distph_l</body> 18466 </PathPoint> 18467 </objects> 18468 <groups /> 18469 </PathPointSet> 18470 <VisibleObject> 18471 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18472 <GeometrySet> 18473 <objects /> 18474 <groups /> 18475 </GeometrySet> 18476 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18477 <scale_factors> 1 1 1</scale_factors> 18478 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18479 <transform> -0 0 -0 0 0 0</transform> 18480 <!--Whether to show a coordinate frame--> 18481 <show_axes>false</show_axes> 18482 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18483 <display_preference>4</display_preference> 18484 </VisibleObject> 18485 <PathWrapSet> 18486 <objects /> 18487 <groups /> 18488 </PathWrapSet> 18489 </GeometryPath> 18490 <!--The maximum force this actuator can produce.--> 18491 <optimal_force>1</optimal_force> 18492 <!--Maximum isometric force that the fibers can generate--> 18493 <max_isometric_force>79.65</max_isometric_force> 18494 <!--Optimal length of the muscle fibers--> 18495 <optimal_fiber_length>0.0749</optimal_fiber_length> 18496 <!--Resting length of the tendon--> 18497 <tendon_slack_length>0.2819</tendon_slack_length> 18498 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18499 <pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal> 18500 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18501 <max_contraction_velocity>0</max_contraction_velocity> 18502 <!--Scale factor for normalizing time--> 18503 <time_scale>0.1</time_scale> 18504 <!--Parameter used in time constant of ramping up of muscle force--> 18505 <activation1>0.01</activation1> 18506 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18507 <activation2>0.04</activation2> 18508 <!--Damping factor related to maximum contraction velocity--> 18509 <damping>0.05</damping> 18510 <!--Function representing force-length behavior of tendon--> 18511 <SimmSpline name="tendon_force_length_curve"> 18512 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18513 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18514 </SimmSpline> 18515 <!--Function representing active force-length behavior of muscle fibers--> 18516 <SimmSpline name="active_force_length_curve"> 18517 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18518 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18519 </SimmSpline> 18520 <!--Function representing passive force-length behavior of muscle fibers--> 18521 <SimmSpline name="passive_force_length_curve"> 18522 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18523 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18524 </SimmSpline> 18525 </Schutte1993Muscle_Deprecated> 18526 <Schutte1993Muscle_Deprecated name="FDPR_l"> 18527 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18528 <isDisabled>false</isDisabled> 18529 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18530 <min_control>0</min_control> 18531 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18532 <max_control>1</max_control> 18533 <!--The set of points defining the path of the muscle.--> 18534 <GeometryPath> 18535 <PathPointSet> 18536 <objects> 18537 <PathPoint name="FDPR_l-P1"> 18538 <location> -0.00502 -0.03374 -0.00273</location> 18539 <body>ulna_l</body> 18540 </PathPoint> 18541 <PathPoint name="FDPR_l-P2"> 18542 <location> 0.0158 -0.18629 -0.00803</location> 18543 <body>radius_l</body> 18544 </PathPoint> 18545 <PathPoint name="FDPR_l-P3"> 18546 <location> -0.00257 0.025 0.005</location> 18547 <body>capitate_l</body> 18548 </PathPoint> 18549 <PathPoint name="FDPR_l-P3"> 18550 <location> 0.00106 -0.01177 0.01184</location> 18551 <body>capitate_l</body> 18552 </PathPoint> 18553 <PathPoint name="FDPR_l-P4"> 18554 <location> -0.0104 0.00473 0.00804</location> 18555 <body>thirdmc_l</body> 18556 </PathPoint> 18557 <PathPoint name="FDPR_l-P5"> 18558 <location> -0.00289 -0.02297 0.00609</location> 18559 <body>fourthmc_l</body> 18560 </PathPoint> 18561 <PathPoint name="FDPR_l-P6"> 18562 <location> -0.00304 -0.04002 0.00075</location> 18563 <body>4proxph_l</body> 18564 </PathPoint> 18565 <PathPoint name="FDPR_l-P7"> 18566 <location> 0.0001 -0.0066 0.00066</location> 18567 <body>4distph_l</body> 18568 </PathPoint> 18569 </objects> 18570 <groups /> 18571 </PathPointSet> 18572 <VisibleObject> 18573 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18574 <GeometrySet> 18575 <objects /> 18576 <groups /> 18577 </GeometrySet> 18578 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18579 <scale_factors> 1 1 1</scale_factors> 18580 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18581 <transform> -0 0 -0 0 0 0</transform> 18582 <!--Whether to show a coordinate frame--> 18583 <show_axes>false</show_axes> 18584 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18585 <display_preference>4</display_preference> 18586 </VisibleObject> 18587 <PathWrapSet> 18588 <objects /> 18589 <groups /> 18590 </PathWrapSet> 18591 </GeometryPath> 18592 <!--The maximum force this actuator can produce.--> 18593 <optimal_force>1</optimal_force> 18594 <!--Maximum isometric force that the fibers can generate--> 18595 <max_isometric_force>64.08</max_isometric_force> 18596 <!--Optimal length of the muscle fibers--> 18597 <optimal_fiber_length>0.0798</optimal_fiber_length> 18598 <!--Resting length of the tendon--> 18599 <tendon_slack_length>0.282</tendon_slack_length> 18600 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18601 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 18602 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18603 <max_contraction_velocity>0</max_contraction_velocity> 18604 <!--Scale factor for normalizing time--> 18605 <time_scale>0.1</time_scale> 18606 <!--Parameter used in time constant of ramping up of muscle force--> 18607 <activation1>0.01</activation1> 18608 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18609 <activation2>0.04</activation2> 18610 <!--Damping factor related to maximum contraction velocity--> 18611 <damping>0.05</damping> 18612 <!--Function representing force-length behavior of tendon--> 18613 <SimmSpline name="tendon_force_length_curve"> 18614 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18615 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18616 </SimmSpline> 18617 <!--Function representing active force-length behavior of muscle fibers--> 18618 <SimmSpline name="active_force_length_curve"> 18619 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18620 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18621 </SimmSpline> 18622 <!--Function representing passive force-length behavior of muscle fibers--> 18623 <SimmSpline name="passive_force_length_curve"> 18624 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18625 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18626 </SimmSpline> 18627 </Schutte1993Muscle_Deprecated> 18628 <Schutte1993Muscle_Deprecated name="FDPM_l"> 18629 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18630 <isDisabled>false</isDisabled> 18631 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18632 <min_control>0</min_control> 18633 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18634 <max_control>1</max_control> 18635 <!--The set of points defining the path of the muscle.--> 18636 <GeometryPath> 18637 <PathPointSet> 18638 <objects> 18639 <PathPoint name="FDPM_l-P1"> 18640 <location> -0.00522 -0.03327 -0.0021</location> 18641 <body>ulna_l</body> 18642 </PathPoint> 18643 <PathPoint name="FDPM_l-P2"> 18644 <location> 0.01906 -0.18644 -0.00785</location> 18645 <body>radius_l</body> 18646 </PathPoint> 18647 <PathPoint name="FDPM_l-P3"> 18648 <location> 0.000209 0.025 0.005</location> 18649 <body>capitate_l</body> 18650 </PathPoint> 18651 <PathPoint name="FDPM_l-P3"> 18652 <location> 0.00335 -0.0128 0.01144</location> 18653 <body>capitate_l</body> 18654 </PathPoint> 18655 <PathPoint name="FDPM_l-P4"> 18656 <location> -0.00128 0.00609 0.00838</location> 18657 <body>thirdmc_l</body> 18658 </PathPoint> 18659 <PathPoint name="FDPM_l-P5"> 18660 <location> 0.00034 -0.02347 0.00303</location> 18661 <body>thirdmc_l</body> 18662 </PathPoint> 18663 <PathPoint name="FDPM_l-P6"> 18664 <location> 0.00102 -0.04333 -0.00294</location> 18665 <body>3proxph_l</body> 18666 </PathPoint> 18667 <PathPoint name="FDPM_l-P7"> 18668 <location> 0.00023 -0.00505 0.00226</location> 18669 <body>3distph_l</body> 18670 </PathPoint> 18671 </objects> 18672 <groups /> 18673 </PathPointSet> 18674 <VisibleObject> 18675 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18676 <GeometrySet> 18677 <objects /> 18678 <groups /> 18679 </GeometrySet> 18680 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18681 <scale_factors> 1 1 1</scale_factors> 18682 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18683 <transform> -0 0 -0 0 0 0</transform> 18684 <!--Whether to show a coordinate frame--> 18685 <show_axes>false</show_axes> 18686 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18687 <display_preference>4</display_preference> 18688 </VisibleObject> 18689 <PathWrapSet> 18690 <objects /> 18691 <groups /> 18692 </PathWrapSet> 18693 </GeometryPath> 18694 <!--The maximum force this actuator can produce.--> 18695 <optimal_force>1</optimal_force> 18696 <!--Maximum isometric force that the fibers can generate--> 18697 <max_isometric_force>81.65</max_isometric_force> 18698 <!--Optimal length of the muscle fibers--> 18699 <optimal_fiber_length>0.0835</optimal_fiber_length> 18700 <!--Resting length of the tendon--> 18701 <tendon_slack_length>0.293</tendon_slack_length> 18702 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18703 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 18704 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18705 <max_contraction_velocity>0</max_contraction_velocity> 18706 <!--Scale factor for normalizing time--> 18707 <time_scale>0.1</time_scale> 18708 <!--Parameter used in time constant of ramping up of muscle force--> 18709 <activation1>0.01</activation1> 18710 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18711 <activation2>0.04</activation2> 18712 <!--Damping factor related to maximum contraction velocity--> 18713 <damping>0.05</damping> 18714 <!--Function representing force-length behavior of tendon--> 18715 <SimmSpline name="tendon_force_length_curve"> 18716 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18717 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18718 </SimmSpline> 18719 <!--Function representing active force-length behavior of muscle fibers--> 18720 <SimmSpline name="active_force_length_curve"> 18721 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18722 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18723 </SimmSpline> 18724 <!--Function representing passive force-length behavior of muscle fibers--> 18725 <SimmSpline name="passive_force_length_curve"> 18726 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18727 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18728 </SimmSpline> 18729 </Schutte1993Muscle_Deprecated> 18730 <Schutte1993Muscle_Deprecated name="FDPI_l"> 18731 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18732 <isDisabled>false</isDisabled> 18733 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18734 <min_control>0</min_control> 18735 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18736 <max_control>1</max_control> 18737 <!--The set of points defining the path of the muscle.--> 18738 <GeometryPath> 18739 <PathPointSet> 18740 <objects> 18741 <PathPoint name="FDPI_l-P1"> 18742 <location> -0.00647 -0.03176 -0.0028</location> 18743 <body>ulna_l</body> 18744 </PathPoint> 18745 <PathPoint name="FDPI_l-P2"> 18746 <location> 0.0208 -0.1856 -0.00915</location> 18747 <body>radius_l</body> 18748 </PathPoint> 18749 <PathPoint name="FDPI_l-P3"> 18750 <location> 0.003884 0.025 0.005</location> 18751 <body>capitate_l</body> 18752 </PathPoint> 18753 <PathPoint name="FDPI_l-P3"> 18754 <location> 0.00896 -0.01168 0.01212</location> 18755 <body>capitate_l</body> 18756 </PathPoint> 18757 <PathPoint name="FDPI_l-P4"> 18758 <location> -0.00432 0.00663 0.00248</location> 18759 <body>secondmc_l</body> 18760 </PathPoint> 18761 <PathPoint name="FDPI_l-P5"> 18762 <location> 0.0042 -0.02262 0.00499</location> 18763 <body>secondmc_l</body> 18764 </PathPoint> 18765 <PathPoint name="FDPI_l-P6"> 18766 <location> 0.00581 -0.03555 -0.00306</location> 18767 <body>2proxph_l</body> 18768 </PathPoint> 18769 <PathPoint name="FDPI_l-P7"> 18770 <location> 0.00046 -0.0046 0.00301</location> 18771 <body>2distph_l</body> 18772 </PathPoint> 18773 </objects> 18774 <groups /> 18775 </PathPointSet> 18776 <VisibleObject> 18777 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18778 <GeometrySet> 18779 <objects /> 18780 <groups /> 18781 </GeometrySet> 18782 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18783 <scale_factors> 1 1 1</scale_factors> 18784 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18785 <transform> -0 0 -0 0 0 0</transform> 18786 <!--Whether to show a coordinate frame--> 18787 <show_axes>false</show_axes> 18788 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18789 <display_preference>4</display_preference> 18790 </VisibleObject> 18791 <PathWrapSet> 18792 <objects /> 18793 <groups /> 18794 </PathWrapSet> 18795 </GeometryPath> 18796 <!--The maximum force this actuator can produce.--> 18797 <optimal_force>1</optimal_force> 18798 <!--Maximum isometric force that the fibers can generate--> 18799 <max_isometric_force>68.27</max_isometric_force> 18800 <!--Optimal length of the muscle fibers--> 18801 <optimal_fiber_length>0.0749</optimal_fiber_length> 18802 <!--Resting length of the tendon--> 18803 <tendon_slack_length>0.2935</tendon_slack_length> 18804 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18805 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 18806 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18807 <max_contraction_velocity>0</max_contraction_velocity> 18808 <!--Scale factor for normalizing time--> 18809 <time_scale>0.1</time_scale> 18810 <!--Parameter used in time constant of ramping up of muscle force--> 18811 <activation1>0.01</activation1> 18812 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18813 <activation2>0.04</activation2> 18814 <!--Damping factor related to maximum contraction velocity--> 18815 <damping>0.05</damping> 18816 <!--Function representing force-length behavior of tendon--> 18817 <SimmSpline name="tendon_force_length_curve"> 18818 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18819 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18820 </SimmSpline> 18821 <!--Function representing active force-length behavior of muscle fibers--> 18822 <SimmSpline name="active_force_length_curve"> 18823 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18824 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18825 </SimmSpline> 18826 <!--Function representing passive force-length behavior of muscle fibers--> 18827 <SimmSpline name="passive_force_length_curve"> 18828 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18829 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18830 </SimmSpline> 18831 </Schutte1993Muscle_Deprecated> 18832 <Schutte1993Muscle_Deprecated name="EDCL_l"> 18833 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18834 <isDisabled>false</isDisabled> 18835 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18836 <min_control>0</min_control> 18837 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18838 <max_control>1</max_control> 18839 <!--The set of points defining the path of the muscle.--> 18840 <GeometryPath> 18841 <PathPointSet> 18842 <objects> 18843 <PathPoint name="EDCL_l-P1"> 18844 <location> -0.0004 -0.28831 -0.0187</location> 18845 <body>humerus_l</body> 18846 </PathPoint> 18847 <PathPoint name="EDCL_l-P2"> 18848 <location> 0.0013 -0.03888 -0.01405</location> 18849 <body>radius_l</body> 18850 </PathPoint> 18851 <PathPoint name="EDCL_l-P3"> 18852 <location> 0.00993 -0.22304 -0.03618</location> 18853 <body>radius_l</body> 18854 </PathPoint> 18855 <PathPoint name="EDCL_l-P4"> 18856 <location> -0.00478 -0.01915 -0.00447</location> 18857 <body>fifthmc_l</body> 18858 </PathPoint> 18859 <PathPoint name="EDCL_l-P5"> 18860 <location> -0.00716 -0.03302 0.00089</location> 18861 <body>5proxph_l</body> 18862 </PathPoint> 18863 <PathPoint name="EDCL_l-P6"> 18864 <location> -0.00142 0.00068 -0.00115</location> 18865 <body>5distph_l</body> 18866 </PathPoint> 18867 </objects> 18868 <groups /> 18869 </PathPointSet> 18870 <VisibleObject> 18871 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18872 <GeometrySet> 18873 <objects /> 18874 <groups /> 18875 </GeometrySet> 18876 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18877 <scale_factors> 1 1 1</scale_factors> 18878 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18879 <transform> -0 0 -0 0 0 0</transform> 18880 <!--Whether to show a coordinate frame--> 18881 <show_axes>false</show_axes> 18882 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18883 <display_preference>4</display_preference> 18884 </VisibleObject> 18885 <PathWrapSet> 18886 <objects /> 18887 <groups /> 18888 </PathWrapSet> 18889 </GeometryPath> 18890 <!--The maximum force this actuator can produce.--> 18891 <optimal_force>1</optimal_force> 18892 <!--Maximum isometric force that the fibers can generate--> 18893 <max_isometric_force>13.11</max_isometric_force> 18894 <!--Optimal length of the muscle fibers--> 18895 <optimal_fiber_length>0.065</optimal_fiber_length> 18896 <!--Resting length of the tendon--> 18897 <tendon_slack_length>0.2965</tendon_slack_length> 18898 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18899 <pennation_angle_at_optimal>0.03490659</pennation_angle_at_optimal> 18900 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18901 <max_contraction_velocity>0</max_contraction_velocity> 18902 <!--Scale factor for normalizing time--> 18903 <time_scale>0.1</time_scale> 18904 <!--Parameter used in time constant of ramping up of muscle force--> 18905 <activation1>0.01</activation1> 18906 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 18907 <activation2>0.04</activation2> 18908 <!--Damping factor related to maximum contraction velocity--> 18909 <damping>0.05</damping> 18910 <!--Function representing force-length behavior of tendon--> 18911 <SimmSpline name="tendon_force_length_curve"> 18912 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 18913 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 18914 </SimmSpline> 18915 <!--Function representing active force-length behavior of muscle fibers--> 18916 <SimmSpline name="active_force_length_curve"> 18917 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 18918 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 18919 </SimmSpline> 18920 <!--Function representing passive force-length behavior of muscle fibers--> 18921 <SimmSpline name="passive_force_length_curve"> 18922 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 18923 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 18924 </SimmSpline> 18925 </Schutte1993Muscle_Deprecated> 18926 <Schutte1993Muscle_Deprecated name="EDCR_l"> 18927 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 18928 <isDisabled>false</isDisabled> 18929 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 18930 <min_control>0</min_control> 18931 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 18932 <max_control>1</max_control> 18933 <!--The set of points defining the path of the muscle.--> 18934 <GeometryPath> 18935 <PathPointSet> 18936 <objects> 18937 <PathPoint name="EDCR_l-P1"> 18938 <location> -0.00156 -0.28936 -0.01782</location> 18939 <body>humerus_l</body> 18940 </PathPoint> 18941 <PathPoint name="EDCR_l-P2"> 18942 <location> 0.0026 -0.03991 -0.01552</location> 18943 <body>radius_l</body> 18944 </PathPoint> 18945 <PathPoint name="EDCR_l-P3"> 18946 <location> 0.00882 -0.22366 -0.04284</location> 18947 <body>radius_l</body> 18948 </PathPoint> 18949 <PathPoint name="EDCR_l-P4"> 18950 <location> -0.00338 -0.0233 -0.00513</location> 18951 <body>fourthmc_l</body> 18952 </PathPoint> 18953 <PathPoint name="EDCR_l-P5"> 18954 <location> -0.00546 -0.03868 -0.00413</location> 18955 <body>4proxph_l</body> 18956 </PathPoint> 18957 <PathPoint name="EDCR_l-P6"> 18958 <location> -0.00171 -0.00375 -0.00241</location> 18959 <body>4distph_l</body> 18960 </PathPoint> 18961 </objects> 18962 <groups /> 18963 </PathPointSet> 18964 <VisibleObject> 18965 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 18966 <GeometrySet> 18967 <objects /> 18968 <groups /> 18969 </GeometrySet> 18970 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 18971 <scale_factors> 1 1 1</scale_factors> 18972 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 18973 <transform> -0 0 -0 0 0 0</transform> 18974 <!--Whether to show a coordinate frame--> 18975 <show_axes>false</show_axes> 18976 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 18977 <display_preference>4</display_preference> 18978 </VisibleObject> 18979 <PathWrapSet> 18980 <objects /> 18981 <groups /> 18982 </PathWrapSet> 18983 </GeometryPath> 18984 <!--The maximum force this actuator can produce.--> 18985 <optimal_force>1</optimal_force> 18986 <!--Maximum isometric force that the fibers can generate--> 18987 <max_isometric_force>34.04</max_isometric_force> 18988 <!--Optimal length of the muscle fibers--> 18989 <optimal_fiber_length>0.0626</optimal_fiber_length> 18990 <!--Resting length of the tendon--> 18991 <tendon_slack_length>0.327</tendon_slack_length> 18992 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 18993 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 18994 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 18995 <max_contraction_velocity>0</max_contraction_velocity> 18996 <!--Scale factor for normalizing time--> 18997 <time_scale>0.1</time_scale> 18998 <!--Parameter used in time constant of ramping up of muscle force--> 18999 <activation1>0.01</activation1> 19000 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19001 <activation2>0.04</activation2> 19002 <!--Damping factor related to maximum contraction velocity--> 19003 <damping>0.05</damping> 19004 <!--Function representing force-length behavior of tendon--> 19005 <SimmSpline name="tendon_force_length_curve"> 19006 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19007 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19008 </SimmSpline> 19009 <!--Function representing active force-length behavior of muscle fibers--> 19010 <SimmSpline name="active_force_length_curve"> 19011 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19012 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19013 </SimmSpline> 19014 <!--Function representing passive force-length behavior of muscle fibers--> 19015 <SimmSpline name="passive_force_length_curve"> 19016 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19017 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19018 </SimmSpline> 19019 </Schutte1993Muscle_Deprecated> 19020 <Schutte1993Muscle_Deprecated name="EDCM_l"> 19021 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19022 <isDisabled>false</isDisabled> 19023 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19024 <min_control>0</min_control> 19025 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19026 <max_control>1</max_control> 19027 <!--The set of points defining the path of the muscle.--> 19028 <GeometryPath> 19029 <PathPointSet> 19030 <objects> 19031 <PathPoint name="EDCM_l-P1"> 19032 <location> 0.00051 -0.28984 -0.01949</location> 19033 <body>humerus_l</body> 19034 </PathPoint> 19035 <PathPoint name="EDCM_l-P2"> 19036 <location> 0.00316 -0.03948 -0.01528</location> 19037 <body>radius_l</body> 19038 </PathPoint> 19039 <PathPoint name="EDCM_l-P3"> 19040 <location> 0.0144 -0.22323 -0.04223</location> 19041 <body>radius_l</body> 19042 </PathPoint> 19043 <PathPoint name="EDCM_l-P4"> 19044 <location> 0.00131 -0.02342 -0.00764</location> 19045 <body>thirdmc_l</body> 19046 </PathPoint> 19047 <PathPoint name="EDCM_l-P5"> 19048 <location> 0.00179 -0.04239 -0.01003</location> 19049 <body>3proxph_l</body> 19050 </PathPoint> 19051 <PathPoint name="EDCM_l-P6"> 19052 <location> 0.00077 -0.01111 -0.00201</location> 19053 <body>3distph_l</body> 19054 </PathPoint> 19055 </objects> 19056 <groups /> 19057 </PathPointSet> 19058 <VisibleObject> 19059 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19060 <GeometrySet> 19061 <objects /> 19062 <groups /> 19063 </GeometrySet> 19064 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19065 <scale_factors> 1 1 1</scale_factors> 19066 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19067 <transform> -0 0 -0 0 0 0</transform> 19068 <!--Whether to show a coordinate frame--> 19069 <show_axes>false</show_axes> 19070 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19071 <display_preference>4</display_preference> 19072 </VisibleObject> 19073 <PathWrapSet> 19074 <objects /> 19075 <groups /> 19076 </PathWrapSet> 19077 </GeometryPath> 19078 <!--The maximum force this actuator can produce.--> 19079 <optimal_force>1</optimal_force> 19080 <!--Maximum isometric force that the fibers can generate--> 19081 <max_isometric_force>35.32</max_isometric_force> 19082 <!--Optimal length of the muscle fibers--> 19083 <optimal_fiber_length>0.0724</optimal_fiber_length> 19084 <!--Resting length of the tendon--> 19085 <tendon_slack_length>0.335</tendon_slack_length> 19086 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19087 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 19088 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19089 <max_contraction_velocity>0</max_contraction_velocity> 19090 <!--Scale factor for normalizing time--> 19091 <time_scale>0.1</time_scale> 19092 <!--Parameter used in time constant of ramping up of muscle force--> 19093 <activation1>0.01</activation1> 19094 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19095 <activation2>0.04</activation2> 19096 <!--Damping factor related to maximum contraction velocity--> 19097 <damping>0.05</damping> 19098 <!--Function representing force-length behavior of tendon--> 19099 <SimmSpline name="tendon_force_length_curve"> 19100 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19101 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19102 </SimmSpline> 19103 <!--Function representing active force-length behavior of muscle fibers--> 19104 <SimmSpline name="active_force_length_curve"> 19105 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19106 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19107 </SimmSpline> 19108 <!--Function representing passive force-length behavior of muscle fibers--> 19109 <SimmSpline name="passive_force_length_curve"> 19110 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19111 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19112 </SimmSpline> 19113 </Schutte1993Muscle_Deprecated> 19114 <Schutte1993Muscle_Deprecated name="EDCI_l"> 19115 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19116 <isDisabled>false</isDisabled> 19117 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19118 <min_control>0</min_control> 19119 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19120 <max_control>1</max_control> 19121 <!--The set of points defining the path of the muscle.--> 19122 <GeometryPath> 19123 <PathPointSet> 19124 <objects> 19125 <PathPoint name="EDCI_l-P1"> 19126 <location> 0.00065 -0.28898 -0.01869</location> 19127 <body>humerus_l</body> 19128 </PathPoint> 19129 <PathPoint name="EDCI_l-P2"> 19130 <location> 0.00228 -0.03918 -0.01483</location> 19131 <body>radius_l</body> 19132 </PathPoint> 19133 <PathPoint name="EDCI_l-P3"> 19134 <location> 0.01533 -0.22314 -0.04196</location> 19135 <body>radius_l</body> 19136 </PathPoint> 19137 <PathPoint name="EDCI_l-P4"> 19138 <location> 0.00474 -0.02656 -0.01293</location> 19139 <body>secondmc_l</body> 19140 </PathPoint> 19141 <PathPoint name="EDCI_l-P5"> 19142 <location> 0.00192 -0.01101 -0.01021</location> 19143 <body>2proxph_l</body> 19144 </PathPoint> 19145 <PathPoint name="EDCI_l-P6"> 19146 <location> 0.00771 -0.04191 -0.01399</location> 19147 <body>2proxph_l</body> 19148 </PathPoint> 19149 <PathPoint name="EDCI_l-P7"> 19150 <location> 0.00123 -0.00941 -0.00581</location> 19151 <body>2midph_l</body> 19152 </PathPoint> 19153 <PathPoint name="EDCI_l-P8"> 19154 <location> 0.0026 -0.01959 -0.00363</location> 19155 <body>2midph_l</body> 19156 </PathPoint> 19157 <PathPoint name="EDCI_l-P9"> 19158 <location> 0.00025 -0.0037 -0.00228</location> 19159 <body>2distph_l</body> 19160 </PathPoint> 19161 </objects> 19162 <groups /> 19163 </PathPointSet> 19164 <VisibleObject> 19165 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19166 <GeometrySet> 19167 <objects /> 19168 <groups /> 19169 </GeometrySet> 19170 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19171 <scale_factors> 1 1 1</scale_factors> 19172 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19173 <transform> -0 0 -0 0 0 0</transform> 19174 <!--Whether to show a coordinate frame--> 19175 <show_axes>false</show_axes> 19176 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19177 <display_preference>4</display_preference> 19178 </VisibleObject> 19179 <PathWrapSet> 19180 <objects /> 19181 <groups /> 19182 </PathWrapSet> 19183 </GeometryPath> 19184 <!--The maximum force this actuator can produce.--> 19185 <optimal_force>1</optimal_force> 19186 <!--Maximum isometric force that the fibers can generate--> 19187 <max_isometric_force>18.26</max_isometric_force> 19188 <!--Optimal length of the muscle fibers--> 19189 <optimal_fiber_length>0.07</optimal_fiber_length> 19190 <!--Resting length of the tendon--> 19191 <tendon_slack_length>0.322</tendon_slack_length> 19192 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19193 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 19194 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19195 <max_contraction_velocity>0</max_contraction_velocity> 19196 <!--Scale factor for normalizing time--> 19197 <time_scale>0.1</time_scale> 19198 <!--Parameter used in time constant of ramping up of muscle force--> 19199 <activation1>0.01</activation1> 19200 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19201 <activation2>0.04</activation2> 19202 <!--Damping factor related to maximum contraction velocity--> 19203 <damping>0.05</damping> 19204 <!--Function representing force-length behavior of tendon--> 19205 <SimmSpline name="tendon_force_length_curve"> 19206 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19207 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19208 </SimmSpline> 19209 <!--Function representing active force-length behavior of muscle fibers--> 19210 <SimmSpline name="active_force_length_curve"> 19211 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19212 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19213 </SimmSpline> 19214 <!--Function representing passive force-length behavior of muscle fibers--> 19215 <SimmSpline name="passive_force_length_curve"> 19216 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19217 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19218 </SimmSpline> 19219 </Schutte1993Muscle_Deprecated> 19220 <Schutte1993Muscle_Deprecated name="EDM_l"> 19221 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19222 <isDisabled>false</isDisabled> 19223 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19224 <min_control>0</min_control> 19225 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19226 <max_control>1</max_control> 19227 <!--The set of points defining the path of the muscle.--> 19228 <GeometryPath> 19229 <PathPointSet> 19230 <objects> 19231 <PathPoint name="EDM_l-P1"> 19232 <location> 0.00089 -0.28919 -0.01847</location> 19233 <body>humerus_l</body> 19234 </PathPoint> 19235 <PathPoint name="EDM_l-P2"> 19236 <location> -0.00977 -0.03907 -0.03085</location> 19237 <body>ulna_l</body> 19238 </PathPoint> 19239 <PathPoint name="EDM_l-P3"> 19240 <location> -0.00755 -0.08267 -0.03646</location> 19241 <body>ulna_l</body> 19242 </PathPoint> 19243 <PathPoint name="EDM_l-P4"> 19244 <location> 0.00454 -0.22641 -0.03678</location> 19245 <body>radius_l</body> 19246 </PathPoint> 19247 <PathPoint name="EDM_l-P5"> 19248 <location> 0.00131 0.02436 -0.00794</location> 19249 <body>fifthmc_l</body> 19250 </PathPoint> 19251 <PathPoint name="EDM_l-P6"> 19252 <location> -0.00537 -0.01848 -0.00316</location> 19253 <body>fifthmc_l</body> 19254 </PathPoint> 19255 <PathPoint name="EDM_l-P7"> 19256 <location> -0.0054 -0.03237 -0.00015</location> 19257 <body>5proxph_l</body> 19258 </PathPoint> 19259 <PathPoint name="EDM_l-P8"> 19260 <location> -0.00226 -0.00334 -0.00062</location> 19261 <body>5distph_l</body> 19262 </PathPoint> 19263 </objects> 19264 <groups /> 19265 </PathPointSet> 19266 <VisibleObject> 19267 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19268 <GeometrySet> 19269 <objects /> 19270 <groups /> 19271 </GeometrySet> 19272 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19273 <scale_factors> 1 1 1</scale_factors> 19274 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19275 <transform> -0 0 -0 0 0 0</transform> 19276 <!--Whether to show a coordinate frame--> 19277 <show_axes>false</show_axes> 19278 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19279 <display_preference>4</display_preference> 19280 </VisibleObject> 19281 <PathWrapSet> 19282 <objects /> 19283 <groups /> 19284 </PathWrapSet> 19285 </GeometryPath> 19286 <!--The maximum force this actuator can produce.--> 19287 <optimal_force>1</optimal_force> 19288 <!--Maximum isometric force that the fibers can generate--> 19289 <max_isometric_force>25.25</max_isometric_force> 19290 <!--Optimal length of the muscle fibers--> 19291 <optimal_fiber_length>0.0675</optimal_fiber_length> 19292 <!--Resting length of the tendon--> 19293 <tendon_slack_length>0.322</tendon_slack_length> 19294 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19295 <pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal> 19296 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19297 <max_contraction_velocity>0</max_contraction_velocity> 19298 <!--Scale factor for normalizing time--> 19299 <time_scale>0.1</time_scale> 19300 <!--Parameter used in time constant of ramping up of muscle force--> 19301 <activation1>0.01</activation1> 19302 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19303 <activation2>0.04</activation2> 19304 <!--Damping factor related to maximum contraction velocity--> 19305 <damping>0.05</damping> 19306 <!--Function representing force-length behavior of tendon--> 19307 <SimmSpline name="tendon_force_length_curve"> 19308 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19309 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19310 </SimmSpline> 19311 <!--Function representing active force-length behavior of muscle fibers--> 19312 <SimmSpline name="active_force_length_curve"> 19313 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19314 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19315 </SimmSpline> 19316 <!--Function representing passive force-length behavior of muscle fibers--> 19317 <SimmSpline name="passive_force_length_curve"> 19318 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19319 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19320 </SimmSpline> 19321 </Schutte1993Muscle_Deprecated> 19322 <Schutte1993Muscle_Deprecated name="EIP_l"> 19323 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19324 <isDisabled>false</isDisabled> 19325 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19326 <min_control>0</min_control> 19327 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19328 <max_control>1</max_control> 19329 <!--The set of points defining the path of the muscle.--> 19330 <GeometryPath> 19331 <PathPointSet> 19332 <objects> 19333 <PathPoint name="EIP_l-P1"> 19334 <location> -0.00394 -0.16652 -0.03682</location> 19335 <body>ulna_l</body> 19336 </PathPoint> 19337 <PathPoint name="EIP_l-P2"> 19338 <location> 0.00171 -0.17469 -0.04049</location> 19339 <body>ulna_l</body> 19340 </PathPoint> 19341 <PathPoint name="EIP_l-P3"> 19342 <location> 0.01076 -0.22783 -0.03664</location> 19343 <body>radius_l</body> 19344 </PathPoint> 19345 <PathPoint name="EIP_l-P4"> 19346 <location> -0.01081 0.01528 -0.00681</location> 19347 <body>secondmc_l</body> 19348 </PathPoint> 19349 <PathPoint name="EIP_l-P5"> 19350 <location> 0.00441 -0.02602 -0.01285</location> 19351 <body>secondmc_l</body> 19352 </PathPoint> 19353 <PathPoint name="EIP_l-P6"> 19354 <location> 0.00171 -0.01033 -0.00947</location> 19355 <body>2proxph_l</body> 19356 </PathPoint> 19357 <PathPoint name="EIP_l-P7"> 19358 <location> 0.00714 -0.04133 -0.01413</location> 19359 <body>2proxph_l</body> 19360 </PathPoint> 19361 <PathPoint name="EIP_l-P8"> 19362 <location> 0.00115 -0.00899 -0.00597</location> 19363 <body>2midph_l</body> 19364 </PathPoint> 19365 <PathPoint name="EIP_l-P9"> 19366 <location> 0.00294 -0.02043 -0.00377</location> 19367 <body>2midph_l</body> 19368 </PathPoint> 19369 <PathPoint name="EIP_l-P10"> 19370 <location> 0.00264 -0.01233 -0.00266</location> 19371 <body>2distph_l</body> 19372 </PathPoint> 19373 </objects> 19374 <groups /> 19375 </PathPointSet> 19376 <VisibleObject> 19377 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19378 <GeometrySet> 19379 <objects /> 19380 <groups /> 19381 </GeometrySet> 19382 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19383 <scale_factors> 1 1 1</scale_factors> 19384 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19385 <transform> -0 0 -0 0 0 0</transform> 19386 <!--Whether to show a coordinate frame--> 19387 <show_axes>false</show_axes> 19388 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19389 <display_preference>4</display_preference> 19390 </VisibleObject> 19391 <PathWrapSet> 19392 <objects /> 19393 <groups /> 19394 </PathWrapSet> 19395 </GeometryPath> 19396 <!--The maximum force this actuator can produce.--> 19397 <optimal_force>1</optimal_force> 19398 <!--Maximum isometric force that the fibers can generate--> 19399 <max_isometric_force>21.7</max_isometric_force> 19400 <!--Optimal length of the muscle fibers--> 19401 <optimal_fiber_length>0.0589</optimal_fiber_length> 19402 <!--Resting length of the tendon--> 19403 <tendon_slack_length>0.186</tendon_slack_length> 19404 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19405 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 19406 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19407 <max_contraction_velocity>0</max_contraction_velocity> 19408 <!--Scale factor for normalizing time--> 19409 <time_scale>0.1</time_scale> 19410 <!--Parameter used in time constant of ramping up of muscle force--> 19411 <activation1>0.01</activation1> 19412 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19413 <activation2>0.04</activation2> 19414 <!--Damping factor related to maximum contraction velocity--> 19415 <damping>0.05</damping> 19416 <!--Function representing force-length behavior of tendon--> 19417 <SimmSpline name="tendon_force_length_curve"> 19418 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19419 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19420 </SimmSpline> 19421 <!--Function representing active force-length behavior of muscle fibers--> 19422 <SimmSpline name="active_force_length_curve"> 19423 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19424 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19425 </SimmSpline> 19426 <!--Function representing passive force-length behavior of muscle fibers--> 19427 <SimmSpline name="passive_force_length_curve"> 19428 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19429 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19430 </SimmSpline> 19431 </Schutte1993Muscle_Deprecated> 19432 <Schutte1993Muscle_Deprecated name="EPL_l"> 19433 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19434 <isDisabled>false</isDisabled> 19435 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19436 <min_control>0</min_control> 19437 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19438 <max_control>1</max_control> 19439 <!--The set of points defining the path of the muscle.--> 19440 <GeometryPath> 19441 <PathPointSet> 19442 <objects> 19443 <PathPoint name="EPL_l-P1"> 19444 <location> -0.01412 -0.09706 -0.02952</location> 19445 <body>ulna_l</body> 19446 </PathPoint> 19447 <PathPoint name="EPL_l-P2"> 19448 <location> 0.00124 -0.13668 -0.0227</location> 19449 <body>radius_l</body> 19450 </PathPoint> 19451 <PathPoint name="EPL_l-P3"> 19452 <location> 0.02702 -0.21872 -0.03828</location> 19453 <body>radius_l</body> 19454 </PathPoint> 19455 <PathPoint name="EPL_l-P4"> 19456 <location> 0.03382 -0.22754 -0.04607</location> 19457 <body>radius_l</body> 19458 </PathPoint> 19459 <PathPoint name="EPL_l-P5"> 19460 <location> 0.04234 -0.23771 -0.04173</location> 19461 <body>radius_l</body> 19462 </PathPoint> 19463 <PathPoint name="EPL_l-P6"> 19464 <location> 0.02428 0.00014 -0.00608</location> 19465 <body>capitate_l</body> 19466 </PathPoint> 19467 <PathPoint name="EPL_l-P7"> 19468 <location> 0.00809 -0.0046 -0.00992</location> 19469 <body>trapezium_l</body> 19470 </PathPoint> 19471 <PathPoint name="EPL_l-P8"> 19472 <location> 0.00656 -0.0043 -0.00792</location> 19473 <body>firstmc_l</body> 19474 </PathPoint> 19475 <PathPoint name="EPL_l-P9"> 19476 <location> 0.02165 -0.0242 0.00533</location> 19477 <body>firstmc_l</body> 19478 </PathPoint> 19479 <PathPoint name="EPL_l-P10"> 19480 <location> 0.01147 -0.00362 -0.00156</location> 19481 <body>proximal_thumb_l</body> 19482 </PathPoint> 19483 <PathPoint name="EPL_l-P11"> 19484 <location> 0.01921 -0.0265 0.01038</location> 19485 <body>proximal_thumb_l</body> 19486 </PathPoint> 19487 <PathPoint name="EPL_l-P12"> 19488 <location> 0.00543 -0.00714 0.00464</location> 19489 <body>distal_thumb_l</body> 19490 </PathPoint> 19491 </objects> 19492 <groups /> 19493 </PathPointSet> 19494 <VisibleObject> 19495 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19496 <GeometrySet> 19497 <objects /> 19498 <groups /> 19499 </GeometrySet> 19500 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19501 <scale_factors> 1 1 1</scale_factors> 19502 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19503 <transform> -0 0 -0 0 0 0</transform> 19504 <!--Whether to show a coordinate frame--> 19505 <show_axes>false</show_axes> 19506 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19507 <display_preference>4</display_preference> 19508 </VisibleObject> 19509 <PathWrapSet> 19510 <objects /> 19511 <groups /> 19512 </PathWrapSet> 19513 </GeometryPath> 19514 <!--The maximum force this actuator can produce.--> 19515 <optimal_force>1</optimal_force> 19516 <!--Maximum isometric force that the fibers can generate--> 19517 <max_isometric_force>39.46</max_isometric_force> 19518 <!--Optimal length of the muscle fibers--> 19519 <optimal_fiber_length>0.054</optimal_fiber_length> 19520 <!--Resting length of the tendon--> 19521 <tendon_slack_length>0.2205</tendon_slack_length> 19522 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19523 <pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal> 19524 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19525 <max_contraction_velocity>0</max_contraction_velocity> 19526 <!--Scale factor for normalizing time--> 19527 <time_scale>0.1</time_scale> 19528 <!--Parameter used in time constant of ramping up of muscle force--> 19529 <activation1>0.01</activation1> 19530 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19531 <activation2>0.04</activation2> 19532 <!--Damping factor related to maximum contraction velocity--> 19533 <damping>0.05</damping> 19534 <!--Function representing force-length behavior of tendon--> 19535 <SimmSpline name="tendon_force_length_curve"> 19536 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19537 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19538 </SimmSpline> 19539 <!--Function representing active force-length behavior of muscle fibers--> 19540 <SimmSpline name="active_force_length_curve"> 19541 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19542 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19543 </SimmSpline> 19544 <!--Function representing passive force-length behavior of muscle fibers--> 19545 <SimmSpline name="passive_force_length_curve"> 19546 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19547 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19548 </SimmSpline> 19549 </Schutte1993Muscle_Deprecated> 19550 <Schutte1993Muscle_Deprecated name="EPB_l"> 19551 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19552 <isDisabled>false</isDisabled> 19553 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19554 <min_control>0</min_control> 19555 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19556 <max_control>1</max_control> 19557 <!--The set of points defining the path of the muscle.--> 19558 <GeometryPath> 19559 <PathPointSet> 19560 <objects> 19561 <PathPoint name="EPB_l-P1"> 19562 <location> 0.01924 -0.14695 -0.02114</location> 19563 <body>radius_l</body> 19564 </PathPoint> 19565 <PathPoint name="EPB_l-P2"> 19566 <location> 0.02276 -0.15857 -0.02665</location> 19567 <body>radius_l</body> 19568 </PathPoint> 19569 <PathPoint name="EPB_l-P3"> 19570 <location> 0.03831 -0.19722 -0.03834</location> 19571 <body>radius_l</body> 19572 </PathPoint> 19573 <PathPoint name="EPB_l-P4"> 19574 <location> 0.05235 -0.23611 -0.02699</location> 19575 <body>radius_l</body> 19576 </PathPoint> 19577 <PathPoint name="EPB_l-P5"> 19578 <location> 0.03123 0.00256 0.00327</location> 19579 <body>capitate_l</body> 19580 </PathPoint> 19581 <PathPoint name="EPB_l-P6"> 19582 <location> 0.01443 -0.00337 0.00405</location> 19583 <body>trapezium_l</body> 19584 </PathPoint> 19585 <PathPoint name="EPB_l-P7"> 19586 <location> 0.02173 -0.02303 0.01141</location> 19587 <body>firstmc_l</body> 19588 </PathPoint> 19589 <PathPoint name="EPB_l-P8"> 19590 <location> 0.00927 -0.00618 0.00557</location> 19591 <body>proximal_thumb_l</body> 19592 </PathPoint> 19593 </objects> 19594 <groups /> 19595 </PathPointSet> 19596 <VisibleObject> 19597 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19598 <GeometrySet> 19599 <objects /> 19600 <groups /> 19601 </GeometrySet> 19602 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19603 <scale_factors> 1 1 1</scale_factors> 19604 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19605 <transform> -0 0 -0 0 0 0</transform> 19606 <!--Whether to show a coordinate frame--> 19607 <show_axes>false</show_axes> 19608 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19609 <display_preference>4</display_preference> 19610 </VisibleObject> 19611 <PathWrapSet> 19612 <objects /> 19613 <groups /> 19614 </PathWrapSet> 19615 </GeometryPath> 19616 <!--The maximum force this actuator can produce.--> 19617 <optimal_force>1</optimal_force> 19618 <!--Maximum isometric force that the fibers can generate--> 19619 <max_isometric_force>14.2</max_isometric_force> 19620 <!--Optimal length of the muscle fibers--> 19621 <optimal_fiber_length>0.0675</optimal_fiber_length> 19622 <!--Resting length of the tendon--> 19623 <tendon_slack_length>0.1155</tendon_slack_length> 19624 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19625 <pennation_angle_at_optimal>0.12566371</pennation_angle_at_optimal> 19626 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19627 <max_contraction_velocity>0</max_contraction_velocity> 19628 <!--Scale factor for normalizing time--> 19629 <time_scale>0.1</time_scale> 19630 <!--Parameter used in time constant of ramping up of muscle force--> 19631 <activation1>0.01</activation1> 19632 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19633 <activation2>0.04</activation2> 19634 <!--Damping factor related to maximum contraction velocity--> 19635 <damping>0.05</damping> 19636 <!--Function representing force-length behavior of tendon--> 19637 <SimmSpline name="tendon_force_length_curve"> 19638 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19639 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19640 </SimmSpline> 19641 <!--Function representing active force-length behavior of muscle fibers--> 19642 <SimmSpline name="active_force_length_curve"> 19643 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19644 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19645 </SimmSpline> 19646 <!--Function representing passive force-length behavior of muscle fibers--> 19647 <SimmSpline name="passive_force_length_curve"> 19648 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19649 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19650 </SimmSpline> 19651 </Schutte1993Muscle_Deprecated> 19652 <Schutte1993Muscle_Deprecated name="FPL_l"> 19653 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19654 <isDisabled>false</isDisabled> 19655 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19656 <min_control>0</min_control> 19657 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19658 <max_control>1</max_control> 19659 <!--The set of points defining the path of the muscle.--> 19660 <GeometryPath> 19661 <PathPointSet> 19662 <objects> 19663 <PathPoint name="FPL_l-P1"> 19664 <location> 0.00971 -0.09458 -0.01769</location> 19665 <body>radius_l</body> 19666 </PathPoint> 19667 <PathPoint name="FPL_l-P2"> 19668 <location> 0.01658 -0.13525 -0.01915</location> 19669 <body>radius_l</body> 19670 </PathPoint> 19671 <PathPoint name="FPL_l-P3"> 19672 <location> 0.01869 -0.17932 -0.01988</location> 19673 <body>radius_l</body> 19674 </PathPoint> 19675 <PathPoint name="FPL_l-P4"> 19676 <location> 0.038 -0.23171 -0.0158</location> 19677 <body>radius_l</body> 19678 </PathPoint> 19679 <PathPoint name="FPL_l-P5"> 19680 <location> 0.01869 0.00882 0.01547</location> 19681 <body>capitate_l</body> 19682 </PathPoint> 19683 <PathPoint name="FPL_l-P6"> 19684 <location> 0.01244 -0.02207 0.02089</location> 19685 <body>capitate_l</body> 19686 </PathPoint> 19687 <PathPoint name="FPL_l-P7"> 19688 <location> -0.00608 -0.01624 0.0094</location> 19689 <body>firstmc_l</body> 19690 </PathPoint> 19691 <PathPoint name="FPL_l-P8"> 19692 <location> 0.00208 -0.02297 0.00956</location> 19693 <body>firstmc_l</body> 19694 </PathPoint> 19695 <PathPoint name="FPL_l-P9"> 19696 <location> -0.0045 -0.01842 0.00508</location> 19697 <body>proximal_thumb_l</body> 19698 </PathPoint> 19699 <PathPoint name="FPL_l-P10"> 19700 <location> 0.0059 -0.02602 0.01114</location> 19701 <body>proximal_thumb_l</body> 19702 </PathPoint> 19703 <PathPoint name="FPL_l-P11"> 19704 <location> 0.00242 -0.01127 0.00412</location> 19705 <body>distal_thumb_l</body> 19706 </PathPoint> 19707 </objects> 19708 <groups /> 19709 </PathPointSet> 19710 <VisibleObject> 19711 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19712 <GeometrySet> 19713 <objects /> 19714 <groups /> 19715 </GeometrySet> 19716 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19717 <scale_factors> 1 1 1</scale_factors> 19718 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19719 <transform> -0 0 -0 0 0 0</transform> 19720 <!--Whether to show a coordinate frame--> 19721 <show_axes>false</show_axes> 19722 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19723 <display_preference>4</display_preference> 19724 </VisibleObject> 19725 <PathWrapSet> 19726 <objects /> 19727 <groups /> 19728 </PathWrapSet> 19729 </GeometryPath> 19730 <!--The maximum force this actuator can produce.--> 19731 <optimal_force>1</optimal_force> 19732 <!--Maximum isometric force that the fibers can generate--> 19733 <max_isometric_force>77.2</max_isometric_force> 19734 <!--Optimal length of the muscle fibers--> 19735 <optimal_fiber_length>0.0552</optimal_fiber_length> 19736 <!--Resting length of the tendon--> 19737 <tendon_slack_length>0.1938</tendon_slack_length> 19738 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19739 <pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal> 19740 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19741 <max_contraction_velocity>0</max_contraction_velocity> 19742 <!--Scale factor for normalizing time--> 19743 <time_scale>0.1</time_scale> 19744 <!--Parameter used in time constant of ramping up of muscle force--> 19745 <activation1>0.01</activation1> 19746 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19747 <activation2>0.04</activation2> 19748 <!--Damping factor related to maximum contraction velocity--> 19749 <damping>0.05</damping> 19750 <!--Function representing force-length behavior of tendon--> 19751 <SimmSpline name="tendon_force_length_curve"> 19752 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19753 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19754 </SimmSpline> 19755 <!--Function representing active force-length behavior of muscle fibers--> 19756 <SimmSpline name="active_force_length_curve"> 19757 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19758 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19759 </SimmSpline> 19760 <!--Function representing passive force-length behavior of muscle fibers--> 19761 <SimmSpline name="passive_force_length_curve"> 19762 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19763 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19764 </SimmSpline> 19765 </Schutte1993Muscle_Deprecated> 19766 <Schutte1993Muscle_Deprecated name="APL_l"> 19767 <!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.--> 19768 <isDisabled>false</isDisabled> 19769 <!--Minimum allowed value for control signal. Used primarily when solving for control values.--> 19770 <min_control>0</min_control> 19771 <!--Maximum allowed value for control signal. Used primarily when solving for control values.--> 19772 <max_control>1</max_control> 19773 <!--The set of points defining the path of the muscle.--> 19774 <GeometryPath> 19775 <PathPointSet> 19776 <objects> 19777 <PathPoint name="APL_l-P1"> 19778 <location> 0.01154 -0.09477 -0.01681</location> 19779 <body>radius_l</body> 19780 </PathPoint> 19781 <PathPoint name="APL_l-P2"> 19782 <location> 0.0303 -0.1397 -0.03507</location> 19783 <body>radius_l</body> 19784 </PathPoint> 19785 <PathPoint name="APL_l-P3"> 19786 <location> 0.03993 -0.16072 -0.034</location> 19787 <body>radius_l</body> 19788 </PathPoint> 19789 <PathPoint name="APL_l-P4"> 19790 <location> 0.04397 -0.17845 -0.03134</location> 19791 <body>radius_l</body> 19792 </PathPoint> 19793 <PathPoint name="APL_l-P5"> 19794 <location> 0.05505 -0.23084 -0.02368</location> 19795 <body>radius_l</body> 19796 </PathPoint> 19797 <PathPoint name="APL_l-P6"> 19798 <location> 0.03385 0.00634 0.00745</location> 19799 <body>capitate_l</body> 19800 </PathPoint> 19801 <PathPoint name="APL_l-P7"> 19802 <location> 0.01058 0.00662 0.00619</location> 19803 <body>trapezium_l</body> 19804 </PathPoint> 19805 <PathPoint name="APL_l-P8"> 19806 <location> 0.00629 0.00323 0.00589</location> 19807 <body>firstmc_l</body> 19808 </PathPoint> 19809 <PathPoint name="APL_l-P9"> 19810 <location> 0.00827 -0.00586 0.00604</location> 19811 <body>firstmc_l</body> 19812 </PathPoint> 19813 </objects> 19814 <groups /> 19815 </PathPointSet> 19816 <VisibleObject> 19817 <!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj--> 19818 <GeometrySet> 19819 <objects /> 19820 <groups /> 19821 </GeometrySet> 19822 <!--Three scale factors for display purposes: scaleX scaleY scaleZ--> 19823 <scale_factors> 1 1 1</scale_factors> 19824 <!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz--> 19825 <transform> -0 0 -0 0 0 0</transform> 19826 <!--Whether to show a coordinate frame--> 19827 <show_axes>false</show_axes> 19828 <!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries--> 19829 <display_preference>4</display_preference> 19830 </VisibleObject> 19831 <PathWrapSet> 19832 <objects /> 19833 <groups /> 19834 </PathWrapSet> 19835 </GeometryPath> 19836 <!--The maximum force this actuator can produce.--> 19837 <optimal_force>1</optimal_force> 19838 <!--Maximum isometric force that the fibers can generate--> 19839 <max_isometric_force>59.53</max_isometric_force> 19840 <!--Optimal length of the muscle fibers--> 19841 <optimal_fiber_length>0.0713</optimal_fiber_length> 19842 <!--Resting length of the tendon--> 19843 <tendon_slack_length>0.1295</tendon_slack_length> 19844 <!--Angle between tendon and fibers at optimal fiber length expressed in radians--> 19845 <pennation_angle_at_optimal>0.13089969</pennation_angle_at_optimal> 19846 <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second--> 19847 <max_contraction_velocity>0</max_contraction_velocity> 19848 <!--Scale factor for normalizing time--> 19849 <time_scale>0.1</time_scale> 19850 <!--Parameter used in time constant of ramping up of muscle force--> 19851 <activation1>0.01</activation1> 19852 <!--Parameter used in time constant of ramping up and ramping down of muscle force--> 19853 <activation2>0.04</activation2> 19854 <!--Damping factor related to maximum contraction velocity--> 19855 <damping>0.05</damping> 19856 <!--Function representing force-length behavior of tendon--> 19857 <SimmSpline name="tendon_force_length_curve"> 19858 <x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x> 19859 <y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y> 19860 </SimmSpline> 19861 <!--Function representing active force-length behavior of muscle fibers--> 19862 <SimmSpline name="active_force_length_curve"> 19863 <x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x> 19864 <y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y> 19865 </SimmSpline> 19866 <!--Function representing passive force-length behavior of muscle fibers--> 19867 <SimmSpline name="passive_force_length_curve"> 19868 <x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x> 19869 <y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y> 19870 </SimmSpline> 19871 </Schutte1993Muscle_Deprecated> 19872 </objects> 19873 <groups> 19874 <ObjectGroup name="R_hip_abd"> 19875 <members> glut_max1_r glut_med1_r glut_med2_r glut_med3_r peri_r sar_r tfl_r</members> 19876 </ObjectGroup> 19877 <ObjectGroup name="R_hip_flex"> 19878 <members> glut_med1_r grac_r iliacus_r pect_r psoas_r rect_fem_r sar_r tfl_r</members> 19879 </ObjectGroup> 19880 <ObjectGroup name="R_hip_inrot"> 19881 <members> glut_med1_r iliacus_r psoas_r tfl_r</members> 19882 </ObjectGroup> 19883 <ObjectGroup name="R_hip_exrot"> 19884 <members> gem_r glut_med3_r peri_r quad_fem_r</members> 19885 </ObjectGroup> 19886 <ObjectGroup name="R_hip_ext"> 19887 <members> add_mag2_r bifemlh_r glut_max1_r glut_max2_r glut_max3_r glut_med3_r</members> 19888 </ObjectGroup> 19889 <ObjectGroup name="R_hip_add"> 19890 <members> add_mag2_r bifemlh_r grac_r pect_r</members> 19891 </ObjectGroup> 19892 <ObjectGroup name="R_knee_bend"> 19893 <members> bifemlh_r bifemsh_r grac_r med_gas_r sar_r</members> 19894 </ObjectGroup> 19895 <ObjectGroup name="R_knee_ext"> 19896 <members> rect_fem_r vas_int_r</members> 19897 </ObjectGroup> 19898 <ObjectGroup name="R_ankle_pf"> 19899 <members> med_gas_r soleus_r tib_post_r</members> 19900 </ObjectGroup> 19901 <ObjectGroup name="R_inverter"> 19902 <members> tib_ant_r tib_post_r</members> 19903 </ObjectGroup> 19904 <ObjectGroup name="R_ankle_df"> 19905 <members> tib_ant_r</members> 19906 </ObjectGroup> 19907 <ObjectGroup name="L_hip_abd"> 19908 <members> glut_max1_l glut_med1_l glut_med2_l glut_med3_l peri_l sar_l tfl_l</members> 19909 </ObjectGroup> 19910 <ObjectGroup name="L_hip_flex"> 19911 <members> glut_med1_l grac_l iliacus_l pect_l psoas_l rect_fem_l sar_l tfl_l</members> 19912 </ObjectGroup> 19913 <ObjectGroup name="L_hip_inrot"> 19914 <members> glut_med1_l iliacus_l psoas_l tfl_l</members> 19915 </ObjectGroup> 19916 <ObjectGroup name="L_hip_exrot"> 19917 <members> gem_l glut_med3_l peri_l quad_fem_l</members> 19918 </ObjectGroup> 19919 <ObjectGroup name="L_hip_ext"> 19920 <members> add_mag2_l bifemlh_l glut_max1_l glut_max2_l glut_max3_l glut_med3_l</members> 19921 </ObjectGroup> 19922 <ObjectGroup name="L_hip_add"> 19923 <members> add_mag2_l bifemlh_l grac_l pect_l</members> 19924 </ObjectGroup> 19925 <ObjectGroup name="L_knee_bend"> 19926 <members> bifemlh_l bifemsh_l grac_l med_gas_l sar_l</members> 19927 </ObjectGroup> 19928 <ObjectGroup name="L_knee_ext"> 19929 <members> rect_fem_l vas_int_l</members> 19930 </ObjectGroup> 19931 <ObjectGroup name="L_ankle_pf"> 19932 <members> med_gas_l soleus_l tib_post_l</members> 19933 </ObjectGroup> 19934 <ObjectGroup name="L_inverter"> 19935 <members> tib_ant_l tib_post_l</members> 19936 </ObjectGroup> 19937 <ObjectGroup name="L_ankle_df"> 19938 <members> tib_ant_l</members> 19939 </ObjectGroup> 19940 <ObjectGroup name="back_ext"> 19941 <members> ercspn_l ercspn_r</members> 19942 </ObjectGroup> 19943 <ObjectGroup name="back_rlb"> 19944 <members> ercspn_r extobl_r intobl_r</members> 19945 </ObjectGroup> 19946 <ObjectGroup name="back_introt"> 19947 <members> ercspn_r extobl_l intobl_r</members> 19948 </ObjectGroup> 19949 <ObjectGroup name="back_llb"> 19950 <members> ercspn_l extobl_l intobl_l</members> 19951 </ObjectGroup> 19952 <ObjectGroup name="back_extrot"> 19953 <members> ercspn_l extobl_r intobl_l</members> 19954 </ObjectGroup> 19955 <ObjectGroup name="back_flex"> 19956 <members> extobl_l extobl_r intobl_l intobl_r</members> 19957 </ObjectGroup> 19958 <ObjectGroup name="shoulder"> 19959 <members> CORB DELT1 DELT2 DELT3 INFSP LAT1 LAT2 LAT3 PECM1 PECM2 PECM3 SUBSC SUPSP TMAJ TMIN</members> 19960 </ObjectGroup> 19961 <ObjectGroup name="elbow"> 19962 <members> ANC BIClong BICshort BRA BRD ECRL PT TRIlat TRIlong TRImed</members> 19963 </ObjectGroup> 19964 <ObjectGroup name="forearm"> 19965 <members> APL ECRB ECU EDCI EDCL EDCM EDCR EDM EIP EPB EPL FCR FCU FDPI FDPL FDPM FDPR FDSI FDSL FDSM FDSR FPL PL PQ PT SUP</members> 19966 </ObjectGroup> 19967 <ObjectGroup name="extensor"> 19968 <members> ECRB ECU EDCI EDCL EDCM EDCR EDM EIP EPL</members> 19969 </ObjectGroup> 19970 <ObjectGroup name="radial"> 19971 <members> APL ECRB EDCI EDCM EIP EPB EPL FCR FDPI FDSI FDSM FPL PL</members> 19972 </ObjectGroup> 19973 <ObjectGroup name="wrist"> 19974 <members> ECRB ECU FCR FCU</members> 19975 </ObjectGroup> 19976 <ObjectGroup name="ulnar"> 19977 <members> ECU EDCL EDCR EDM FCU FDPL FDPM FDPR FDSL FDSR</members> 19978 </ObjectGroup> 19979 <ObjectGroup name="flexor"> 19980 <members> APL EPB FCR FCU FDPI FDPL FDPM FDPR FDSI FDSL FDSM FDSR FPL PL</members> 19981 </ObjectGroup> 19982 <ObjectGroup name="hand"> 19983 <members> APL EDCI EDCL EDCM EDCR EDM EIP EPB EPL FDPI FDPL FDPM FDPR FDSI FDSL FDSM FDSR FPL PL</members> 19984 </ObjectGroup> 19985 <ObjectGroup name="thumb"> 19986 <members> APL EPB EPL FPL</members> 19987 </ObjectGroup> 19988 <ObjectGroup name="shoulder_l"> 19989 <members> CORB_l DELT1_l DELT2_l DELT3_l INFSP_l LAT1_l LAT2_l LAT3_l PECM1_l PECM2_l PECM3_l SUBSC_l SUPSP_l TMAJ_l TMIN_l</members> 19990 </ObjectGroup> 19991 <ObjectGroup name="elbow_l"> 19992 <members> ANC_l BIClong_l BICshort_l BRA_l BRD_l ECRL_l PT_l TRIlat_l TRIlong_l TRImed_l</members> 19993 </ObjectGroup> 19994 <ObjectGroup name="forearm_l"> 19995 <members> APL_l ECRB_l ECU_l EDCI_l EDCL_l EDCM_l EDCR_l EDM_l EIP_l EPB_l EPL_l FCR_l FCU_l FDPI_l FDPL_l FDPM_l FDPR_l FDSI_l FDSL_l FDSM_l FDSR_l FPL_l PL_l PQ_l PT_l SUP_l</members> 19996 </ObjectGroup> 19997 <ObjectGroup name="extensor_l"> 19998 <members> ECRB_l ECU_l EDCI_l EDCL_l EDCM_l EDCR_l EDM_l EIP_l EPL_l</members> 19999 </ObjectGroup> 20000 <ObjectGroup name="radial_l"> 20001 <members> APL_l ECRB_l EDCI_l EDCM_l EIP_l EPB_l EPL_l FCR_l FDPI_l FDSI_l FDSM_l FPL_l PL_l</members> 20002 </ObjectGroup> 20003 <ObjectGroup name="wrist_l"> 20004 <members> ECRB_l ECU_l FCR_l FCU_l</members> 20005 </ObjectGroup> 20006 <ObjectGroup name="ulnar_l"> 20007 <members> ECU_l EDCL_l EDCR_l EDM_l FCU_l FDPL_l FDPM_l FDPR_l FDSL_l FDSR_l</members> 20008 </ObjectGroup> 20009 <ObjectGroup name="flexor_l"> 20010 <members> APL_l EPB_l FCR_l FCU_l FDPI_l FDPL_l FDPM_l FDPR_l FDSI_l FDSL_l FDSM_l FDSR_l FPL_l PL_l</members> 20011 </ObjectGroup> 20012 <ObjectGroup name="hand_l"> 20013 <members> APL_l EDCI_l EDCL_l EDCM_l EDCR_l EDM_l EIP_l EPB_l EPL_l FDPI_l FDPL_l FDPM_l FDPR_l FDSI_l FDSL_l FDSM_l FDSR_l FPL_l PL_l</members> 20014 </ObjectGroup> 20015 <ObjectGroup name="thumb_l"> 20016 <members> APL_l EPB_l EPL_l FPL_l</members> 20017 </ObjectGroup> 20018 </groups> 20019 </ForceSet> 20020 <!--Markers in the model.--> 20021 <MarkerSet> 20022 <objects> 20023 <Marker name="ToeTipR"> 20024 <!--Body segment in the model on which the marker resides.--> 20025 <body>toes_r</body> 20026 <!--Location of a marker on the body segment.--> 20027 <location> 0.075 -0 -0.015</location> 20028 <!--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.--> 20029 <fixed>false</fixed> 20030 </Marker> 20031 <Marker name="ToeTipL"> 20032 <!--Body segment in the model on which the marker resides.--> 20033 <body>toes_l</body> 20034 <!--Location of a marker on the body segment.--> 20035 <location> 0.075 0 0.015</location> 20036 <!--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.--> 20037 <fixed>false</fixed> 20038 </Marker> 20039 <Marker name="HandCenterR"> 20040 <!--Body segment in the model on which the marker resides.--> 20041 <body>lunate_r</body> 20042 <!--Location of a marker on the body segment.--> 20043 <location> 0 -0.05 -0.01</location> 20044 <!--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.--> 20045 <fixed>false</fixed> 20046 </Marker> 20047 <Marker name="HandCenterL"> 20048 <!--Body segment in the model on which the marker resides.--> 20049 <body>lunate_l</body> 20050 <!--Location of a marker on the body segment.--> 20051 <location> 0 -0.05 0.01</location> 20052 <!--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.--> 20053 <fixed>false</fixed> 20054 </Marker> 20055 </objects> 20056 <groups /> 20057 </MarkerSet> 20058 <!--ContactGeometries in the model.--> 20059 <ContactGeometrySet> 20060 <objects /> 20061 <groups /> 20062 </ContactGeometrySet> 20063 <!--Controllers in the model.--> 20064 <ControllerSet name="Controllers"> 20065 <objects /> 20066 <groups /> 20067 </ControllerSet> 20068 </Model> 20069</OpenSimDocument> 20070