Replace dataset
Browse files- mujoco_model_muscle.xml +0 -767
- mujoco_model_muscle_fixed_2.xml +0 -759
- mujoco_model_muscle_fixed_new.xml +0 -767
- mujoco_model_muscle_fixed.xml → muscle.xml +42 -21
- mujoco_model_torque.xml → torque.xml +0 -0
mujoco_model_muscle.xml
DELETED
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| 1 |
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<?xml version="1.0" encoding="utf-8"?>
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| 2 |
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<mujoco model="mouse">
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| 3 |
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<compiler angle="degree">
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| 4 |
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<lengthrange mode="muscle" timestep="0"/>
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| 5 |
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</compiler>
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| 6 |
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| 7 |
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<option integrator="RK4" timestep="0.001" solver="CG" iterations="6" ls_iterations="6"/>
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| 8 |
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| 9 |
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<default>
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| 10 |
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<joint limited="true" solreflimit="0.01 1" solimplimit="0.99 0.9999 0" armature="4e-8" damping="1e-5" stiffness="1e-12"/>
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| 11 |
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<muscle ctrllimited="true" ctrlrange="0 1"/>
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| 12 |
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</default>
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| 13 |
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| 14 |
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<size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
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| 15 |
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| 16 |
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<visual>
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| 17 |
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<scale framelength="0.5" framewidth="0.01"/>
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| 18 |
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<global offheight="512"/>
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| 19 |
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</visual>
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| 20 |
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| 21 |
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<asset>
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| 22 |
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<material name="target" rgba="0.6 0.3 0.3 0.3"/>
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| 23 |
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<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
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| 24 |
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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| 25 |
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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| 26 |
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| 27 |
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<mesh name="Bones_Scapula" file="./GeomJan01242023/Bones_Scapula.stl"/>
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| 28 |
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<mesh name="Bone_Segmentation_Segment_8" file="./GeomJan01242023/Bone_Segmentation_Segment_8.stl"/>
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| 29 |
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<mesh name="Bone_Segmentation_Humerus" file="./GeomJan01242023/Bone_Segmentation_Humerus.stl"/>
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| 30 |
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<mesh name="Bone_Segments_Ulna" file="./GeomJan01242023/Bone_Segments_Ulna.stl"/>
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| 31 |
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<mesh name="Bone_Segments_Radius" file="./GeomJan01242023/Bone_Segments_Radius.stl"/>
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| 32 |
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<mesh name="Bone_Segments_Hand" file="./GeomJan01242023/Bone_Segments_Hand.stl"/>
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| 33 |
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</asset>
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| 34 |
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| 35 |
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<worldbody>
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| 36 |
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<light directional="true"/>
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| 37 |
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<body name="ground">
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| 38 |
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<camera name="my_camera" pos="0.04 .004 0.037" fovy="20"
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| 39 |
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quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
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| 40 |
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<camera name="close-profile" pos="0.04 .004 0.037" fovy="20"
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| 41 |
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quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
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| 42 |
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| 43 |
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<body name="arm_root"
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| 44 |
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pos="0 0 0"
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| 45 |
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quat="0.5 0.5 0.5 0.5">
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| 46 |
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| 47 |
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<body name="scapula"
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| 48 |
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pos="0 0 0"
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| 49 |
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quat="0.63302222 0.13302222 0.75440651 0.11161889">
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| 50 |
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<geom type="mesh" mesh="Bones_Scapula" contype="0" conaffinity="0"/>
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| 51 |
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| 52 |
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<inertial pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512" mass="0.00030000001424923539" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
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| 53 |
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<site name="COM1"
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| 54 |
-
pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512"
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| 55 |
-
rgba=".2 .8 .2 .5"
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| 56 |
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size="0.0002"/>
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| 57 |
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| 58 |
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| 59 |
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<!--Attachement-->
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| 60 |
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<site name="Biceps_Long_Head_Origin"
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| 61 |
-
pos="0.00849576 0.00228907 0.01221302"
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| 62 |
-
rgba=".1 .2 .6 .5"
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| 63 |
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size="0.0002"/>
|
| 64 |
-
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| 65 |
-
<site name="Triceps_Long_Head_Origin"
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| 66 |
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pos="0.00976038 0.00117412 0.01157653"
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| 67 |
-
rgba=".1 .2 .6 .5"
|
| 68 |
-
size="0.0002"/>
|
| 69 |
-
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| 70 |
-
<site name="Deltoid_M_Origin"
|
| 71 |
-
pos="0.008529389654173128 0.0023751864313252044 0.012078824552582676"
|
| 72 |
-
rgba=".1 .2 .6 .5"
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| 73 |
-
size="0.0002"/>
|
| 74 |
-
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| 75 |
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<site name="Subscapularis_SuperiorHead_Origin"
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| 76 |
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pos="0.01330000 0.00040000 0.01290000"
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| 77 |
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rgba=".1 .2 .6 .5"
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| 78 |
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size="0.0002"/>
|
| 79 |
-
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| 80 |
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<site name="Infraspinatus_P1"
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| 81 |
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pos="0.0089999986812472343 0.0018000002019107342 0.011800001375377178"
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| 82 |
-
rgba=".1 .2 .6 .5"
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| 83 |
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size="0.0002"/>
|
| 84 |
-
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| 85 |
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<site name="Infraspinatus_Origin"
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| 86 |
-
pos="0.010599999688565731 0.0013000000035390258 0.011599999852478504"
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| 87 |
-
rgba=".1 .2 .6 .5"
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| 88 |
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size="0.0002"/>
|
| 89 |
-
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| 90 |
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<site name="Latissimus_Dorsi-P2"
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| 91 |
-
pos="0.012904155305964331 0.0010275014401610262 0.010721486942517478"
|
| 92 |
-
rgba=".1 .2 .6 .5"
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| 93 |
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size="0.0002"/>
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| 94 |
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<site name="Latissimus_Dorsi-Origin"
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| 95 |
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pos="0.015904210598531213 -0.000911297318792264 0.0095497686771152061"
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| 96 |
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rgba=".1 .2 .6 .5"
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| 97 |
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size="0.0002"/>
|
| 98 |
-
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| 99 |
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<site name="Latissimus_Dorsi_Caudal1-P2"
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| 100 |
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pos="0.012865897215296856 0.00053475836869008083 0.0090672458236239293"
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| 101 |
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rgba=".1 .2 .6 .5"
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| 102 |
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size="0.0002"/>
|
| 103 |
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<site name="Latissimus_Dorsi_Caudal-Origin"
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| 104 |
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pos="0.01642339681673563 -0.0021892911968953853 0.003409771566023621"
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| 105 |
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rgba=".1 .2 .6 .5"
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| 106 |
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size="0.0002"/>
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| 107 |
-
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| 108 |
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<site name="Pectoralis_Major-Origin"
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| 109 |
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pos="0.013071920908343252 -0.0018212145290540712 0.01243718068545514"
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| 110 |
-
rgba=".1 .2 .6 .5"
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| 111 |
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size="0.0002"/>
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| 112 |
-
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| 113 |
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<site name="Pectoralis_Major_Posterior-Origin"
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| 114 |
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pos="0.012410827074709981 -0.0021030550114739394 0.014539440044553896"
|
| 115 |
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rgba=".1 .2 .6 .5"
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| 116 |
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size="0.0002"/>
|
| 117 |
-
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| 118 |
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<body name="clavicle"
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| 119 |
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pos="-0.00186349 -0.00240113 0.00264621"
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| 120 |
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quat="0.99240380 -0.08682489 0.08682340 0.00760476">
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| 121 |
-
<geom type="mesh" mesh="Bone_Segmentation_Segment_8" contype="0" conaffinity="0"/>
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| 122 |
-
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| 123 |
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<inertial pos="0 0 0" mass="3.5299999581184238e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 124 |
-
<site name="COM6"
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| 125 |
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pos="0 0 0"
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| 126 |
-
rgba=".2 .8 .2 .5"
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| 127 |
-
size="0.0002"/>
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| 128 |
-
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| 129 |
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<!--Attachement-->
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| 130 |
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<site name="Pec_Midpoint_01"
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| 131 |
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pos="0.00962040 -0.00023840 0.01272385"
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| 132 |
-
rgba=".1 .2 .6 .5"
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| 133 |
-
size="0.0002"/>
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| 134 |
-
<site name="Pec_Origin_Clav"
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| 135 |
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pos="0.01132773 -0.00095770 0.01317145"
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| 136 |
-
rgba=".1 .2 .6 .5"
|
| 137 |
-
size="0.0002"/>
|
| 138 |
-
|
| 139 |
-
<site name="Deltoid_A-P2"
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| 140 |
-
pos="0.00846818 0.00139408 0.01324769"
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| 141 |
-
rgba=".1 .2 .6 .5"
|
| 142 |
-
size="0.0002"/>
|
| 143 |
-
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| 144 |
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<site name="Deltoid_A_Origin"
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| 145 |
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pos="0.00930000 0.00050000 0.01330000"
|
| 146 |
-
rgba=".1 .2 .6 .5"
|
| 147 |
-
size="0.0002"/>
|
| 148 |
-
</body>
|
| 149 |
-
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| 150 |
-
<body name="humerus"
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| 151 |
-
pos="-0.00526908 0.00709871 0.01138070"
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| 152 |
-
quat="0.87214846 0.05125853 0.42527927 -0.23636239">
|
| 153 |
-
|
| 154 |
-
<!-- shoulder joints: add these, do not change humerus pose -->
|
| 155 |
-
<joint name="elv_angle"
|
| 156 |
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type="hinge"
|
| 157 |
-
pos="0.00840090 0.00138800 0.01236983"
|
| 158 |
-
axis="-0.76529511 -0.11091370 0.63261453"
|
| 159 |
-
range="-28.64788976 157.56339366"
|
| 160 |
-
limited="true"/>
|
| 161 |
-
<joint name="shoulder_ext"
|
| 162 |
-
type="hinge"
|
| 163 |
-
pos="0.00840090 0.00138800 0.01236983"
|
| 164 |
-
axis="-0.36827993 0.88203501 -0.29079843"
|
| 165 |
-
range="-83.54085653 126.05071766"
|
| 166 |
-
limited="true"/>
|
| 167 |
-
<joint name="shoulder_rot"
|
| 168 |
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type="hinge"
|
| 169 |
-
pos="0.00840090 0.00138800 0.01236983"
|
| 170 |
-
axis="0.52658517 0.45514852 0.71674785"
|
| 171 |
-
range="-57.29577951 28.64788976"
|
| 172 |
-
limited="true"/>
|
| 173 |
-
|
| 174 |
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<geom type="mesh" mesh="Bone_Segmentation_Humerus" contype="0" conaffinity="0"/>
|
| 175 |
-
|
| 176 |
-
<inertial pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339" mass="0.00012589999823831022" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 177 |
-
<site name="COM2"
|
| 178 |
-
pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339"
|
| 179 |
-
rgba=".2 .8 .2 .5"
|
| 180 |
-
size="0.0005"/>
|
| 181 |
-
|
| 182 |
-
<!--Attachement-->
|
| 183 |
-
<site name="Pec_Insertion"
|
| 184 |
-
pos="0.00561727 0.00121731 0.01180135"
|
| 185 |
-
rgba=".1 .2 .6 .5"
|
| 186 |
-
size="0.0002"/>
|
| 187 |
-
|
| 188 |
-
<site name="Biceps_Short_Head_P2"
|
| 189 |
-
pos="0.00545745 0.00100268 0.01151327"
|
| 190 |
-
rgba=".1 .2 .6 .5"
|
| 191 |
-
size="0.0002"/>
|
| 192 |
-
<site name="Biceps_Short_Head_P3"
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| 193 |
-
pos="0.00854309 0.00173658 0.01275594"
|
| 194 |
-
rgba=".1 .2 .6 .5"
|
| 195 |
-
size="0.0002"/>
|
| 196 |
-
<site name="Biceps_Short_Head_Origin"
|
| 197 |
-
pos="0.00912379 0.00145397 0.01223746"
|
| 198 |
-
rgba=".1 .2 .6 .5"
|
| 199 |
-
size="0.0002"/>
|
| 200 |
-
|
| 201 |
-
<site name="Biceps_Long_Head_P2"
|
| 202 |
-
pos="0.00654402 0.00111317 0.01210295"
|
| 203 |
-
rgba=".1 .2 .6 .5"
|
| 204 |
-
size="0.0002"/>
|
| 205 |
-
|
| 206 |
-
<site name="Deltoid_A_Insertion"
|
| 207 |
-
pos="0.00550000 0.00120000 0.01150000"
|
| 208 |
-
rgba=".1 .2 .6 .5"
|
| 209 |
-
size="0.0002"/>
|
| 210 |
-
|
| 211 |
-
<site name="Triceps_Lat_Head_Origin"
|
| 212 |
-
pos="0.00847404 0.00162151 0.01162285"
|
| 213 |
-
rgba=".1 .2 .6 .5"
|
| 214 |
-
size="0.0002"/>
|
| 215 |
-
|
| 216 |
-
<site name="Triceps_Long_Head_P2"
|
| 217 |
-
pos="0.00676086 0.00071579 0.00919821"
|
| 218 |
-
rgba=".1 .2 .6 .5"
|
| 219 |
-
size="0.0002"/>
|
| 220 |
-
|
| 221 |
-
<site name="MaybeBrachialis_InnerHead_P2"
|
| 222 |
-
pos="0.005000001285225153 0.000699999975040555 0.0098000010475516319"
|
| 223 |
-
rgba=".1 .2 .6 .5"
|
| 224 |
-
size="0.0002"/>
|
| 225 |
-
<site name="MaybeBrachialis_InnerHead_P3"
|
| 226 |
-
pos="0.0058000041171908379 0.00020000000949949026 0.010500005446374416"
|
| 227 |
-
rgba=".1 .2 .6 .5"
|
| 228 |
-
size="0.0002"/>
|
| 229 |
-
<site name="MaybeBrachialis_InnerHead_Origin"
|
| 230 |
-
pos="0.0083177145626602278 0.00045153958661048321 0.012020553165621659"
|
| 231 |
-
rgba=".1 .2 .6 .5"
|
| 232 |
-
size="0.0002"/>
|
| 233 |
-
|
| 234 |
-
<site name="MaybeBrachialis_OuterrHead_P2"
|
| 235 |
-
pos="0.004999999888241291 0.000699999975040555 0.0098000001162290573"
|
| 236 |
-
rgba=".1 .2 .6 .5"
|
| 237 |
-
size="0.0002"/>
|
| 238 |
-
<site name="MaybeBrachialis_OuterrHead_Origin"
|
| 239 |
-
pos="0.0082377977499531463 0.0013925189132782123 0.011701324054897599"
|
| 240 |
-
rgba=".1 .2 .6 .5"
|
| 241 |
-
size="0.0002"/>
|
| 242 |
-
|
| 243 |
-
<site name="Anconeus_Origin"
|
| 244 |
-
pos="0.0051999995484948158 0.00050000002374872565 0.010699999518692493"
|
| 245 |
-
rgba=".1 .2 .6 .5"
|
| 246 |
-
size="0.0002"/>
|
| 247 |
-
|
| 248 |
-
<site name="Deltoid_M_Insertion"
|
| 249 |
-
pos="0.0058772130318881233 0.00149081944152008 0.011389911914674269"
|
| 250 |
-
rgba=".1 .2 .6 .5"
|
| 251 |
-
size="0.0002"/>
|
| 252 |
-
|
| 253 |
-
<site name="Deltoid_M_P2"
|
| 254 |
-
pos="0.008 0.0019 0.01238"
|
| 255 |
-
rgba=".1 .2 .6 .5"
|
| 256 |
-
size="0.0002"/>
|
| 257 |
-
|
| 258 |
-
<site name="Short_Anconeus_Origin"
|
| 259 |
-
pos="0.0036000004038214684 -0.00089999998454004526 0.0090999985113739967"
|
| 260 |
-
rgba=".1 .2 .6 .5"
|
| 261 |
-
size="0.0002"/>
|
| 262 |
-
|
| 263 |
-
<site name="Subscapularis_SuperiorHead_Insertion"
|
| 264 |
-
pos="0.00815859 0.00061863 0.01234591"
|
| 265 |
-
rgba=".1 .2 .6 .5"
|
| 266 |
-
size="0.0002"/>
|
| 267 |
-
|
| 268 |
-
<site name="Infraspinatus_Insertion"
|
| 269 |
-
pos="0.0082999998703598976 0.0016000003088265657 0.011900001205503941"
|
| 270 |
-
rgba=".1 .2 .6 .5"
|
| 271 |
-
size="0.0002"/>
|
| 272 |
-
|
| 273 |
-
<site name="PronatorTeres-Origin"
|
| 274 |
-
pos="0.0035691947698062859 -0.00066973217558682907 0.0092697723943589751"
|
| 275 |
-
rgba=".1 .2 .6 .5"
|
| 276 |
-
size="0.0002"/>
|
| 277 |
-
|
| 278 |
-
<site name="FlexorCarpiRadialis-Origin"
|
| 279 |
-
pos="0.003424910947835591 -0.00092751065178608982 0.009228797150415774"
|
| 280 |
-
rgba=".1 .2 .6 .5"
|
| 281 |
-
size="0.0002"/>
|
| 282 |
-
|
| 283 |
-
<site name="Brachioradialis-Origin"
|
| 284 |
-
pos="0.0040301408561327356 0.00064780518353433443 0.0090598902737887288"
|
| 285 |
-
rgba=".1 .2 .6 .5"
|
| 286 |
-
size="0.0002"/>
|
| 287 |
-
|
| 288 |
-
<site name="Triceps_Medial_Head-P2"
|
| 289 |
-
pos="0.0048773966363577729 -0.000020990597736210165 0.0095378741754235195"
|
| 290 |
-
rgba=".1 .2 .6 .5"
|
| 291 |
-
size="0.0002"/>
|
| 292 |
-
<site name="Triceps_Medial_Head_Origin"
|
| 293 |
-
pos="0.0065206629844889504 0.00024985577586227232 0.010981274063174208"
|
| 294 |
-
rgba=".1 .2 .6 .5"
|
| 295 |
-
size="0.0002"/>
|
| 296 |
-
|
| 297 |
-
<site name="Latissimus_Dorsi_Rostral-Inserion"
|
| 298 |
-
pos="0.005898000206798315 0.0014979999978095293 0.011264000087976456"
|
| 299 |
-
rgba=".1 .2 .6 .5"
|
| 300 |
-
size="0.0002"/>
|
| 301 |
-
|
| 302 |
-
<site name="Latissimus_Dorsi_Caudal1-Insertion"
|
| 303 |
-
pos="0.0055302735648831564 0.0016819697092966763 0.01149872552021617"
|
| 304 |
-
rgba=".1 .2 .6 .5"
|
| 305 |
-
size="0.0002"/>
|
| 306 |
-
|
| 307 |
-
<site name="Pectoralis_Major-Insertion"
|
| 308 |
-
pos="0.0053022676397607299 0.0014110375999547425 0.011624181595743514"
|
| 309 |
-
rgba=".1 .2 .6 .5"
|
| 310 |
-
size="0.0002"/>
|
| 311 |
-
|
| 312 |
-
<site name="Pectoralis_Major_Posterior-Insertion"
|
| 313 |
-
pos="0.0055313255098350875 0.0010215392755078267 0.011759959498415538"
|
| 314 |
-
rgba=".1 .2 .6 .5"
|
| 315 |
-
size="0.0002"/>
|
| 316 |
-
|
| 317 |
-
<body name="ulna"
|
| 318 |
-
pos="-0.00378201 0.00461677 0.00462321"
|
| 319 |
-
quat="0.92121983 0.24684012 0.29045952 -0.07782838">
|
| 320 |
-
|
| 321 |
-
<joint name="elbow_flex"
|
| 322 |
-
type="hinge"
|
| 323 |
-
pos="0.00320000 -0.00030000 0.00860000"
|
| 324 |
-
axis="0.00000000 -0.86602542 0.49999997"
|
| 325 |
-
range="-57.29577951 71.61972439"
|
| 326 |
-
limited="true"/>
|
| 327 |
-
<site name="jcenel"
|
| 328 |
-
pos="0.00320000 -0.00030000 0.00860000"
|
| 329 |
-
rgba=".5 .5 .2 .5"
|
| 330 |
-
size="0.0009"/>
|
| 331 |
-
|
| 332 |
-
<geom type="mesh" mesh="Bone_Segments_Ulna" contype="0" conaffinity="0"/>
|
| 333 |
-
|
| 334 |
-
<inertial pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435" mass="0.00071272498462349176" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 335 |
-
<site name="COM3"
|
| 336 |
-
pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435"
|
| 337 |
-
rgba=".2 .8 .2 .5"
|
| 338 |
-
size="0.0005"/>
|
| 339 |
-
|
| 340 |
-
<!--Attachement-->
|
| 341 |
-
<site name="Biceps_Short_Head_Insertion"
|
| 342 |
-
pos="0.00206182 0.00009756 0.00882748"
|
| 343 |
-
rgba=".1 .2 .6 .5"
|
| 344 |
-
size="0.0002"/>
|
| 345 |
-
|
| 346 |
-
<site name="Biceps_Long_Head_Insertion"
|
| 347 |
-
pos="0.00205791 0.00004879 0.00877397"
|
| 348 |
-
rgba=".1 .2 .6 .5"
|
| 349 |
-
size="0.0002"/>
|
| 350 |
-
|
| 351 |
-
<site name="Triceps_Lat_Head_Insertion"
|
| 352 |
-
pos="0.00407945 -0.00044753 0.00834867"
|
| 353 |
-
rgba=".1 .2 .6 .5"
|
| 354 |
-
size="0.0002"/>
|
| 355 |
-
|
| 356 |
-
<site name="Triceps_Long_Head_Insertion"
|
| 357 |
-
pos="0.00419498 -0.00057041 0.00797751"
|
| 358 |
-
rgba=".1 .2 .6 .5"
|
| 359 |
-
size="0.0002"/>
|
| 360 |
-
|
| 361 |
-
<site name="MaybeBrachialis_InnerHead_Insertion"
|
| 362 |
-
pos="0.0022711976820488228 0.000058667960054253204 0.0087904077547398991"
|
| 363 |
-
rgba=".1 .2 .6 .5"
|
| 364 |
-
size="0.0002"/>
|
| 365 |
-
|
| 366 |
-
<site name="Anconeus_Insertion"
|
| 367 |
-
pos="0.0023999996483325958 -0.0001999999803956598 0.008800002746284008"
|
| 368 |
-
rgba=".1 .2 .6 .5"
|
| 369 |
-
size="0.0002"/>
|
| 370 |
-
|
| 371 |
-
<site name="Short_Anconeus_Insertion"
|
| 372 |
-
pos="0.0038000000640749931 -0.00059999991208314896 0.0082999998703598976"
|
| 373 |
-
rgba=".1 .2 .6 .5"
|
| 374 |
-
size="0.0002"/>
|
| 375 |
-
|
| 376 |
-
<body name="radius"
|
| 377 |
-
pos="-0.00000326 -0.00041155 0.00012026"
|
| 378 |
-
quat="1.00000000 -0.00003490 0.00000000 -0.00000001">
|
| 379 |
-
<geom type="mesh" mesh="Bone_Segments_Radius" contype="0" conaffinity="0"/>
|
| 380 |
-
|
| 381 |
-
<inertial pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018" mass="5.3100000513950363e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 382 |
-
<site name="COM5"
|
| 383 |
-
pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018"
|
| 384 |
-
rgba=".2 .8 .2 .5"
|
| 385 |
-
size="0.0005"/>
|
| 386 |
-
|
| 387 |
-
<!--Attachement-->
|
| 388 |
-
<site name="MaybeBrachialis_OuterrHead_Insertion"
|
| 389 |
-
pos="0.002099999925121665 0.000059000001783715561 0.0087999999523162842"
|
| 390 |
-
rgba=".1 .2 .6 .5"
|
| 391 |
-
size="0.0002"/>
|
| 392 |
-
|
| 393 |
-
<site name="PronatorTeres-Insertion"
|
| 394 |
-
pos="0.00087550107568740848 0.0011853275020137226 0.010050151513765163"
|
| 395 |
-
rgba=".1 .2 .6 .5"
|
| 396 |
-
size="0.0002"/>
|
| 397 |
-
|
| 398 |
-
<site name="FlexorCarpiRadialis-P2"
|
| 399 |
-
pos="0.00039500295990069212 0.0013726340156420712 0.010208441611422561"
|
| 400 |
-
rgba=".1 .2 .6 .5"
|
| 401 |
-
size="0.0002"/>
|
| 402 |
-
|
| 403 |
-
<site name="Brachioradialis-Insertion"
|
| 404 |
-
pos="-0.0029278056764625027 0.00126620712543319 0.011637220667654609"
|
| 405 |
-
rgba=".1 .2 .6 .5"
|
| 406 |
-
size="0.0002"/>
|
| 407 |
-
|
| 408 |
-
<site name="Triceps_Medial_Head_Insertion"
|
| 409 |
-
pos="0.0038194762507961851 -0.00023364176770013332 0.0083994770629340493"
|
| 410 |
-
rgba=".1 .2 .6 .5"
|
| 411 |
-
size="0.0002"/>
|
| 412 |
-
|
| 413 |
-
<body name="hand"
|
| 414 |
-
pos="0.00249215 0.00414491 0.00156364"
|
| 415 |
-
quat="0.95125125 0.25488699 -0.09960050 -0.14224425">
|
| 416 |
-
<geom type="mesh" mesh="Bone_Segments_Hand" contype="0" conaffinity="0"/>
|
| 417 |
-
|
| 418 |
-
<inertial pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128" mass="7.2599999839439988e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 419 |
-
<site name="COM4"
|
| 420 |
-
pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128"
|
| 421 |
-
rgba=".2 .8 .2 .5"
|
| 422 |
-
size="0.0005"/>
|
| 423 |
-
|
| 424 |
-
<site
|
| 425 |
-
name="handm"
|
| 426 |
-
pos="-0.0048766345966886893 0.0025063881418005383 0.012287416048729322"
|
| 427 |
-
size="0.00025"
|
| 428 |
-
rgba="1 1 0 1"
|
| 429 |
-
/>
|
| 430 |
-
|
| 431 |
-
<!--Attachement-->
|
| 432 |
-
<site name="FlexorCarpiRadialis-Insertion"
|
| 433 |
-
pos="-0.0040155582771694981 0.0015821272299320829 0.011737779242925817"
|
| 434 |
-
rgba=".1 .2 .6 .5"
|
| 435 |
-
size="0.0002"/>
|
| 436 |
-
</body>
|
| 437 |
-
</body>
|
| 438 |
-
</body>
|
| 439 |
-
</body>
|
| 440 |
-
</body>
|
| 441 |
-
</body>
|
| 442 |
-
</body>
|
| 443 |
-
</worldbody>
|
| 444 |
-
|
| 445 |
-
<tendon>
|
| 446 |
-
<!---->
|
| 447 |
-
<spatial name="Pectoralis_Clavicle_Head" width=".0001" rgba=".9 0 0 .5">
|
| 448 |
-
<site site="Pec_Insertion"/>
|
| 449 |
-
<site site="Pec_Midpoint_01"/>
|
| 450 |
-
<site site="Pec_Origin_Clav"/>
|
| 451 |
-
</spatial>
|
| 452 |
-
|
| 453 |
-
<spatial name="Biceps_Short_Head" width=".0001" rgba=".9 0 0 .5">
|
| 454 |
-
<site site="Biceps_Short_Head_Insertion"/>
|
| 455 |
-
<site site="Biceps_Short_Head_P2"/>
|
| 456 |
-
<site site="Biceps_Short_Head_P3"/>
|
| 457 |
-
<site site="Biceps_Short_Head_Origin"/>
|
| 458 |
-
</spatial>
|
| 459 |
-
|
| 460 |
-
<spatial name="Biceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
|
| 461 |
-
<site site="Biceps_Long_Head_Insertion"/>
|
| 462 |
-
<site site="Biceps_Long_Head_P2"/>
|
| 463 |
-
<site site="Biceps_Long_Head_Origin"/>
|
| 464 |
-
</spatial>
|
| 465 |
-
|
| 466 |
-
<spatial name="Deltoid_Medial" width=".0001" rgba=".9 0 0 .5">
|
| 467 |
-
<site site="Deltoid_A_Insertion"/>
|
| 468 |
-
<site site="Deltoid_A-P2"/>
|
| 469 |
-
<site site="Deltoid_A_Origin"/>
|
| 470 |
-
</spatial>
|
| 471 |
-
|
| 472 |
-
<spatial name="Triceps_Lat_Head" width=".0001" rgba=".9 0 0 .5">
|
| 473 |
-
<site site="Triceps_Lat_Head_Insertion"/>
|
| 474 |
-
<site site="Triceps_Lat_Head_Origin"/>
|
| 475 |
-
</spatial>
|
| 476 |
-
|
| 477 |
-
<spatial name="Triceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
|
| 478 |
-
<site site="Triceps_Long_Head_Insertion"/>
|
| 479 |
-
<site site="Triceps_Long_Head_P2"/>
|
| 480 |
-
<site site="Triceps_Long_Head_Origin"/>
|
| 481 |
-
</spatial>
|
| 482 |
-
|
| 483 |
-
<spatial name="Brachialis_Proximal_Head" width=".0001" rgba=".9 0 0 .5">
|
| 484 |
-
<site site="MaybeBrachialis_InnerHead_Insertion"/>
|
| 485 |
-
<site site="MaybeBrachialis_InnerHead_P2"/>
|
| 486 |
-
<site site="MaybeBrachialis_InnerHead_P3"/>
|
| 487 |
-
<site site="MaybeBrachialis_InnerHead_Origin"/>
|
| 488 |
-
</spatial>
|
| 489 |
-
|
| 490 |
-
<spatial name="Brachialis_Distal_Head" width=".0001" rgba=".9 0 0 .5">
|
| 491 |
-
<site site="MaybeBrachialis_OuterrHead_Insertion"/>
|
| 492 |
-
<site site="MaybeBrachialis_OuterrHead_P2"/>
|
| 493 |
-
<site site="MaybeBrachialis_OuterrHead_Origin"/>
|
| 494 |
-
</spatial>
|
| 495 |
-
|
| 496 |
-
<spatial name="Anconeus" width=".0001" rgba=".9 0 0 .5">
|
| 497 |
-
<site site="Anconeus_Origin"/>
|
| 498 |
-
<site site="Anconeus_Insertion"/>
|
| 499 |
-
</spatial>
|
| 500 |
-
|
| 501 |
-
<spatial name="Deltoid_Posterior" width=".0001" rgba=".9 0 0 .5">
|
| 502 |
-
<site site="Deltoid_M_Insertion"/>
|
| 503 |
-
<site site="Deltoid_M_P2"/>
|
| 504 |
-
<site site="Deltoid_M_Origin"/>
|
| 505 |
-
</spatial>
|
| 506 |
-
|
| 507 |
-
<spatial name="Anconeus_Short_Head" width=".0001" rgba=".9 0 0 .5">
|
| 508 |
-
<site site="Short_Anconeus_Insertion"/>
|
| 509 |
-
<site site="Short_Anconeus_Origin"/>
|
| 510 |
-
</spatial>
|
| 511 |
-
|
| 512 |
-
<spatial name="Subscapularis_SuperiorHead" width=".0001" rgba=".9 0 0 .5">
|
| 513 |
-
<site site="Subscapularis_SuperiorHead_Insertion"/>
|
| 514 |
-
<site site="Subscapularis_SuperiorHead_Origin"/>
|
| 515 |
-
</spatial>
|
| 516 |
-
|
| 517 |
-
<spatial name="Infraspinatus" width=".0001" rgba=".9 0 0 .5">
|
| 518 |
-
<site site="Infraspinatus_Insertion"/>
|
| 519 |
-
<site site="Infraspinatus_P1"/>
|
| 520 |
-
<site site="Infraspinatus_Origin"/>
|
| 521 |
-
</spatial>
|
| 522 |
-
|
| 523 |
-
<spatial name="PronatorTeres" width=".0001" rgba=".9 0 0 .5">
|
| 524 |
-
<site site="PronatorTeres-Insertion"/>
|
| 525 |
-
<site site="PronatorTeres-Origin"/>
|
| 526 |
-
</spatial>
|
| 527 |
-
|
| 528 |
-
<spatial name="FlexorCarpiRadialis" width=".0001" rgba=".9 0 0 .5">
|
| 529 |
-
<site site="FlexorCarpiRadialis-Insertion"/>
|
| 530 |
-
<site site="FlexorCarpiRadialis-P2"/>
|
| 531 |
-
<site site="FlexorCarpiRadialis-Origin"/>
|
| 532 |
-
</spatial>
|
| 533 |
-
|
| 534 |
-
<spatial name="Brachioradialis" width=".0001" rgba=".9 0 0 .5">
|
| 535 |
-
<site site="Brachioradialis-Insertion"/>
|
| 536 |
-
<site site="Brachioradialis-Origin"/>
|
| 537 |
-
</spatial>
|
| 538 |
-
|
| 539 |
-
<spatial name="Triceps_Medial_Head" width=".0001" rgba=".9 0 0 .5">
|
| 540 |
-
<site site="Triceps_Medial_Head_Insertion"/>
|
| 541 |
-
<site site="Triceps_Medial_Head-P2"/>
|
| 542 |
-
<site site="Triceps_Medial_Head_Origin"/>
|
| 543 |
-
</spatial>
|
| 544 |
-
|
| 545 |
-
<spatial name="Latissimus_Dorsi_Rostral" width=".0001" rgba=".9 0 0 .5">
|
| 546 |
-
<site site="Latissimus_Dorsi_Rostral-Inserion"/>
|
| 547 |
-
<site site="Latissimus_Dorsi-P2"/>
|
| 548 |
-
<site site="Latissimus_Dorsi-Origin"/>
|
| 549 |
-
</spatial>
|
| 550 |
-
|
| 551 |
-
<spatial name="Latissimus_Dorsi_Caudal" width=".0001" rgba=".9 0 0 .5">
|
| 552 |
-
<site site="Latissimus_Dorsi_Caudal1-Insertion"/>
|
| 553 |
-
<site site="Latissimus_Dorsi_Caudal1-P2"/>
|
| 554 |
-
<site site="Latissimus_Dorsi_Caudal-Origin"/>
|
| 555 |
-
</spatial>
|
| 556 |
-
|
| 557 |
-
<spatial name="Pectoralis_Major_Anterior" width=".0001" rgba=".9 0 0 .5">
|
| 558 |
-
<site site="Pectoralis_Major-Origin"/>
|
| 559 |
-
<site site="Pectoralis_Major-Insertion"/>
|
| 560 |
-
</spatial>
|
| 561 |
-
|
| 562 |
-
<spatial name="Pectoralis_Major_Posterior" width=".0001" rgba=".9 0 0 .5">
|
| 563 |
-
<site site="Pectoralis_Major_Posterior-Origin"/>
|
| 564 |
-
<site site="Pectoralis_Major_Posterior-Insertion"/>
|
| 565 |
-
</spatial>
|
| 566 |
-
</tendon>
|
| 567 |
-
|
| 568 |
-
<actuator>
|
| 569 |
-
<muscle
|
| 570 |
-
name="Pectoralis_Clavicle_Head_act"
|
| 571 |
-
tendon="Pectoralis_Clavicle_Head"
|
| 572 |
-
ctrlrange="0 2"
|
| 573 |
-
force=".32646998763084412"
|
| 574 |
-
vmax="10"
|
| 575 |
-
/>
|
| 576 |
-
|
| 577 |
-
<muscle
|
| 578 |
-
name="Biceps_Short_Head_act"
|
| 579 |
-
tendon="Biceps_Short_Head"
|
| 580 |
-
ctrlrange="0 2"
|
| 581 |
-
force=".17758000642061234"
|
| 582 |
-
vmax="100"
|
| 583 |
-
timeconst="0.014999999664723873 0.059999998658895493"
|
| 584 |
-
/>
|
| 585 |
-
|
| 586 |
-
<muscle
|
| 587 |
-
name="Biceps_Long_Head_act"
|
| 588 |
-
tendon="Biceps_Long_Head"
|
| 589 |
-
ctrlrange="0 2"
|
| 590 |
-
force=".93419000506401062"
|
| 591 |
-
vmax="10"
|
| 592 |
-
timeconst="0.014999999664723873 0.5"
|
| 593 |
-
/>
|
| 594 |
-
|
| 595 |
-
<muscle
|
| 596 |
-
name="Deltoid_Medial_act"
|
| 597 |
-
tendon="Deltoid_Medial"
|
| 598 |
-
ctrlrange="0 2"
|
| 599 |
-
force=".68714998662471771"
|
| 600 |
-
/>
|
| 601 |
-
|
| 602 |
-
<muscle
|
| 603 |
-
name="Triceps_Lat_Head_act"
|
| 604 |
-
tendon="Triceps_Lat_Head"
|
| 605 |
-
ctrlrange="0 2"
|
| 606 |
-
force="1.251789927482605"
|
| 607 |
-
/>
|
| 608 |
-
|
| 609 |
-
<muscle
|
| 610 |
-
name="Triceps_Long_Head_act"
|
| 611 |
-
tendon="Triceps_Long_Head"
|
| 612 |
-
ctrlrange="0 2"
|
| 613 |
-
force="6.1247199773788452"
|
| 614 |
-
/>
|
| 615 |
-
|
| 616 |
-
<muscle
|
| 617 |
-
name="Brachialis_Proximal_Head_act"
|
| 618 |
-
tendon="Brachialis_Proximal_Head"
|
| 619 |
-
ctrlrange="0 2"
|
| 620 |
-
force=".65999001264572144"
|
| 621 |
-
/>
|
| 622 |
-
|
| 623 |
-
<muscle
|
| 624 |
-
name="Brachialis_Distal_Head_act"
|
| 625 |
-
tendon="Brachialis_Distal_Head"
|
| 626 |
-
ctrlrange="0 2"
|
| 627 |
-
force=".6712699681520462"
|
| 628 |
-
/>
|
| 629 |
-
|
| 630 |
-
<muscle
|
| 631 |
-
name="Anconeus_act"
|
| 632 |
-
tendon="Anconeus"
|
| 633 |
-
ctrlrange="0 2"
|
| 634 |
-
force=".23302000015974045"
|
| 635 |
-
vmax="10"
|
| 636 |
-
/>
|
| 637 |
-
|
| 638 |
-
<muscle
|
| 639 |
-
name="Deltoid_Posterior_act"
|
| 640 |
-
tendon="Deltoid_Posterior"
|
| 641 |
-
ctrlrange="0 2"
|
| 642 |
-
force=".6770700216293335"
|
| 643 |
-
vmax="10"
|
| 644 |
-
/>
|
| 645 |
-
|
| 646 |
-
<muscle
|
| 647 |
-
name="Anconeus_Short_Head_act"
|
| 648 |
-
tendon="Anconeus_Short_Head"
|
| 649 |
-
ctrlrange="0 2"
|
| 650 |
-
force=".19999999552965164"
|
| 651 |
-
vmax="100"
|
| 652 |
-
/>
|
| 653 |
-
|
| 654 |
-
<muscle
|
| 655 |
-
name="Subscapularis_SuperiorHead_act"
|
| 656 |
-
tendon="Subscapularis_SuperiorHead"
|
| 657 |
-
ctrlrange="0 2"
|
| 658 |
-
force=".4072199463844299"
|
| 659 |
-
/>
|
| 660 |
-
|
| 661 |
-
<muscle
|
| 662 |
-
name="Infraspinatus_act"
|
| 663 |
-
tendon="Infraspinatus"
|
| 664 |
-
ctrlrange="0.0099999997764825821 2"
|
| 665 |
-
force=".65393000841140747"
|
| 666 |
-
/>
|
| 667 |
-
|
| 668 |
-
<muscle
|
| 669 |
-
name="PronatorTeres_act"
|
| 670 |
-
tendon="PronatorTeres"
|
| 671 |
-
ctrlrange="0 2"
|
| 672 |
-
force=".19999999552965164"
|
| 673 |
-
/>
|
| 674 |
-
|
| 675 |
-
<muscle
|
| 676 |
-
name="FlexorCarpiRadialis_act"
|
| 677 |
-
tendon="FlexorCarpiRadialis"
|
| 678 |
-
ctrlrange="0 2"
|
| 679 |
-
force=".19999999552965164"
|
| 680 |
-
/>
|
| 681 |
-
|
| 682 |
-
<muscle
|
| 683 |
-
name="Brachioradialis_act"
|
| 684 |
-
tendon="Brachioradialis"
|
| 685 |
-
ctrlrange="0 2"
|
| 686 |
-
force=".19999999552965164"
|
| 687 |
-
/>
|
| 688 |
-
|
| 689 |
-
<muscle
|
| 690 |
-
name="Triceps_Medial_Head_act"
|
| 691 |
-
tendon="Triceps_Medial_Head"
|
| 692 |
-
ctrlrange="0 2"
|
| 693 |
-
force="1.6010400652885437"
|
| 694 |
-
/>
|
| 695 |
-
|
| 696 |
-
<muscle
|
| 697 |
-
name="Latissimus_Dorsi_Rostral_act"
|
| 698 |
-
tendon="Latissimus_Dorsi_Rostral"
|
| 699 |
-
ctrlrange="0 2"
|
| 700 |
-
force="1.3345499336719513"
|
| 701 |
-
/>
|
| 702 |
-
|
| 703 |
-
<muscle
|
| 704 |
-
name="Latissimus_Dorsi_Caudal_act"
|
| 705 |
-
tendon="Latissimus_Dorsi_Caudal"
|
| 706 |
-
ctrlrange="0 2"
|
| 707 |
-
force="1.3345499336719513"
|
| 708 |
-
/>
|
| 709 |
-
|
| 710 |
-
<muscle
|
| 711 |
-
name="Pectoralis_Major_Anterior_act"
|
| 712 |
-
tendon="Pectoralis_Major_Anterior"
|
| 713 |
-
ctrlrange="0 2"
|
| 714 |
-
force="2.3294399678707123"
|
| 715 |
-
/>
|
| 716 |
-
|
| 717 |
-
<muscle
|
| 718 |
-
name="Pectoralis_Major_Posterior_act"
|
| 719 |
-
tendon="Pectoralis_Major_Posterior"
|
| 720 |
-
ctrlrange="0 2"
|
| 721 |
-
force="1.7015500366687775"
|
| 722 |
-
/>
|
| 723 |
-
|
| 724 |
-
</actuator>
|
| 725 |
-
<sensor/>
|
| 726 |
-
|
| 727 |
-
<keyframe>
|
| 728 |
-
<!-- qpos order = order of joints in model -->
|
| 729 |
-
<key name="default_pose" qpos="1.5690594131319469 0 0 0.94480200333927733"/>
|
| 730 |
-
</keyframe>
|
| 731 |
-
</mujoco>
|
| 732 |
-
|
| 733 |
-
<!-- HOW THE ORIGINAL MODE MESHES WERE LAID OUT:
|
| 734 |
-
I converted it as a frame-transform problem, not a mesh-offset problem.
|
| 735 |
-
|
| 736 |
-
In brief, I did this:
|
| 737 |
-
|
| 738 |
-
I read the OpenSim joint definitions as two offset frames:
|
| 739 |
-
|
| 740 |
-
a parent frame on the parent bone
|
| 741 |
-
|
| 742 |
-
a child frame on the child bone
|
| 743 |
-
|
| 744 |
-
For the version that matched what you wanted, I set the movable joint coordinates to zero instead of using the OpenSim default coordinate values.
|
| 745 |
-
|
| 746 |
-
For each bone, I computed its pose from the OpenSim relation
|
| 747 |
-
|
| 748 |
-
T_child = T_parent * T_parentOffset * T_joint(0) * inverse(T_childOffset)
|
| 749 |
-
|
| 750 |
-
Since this was the zero-pose check, T_joint(0) was just the zero-angle joint transform.
|
| 751 |
-
|
| 752 |
-
I then wrote the resulting transform directly onto each MuJoCo body as a pos and quat.
|
| 753 |
-
|
| 754 |
-
I left the bone meshes at identity under those bodies, instead of adding extra geom offsets. That matters because your earlier XML was effectively applying transforms twice in different places, which is why the later bones started drifting.
|
| 755 |
-
|
| 756 |
-
So the main fix was:
|
| 757 |
-
|
| 758 |
-
use the OpenSim joint-frame math directly
|
| 759 |
-
|
| 760 |
-
set joint values to zero
|
| 761 |
-
|
| 762 |
-
bake the result into body poses
|
| 763 |
-
|
| 764 |
-
remove the extra nested compensation frames
|
| 765 |
-
|
| 766 |
-
That’s why the socket locations were already “close” before, but the orientations were wrong: the hierarchy had roughly the right attachment points, but the rotations were being accumulated in the wrong frames.
|
| 767 |
-
-->
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|
mujoco_model_muscle_fixed_2.xml
DELETED
|
@@ -1,759 +0,0 @@
|
|
| 1 |
-
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
-
<mujoco model="mouse">
|
| 3 |
-
<compiler angle="degree">
|
| 4 |
-
<lengthrange mode="muscle" timestep="0"/>
|
| 5 |
-
</compiler>
|
| 6 |
-
|
| 7 |
-
<option integrator="RK4" timestep="0.001" solver="CG" iterations="6" ls_iterations="6"/>
|
| 8 |
-
|
| 9 |
-
<default>
|
| 10 |
-
<joint limited="true" solreflimit="0.01 1" solimplimit="0.99 0.9999 0" armature="4e-8" damping="1e-5" stiffness="1e-12"/>
|
| 11 |
-
<muscle ctrllimited="true" ctrlrange="0 1"/>
|
| 12 |
-
</default>
|
| 13 |
-
|
| 14 |
-
<size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
|
| 15 |
-
|
| 16 |
-
<visual>
|
| 17 |
-
<scale framelength="0.5" framewidth="0.01"/>
|
| 18 |
-
<global offheight="512"/>
|
| 19 |
-
</visual>
|
| 20 |
-
|
| 21 |
-
<asset>
|
| 22 |
-
<material name="target" rgba="0.6 0.3 0.3 0.3"/>
|
| 23 |
-
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
|
| 24 |
-
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
| 25 |
-
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
| 26 |
-
|
| 27 |
-
<mesh name="Bones_Scapula" file="./GeomJan01242023/Bones_Scapula.stl"/>
|
| 28 |
-
<mesh name="Bone_Segmentation_Segment_8" file="./GeomJan01242023/Bone_Segmentation_Segment_8.stl"/>
|
| 29 |
-
<mesh name="Bone_Segmentation_Humerus" file="./GeomJan01242023/Bone_Segmentation_Humerus.stl"/>
|
| 30 |
-
<mesh name="Bone_Segments_Ulna" file="./GeomJan01242023/Bone_Segments_Ulna.stl"/>
|
| 31 |
-
<mesh name="Bone_Segments_Radius" file="./GeomJan01242023/Bone_Segments_Radius.stl"/>
|
| 32 |
-
<mesh name="Bone_Segments_Hand" file="./GeomJan01242023/Bone_Segments_Hand.stl"/>
|
| 33 |
-
</asset>
|
| 34 |
-
|
| 35 |
-
<worldbody>
|
| 36 |
-
<light directional="true"/>
|
| 37 |
-
<body name="ground">
|
| 38 |
-
<camera name="my_camera" pos="0.04 .004 0.037" fovy="20"
|
| 39 |
-
quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
|
| 40 |
-
<camera name="close-profile" pos="0.04 .004 0.037" fovy="20"
|
| 41 |
-
quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
|
| 42 |
-
|
| 43 |
-
<body name="arm_root"
|
| 44 |
-
pos="0 0 0"
|
| 45 |
-
quat="0.5 0.5 0.5 0.5">
|
| 46 |
-
|
| 47 |
-
<body name="scapula"
|
| 48 |
-
pos="0 0 0"
|
| 49 |
-
quat="0.63302222 0.13302222 0.75440651 0.11161889">
|
| 50 |
-
<geom type="mesh" mesh="Bones_Scapula" contype="0" conaffinity="0"/>
|
| 51 |
-
|
| 52 |
-
<inertial pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512" mass="0.00030000001424923539" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 53 |
-
<site name="COM1"
|
| 54 |
-
pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512"
|
| 55 |
-
rgba=".2 .8 .2 .5"
|
| 56 |
-
size="0.0002"/>
|
| 57 |
-
|
| 58 |
-
|
| 59 |
-
<!--Attachement-->
|
| 60 |
-
<site name="Biceps_Long_Head_Origin"
|
| 61 |
-
pos="0.00849576 0.00228907 0.01221302"
|
| 62 |
-
rgba=".1 .2 .6 .5"
|
| 63 |
-
size="0.0002"/>
|
| 64 |
-
|
| 65 |
-
<site name="Triceps_Long_Head_Origin"
|
| 66 |
-
pos="0.00976038 0.00117412 0.01157653"
|
| 67 |
-
rgba=".1 .2 .6 .5"
|
| 68 |
-
size="0.0002"/>
|
| 69 |
-
|
| 70 |
-
<site name="Deltoid_M_Origin"
|
| 71 |
-
pos="0.008529389654173128 0.0023751864313252044 0.012078824552582676"
|
| 72 |
-
rgba=".1 .2 .6 .5"
|
| 73 |
-
size="0.0002"/>
|
| 74 |
-
|
| 75 |
-
<site name="Subscapularis_SuperiorHead_Origin"
|
| 76 |
-
pos="0.01330000 0.00040000 0.01290000"
|
| 77 |
-
rgba=".1 .2 .6 .5"
|
| 78 |
-
size="0.0002"/>
|
| 79 |
-
|
| 80 |
-
<site name="Infraspinatus_P1"
|
| 81 |
-
pos="0.0089999986812472343 0.0018000002019107342 0.011800001375377178"
|
| 82 |
-
rgba=".1 .2 .6 .5"
|
| 83 |
-
size="0.0002"/>
|
| 84 |
-
|
| 85 |
-
<site name="Infraspinatus_Origin"
|
| 86 |
-
pos="0.010599999688565731 0.0013000000035390258 0.011599999852478504"
|
| 87 |
-
rgba=".1 .2 .6 .5"
|
| 88 |
-
size="0.0002"/>
|
| 89 |
-
|
| 90 |
-
<site name="Latissimus_Dorsi-P2"
|
| 91 |
-
pos="0.012904155305964331 0.0010275014401610262 0.010721486942517478"
|
| 92 |
-
rgba=".1 .2 .6 .5"
|
| 93 |
-
size="0.0002"/>
|
| 94 |
-
<site name="Latissimus_Dorsi-Origin"
|
| 95 |
-
pos="0.015904210598531213 -0.000911297318792264 0.0095497686771152061"
|
| 96 |
-
rgba=".1 .2 .6 .5"
|
| 97 |
-
size="0.0002"/>
|
| 98 |
-
|
| 99 |
-
<site name="Latissimus_Dorsi_Caudal1-P2"
|
| 100 |
-
pos="0.012865897215296856 0.00053475836869008083 0.0090672458236239293"
|
| 101 |
-
rgba=".1 .2 .6 .5"
|
| 102 |
-
size="0.0002"/>
|
| 103 |
-
<site name="Latissimus_Dorsi_Caudal-Origin"
|
| 104 |
-
pos="0.01642339681673563 -0.0021892911968953853 0.003409771566023621"
|
| 105 |
-
rgba=".1 .2 .6 .5"
|
| 106 |
-
size="0.0002"/>
|
| 107 |
-
|
| 108 |
-
<site name="Pectoralis_Major-Origin"
|
| 109 |
-
pos="0.013071920908343252 -0.0018212145290540712 0.01243718068545514"
|
| 110 |
-
rgba=".1 .2 .6 .5"
|
| 111 |
-
size="0.0002"/>
|
| 112 |
-
|
| 113 |
-
<site name="Pectoralis_Major_Posterior-Origin"
|
| 114 |
-
pos="0.012410827074709981 -0.0021030550114739394 0.014539440044553896"
|
| 115 |
-
rgba=".1 .2 .6 .5"
|
| 116 |
-
size="0.0002"/>
|
| 117 |
-
|
| 118 |
-
<body name="clavicle"
|
| 119 |
-
pos="-0.00186349 -0.00240113 0.00264621"
|
| 120 |
-
quat="0.99240380 -0.08682489 0.08682340 0.00760476">
|
| 121 |
-
<geom type="mesh" mesh="Bone_Segmentation_Segment_8" contype="0" conaffinity="0"/>
|
| 122 |
-
|
| 123 |
-
<inertial pos="0 0 0" mass="3.5299999581184238e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 124 |
-
<site name="COM6"
|
| 125 |
-
pos="0 0 0"
|
| 126 |
-
rgba=".2 .8 .2 .5"
|
| 127 |
-
size="0.0002"/>
|
| 128 |
-
|
| 129 |
-
<!--Attachement-->
|
| 130 |
-
<site name="Pec_Midpoint_01"
|
| 131 |
-
pos="0.00962040 -0.00023840 0.01272385"
|
| 132 |
-
rgba=".1 .2 .6 .5"
|
| 133 |
-
size="0.0002"/>
|
| 134 |
-
<site name="Pec_Origin_Clav"
|
| 135 |
-
pos="0.01132773 -0.00095770 0.01317145"
|
| 136 |
-
rgba=".1 .2 .6 .5"
|
| 137 |
-
size="0.0002"/>
|
| 138 |
-
|
| 139 |
-
<site name="Deltoid_A-P2"
|
| 140 |
-
pos="0.00846818 0.00139408 0.01324769"
|
| 141 |
-
rgba=".1 .2 .6 .5"
|
| 142 |
-
size="0.0002"/>
|
| 143 |
-
|
| 144 |
-
<site name="Deltoid_A_Origin"
|
| 145 |
-
pos="0.00930000 0.00050000 0.01330000"
|
| 146 |
-
rgba=".1 .2 .6 .5"
|
| 147 |
-
size="0.0002"/>
|
| 148 |
-
</body>
|
| 149 |
-
|
| 150 |
-
<body name="humerus"
|
| 151 |
-
pos="-0.00526908 0.00709871 0.01138070"
|
| 152 |
-
quat="0.87214846 0.05125853 0.42527927 -0.23636239">
|
| 153 |
-
|
| 154 |
-
<!-- shoulder joints: add these, do not change humerus pose -->
|
| 155 |
-
<joint name="elv_angle"
|
| 156 |
-
type="hinge"
|
| 157 |
-
pos="0.00854555 0.00107889 0.01209415"
|
| 158 |
-
axis="-0.76529511 -0.11091370 0.63261453"
|
| 159 |
-
range="-28.64788976 157.56339366"
|
| 160 |
-
limited="true"/>
|
| 161 |
-
<joint name="shoulder_ext"
|
| 162 |
-
type="hinge"
|
| 163 |
-
pos="0.00854555 0.00107889 0.01209415"
|
| 164 |
-
axis="-0.36827993 0.88203501 -0.29079843"
|
| 165 |
-
range="-83.54085653 126.05071766"
|
| 166 |
-
limited="true"/>
|
| 167 |
-
<joint name="shoulder_rot"
|
| 168 |
-
type="hinge"
|
| 169 |
-
pos="0.00854555 0.00107889 0.01209415"
|
| 170 |
-
axis="0.52658517 0.45514852 0.71674785"
|
| 171 |
-
range="-57.29577951 28.64788976"
|
| 172 |
-
limited="true"/>
|
| 173 |
-
|
| 174 |
-
<geom type="mesh" mesh="Bone_Segmentation_Humerus" contype="0" conaffinity="0"/>
|
| 175 |
-
|
| 176 |
-
<inertial pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339" mass="0.00012589999823831022" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 177 |
-
<site name="COM2"
|
| 178 |
-
pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339"
|
| 179 |
-
rgba=".2 .8 .2 .5"
|
| 180 |
-
size="0.0005"/>
|
| 181 |
-
|
| 182 |
-
<!--Attachement-->
|
| 183 |
-
<site name="Pec_Insertion"
|
| 184 |
-
pos="0.00561727 0.00121731 0.01180135"
|
| 185 |
-
rgba=".1 .2 .6 .5"
|
| 186 |
-
size="0.0002"/>
|
| 187 |
-
|
| 188 |
-
<site name="Biceps_Short_Head_P2"
|
| 189 |
-
pos="0.00545745 0.00100268 0.01151327"
|
| 190 |
-
rgba=".1 .2 .6 .5"
|
| 191 |
-
size="0.0002"/>
|
| 192 |
-
<site name="Biceps_Short_Head_P3"
|
| 193 |
-
pos="0.00854309 0.00173658 0.01275594"
|
| 194 |
-
rgba=".1 .2 .6 .5"
|
| 195 |
-
size="0.0002"/>
|
| 196 |
-
<site name="Biceps_Short_Head_Origin"
|
| 197 |
-
pos="0.00912379 0.00145397 0.01223746"
|
| 198 |
-
rgba=".1 .2 .6 .5"
|
| 199 |
-
size="0.0002"/>
|
| 200 |
-
|
| 201 |
-
<site name="Biceps_Long_Head_P2"
|
| 202 |
-
pos="0.00654402 0.00111317 0.01210295"
|
| 203 |
-
rgba=".1 .2 .6 .5"
|
| 204 |
-
size="0.0002"/>
|
| 205 |
-
|
| 206 |
-
<site name="Deltoid_A_Insertion"
|
| 207 |
-
pos="0.00550000 0.00120000 0.01150000"
|
| 208 |
-
rgba=".1 .2 .6 .5"
|
| 209 |
-
size="0.0002"/>
|
| 210 |
-
|
| 211 |
-
<site name="Triceps_Lat_Head_Origin"
|
| 212 |
-
pos="0.00847404 0.00162151 0.01162285"
|
| 213 |
-
rgba=".1 .2 .6 .5"
|
| 214 |
-
size="0.0002"/>
|
| 215 |
-
|
| 216 |
-
<site name="Triceps_Long_Head_P2"
|
| 217 |
-
pos="0.00676086 0.00071579 0.00919821"
|
| 218 |
-
rgba=".1 .2 .6 .5"
|
| 219 |
-
size="0.0002"/>
|
| 220 |
-
|
| 221 |
-
<site name="MaybeBrachialis_InnerHead_P2"
|
| 222 |
-
pos="0.005000001285225153 0.000699999975040555 0.0098000010475516319"
|
| 223 |
-
rgba=".1 .2 .6 .5"
|
| 224 |
-
size="0.0002"/>
|
| 225 |
-
<site name="MaybeBrachialis_InnerHead_P3"
|
| 226 |
-
pos="0.0058000041171908379 0.00020000000949949026 0.010500005446374416"
|
| 227 |
-
rgba=".1 .2 .6 .5"
|
| 228 |
-
size="0.0002"/>
|
| 229 |
-
<site name="MaybeBrachialis_InnerHead_Origin"
|
| 230 |
-
pos="0.0083177145626602278 0.00045153958661048321 0.012020553165621659"
|
| 231 |
-
rgba=".1 .2 .6 .5"
|
| 232 |
-
size="0.0002"/>
|
| 233 |
-
|
| 234 |
-
<site name="MaybeBrachialis_OuterrHead_P2"
|
| 235 |
-
pos="0.004999999888241291 0.000699999975040555 0.0098000001162290573"
|
| 236 |
-
rgba=".1 .2 .6 .5"
|
| 237 |
-
size="0.0002"/>
|
| 238 |
-
<site name="MaybeBrachialis_OuterrHead_Origin"
|
| 239 |
-
pos="0.0082377977499531463 0.0013925189132782123 0.011701324054897599"
|
| 240 |
-
rgba=".1 .2 .6 .5"
|
| 241 |
-
size="0.0002"/>
|
| 242 |
-
|
| 243 |
-
<site name="Anconeus_Origin"
|
| 244 |
-
pos="0.0051999995484948158 0.00050000002374872565 0.010699999518692493"
|
| 245 |
-
rgba=".1 .2 .6 .5"
|
| 246 |
-
size="0.0002"/>
|
| 247 |
-
|
| 248 |
-
<site name="Deltoid_M_Insertion"
|
| 249 |
-
pos="0.0058772130318881233 0.00149081944152008 0.011389911914674269"
|
| 250 |
-
rgba=".1 .2 .6 .5"
|
| 251 |
-
size="0.0002"/>
|
| 252 |
-
|
| 253 |
-
<site name="Deltoid_M_P2"
|
| 254 |
-
pos="0.008 0.0019 0.01238"
|
| 255 |
-
rgba=".1 .2 .6 .5"
|
| 256 |
-
size="0.0002"/>
|
| 257 |
-
|
| 258 |
-
<site name="Short_Anconeus_Origin"
|
| 259 |
-
pos="0.0036000004038214684 -0.00089999998454004526 0.0090999985113739967"
|
| 260 |
-
rgba=".1 .2 .6 .5"
|
| 261 |
-
size="0.0002"/>
|
| 262 |
-
|
| 263 |
-
<site name="Subscapularis_SuperiorHead_Insertion"
|
| 264 |
-
pos="0.00815859 0.00061863 0.01234591"
|
| 265 |
-
rgba=".1 .2 .6 .5"
|
| 266 |
-
size="0.0002"/>
|
| 267 |
-
|
| 268 |
-
<site name="Infraspinatus_Insertion"
|
| 269 |
-
pos="0.0082999998703598976 0.0016000003088265657 0.011900001205503941"
|
| 270 |
-
rgba=".1 .2 .6 .5"
|
| 271 |
-
size="0.0002"/>
|
| 272 |
-
|
| 273 |
-
<site name="PronatorTeres-Origin"
|
| 274 |
-
pos="0.0035691947698062859 -0.00066973217558682907 0.0092697723943589751"
|
| 275 |
-
rgba=".1 .2 .6 .5"
|
| 276 |
-
size="0.0002"/>
|
| 277 |
-
|
| 278 |
-
<site name="FlexorCarpiRadialis-Origin"
|
| 279 |
-
pos="0.003424910947835591 -0.00092751065178608982 0.009228797150415774"
|
| 280 |
-
rgba=".1 .2 .6 .5"
|
| 281 |
-
size="0.0002"/>
|
| 282 |
-
|
| 283 |
-
<site name="Brachioradialis-Origin"
|
| 284 |
-
pos="0.0040301408561327356 0.00064780518353433443 0.0090598902737887288"
|
| 285 |
-
rgba=".1 .2 .6 .5"
|
| 286 |
-
size="0.0002"/>
|
| 287 |
-
|
| 288 |
-
<site name="Triceps_Medial_Head-P2"
|
| 289 |
-
pos="0.0048773966363577729 -0.000020990597736210165 0.0095378741754235195"
|
| 290 |
-
rgba=".1 .2 .6 .5"
|
| 291 |
-
size="0.0002"/>
|
| 292 |
-
<site name="Triceps_Medial_Head_Origin"
|
| 293 |
-
pos="0.0065206629844889504 0.00024985577586227232 0.010981274063174208"
|
| 294 |
-
rgba=".1 .2 .6 .5"
|
| 295 |
-
size="0.0002"/>
|
| 296 |
-
|
| 297 |
-
<site name="Latissimus_Dorsi_Rostral-Inserion"
|
| 298 |
-
pos="0.005898000206798315 0.0014979999978095293 0.011264000087976456"
|
| 299 |
-
rgba=".1 .2 .6 .5"
|
| 300 |
-
size="0.0002"/>
|
| 301 |
-
|
| 302 |
-
<site name="Latissimus_Dorsi_Caudal1-Insertion"
|
| 303 |
-
pos="0.0055302735648831564 0.0016819697092966763 0.01149872552021617"
|
| 304 |
-
rgba=".1 .2 .6 .5"
|
| 305 |
-
size="0.0002"/>
|
| 306 |
-
|
| 307 |
-
<site name="Pectoralis_Major-Insertion"
|
| 308 |
-
pos="0.0053022676397607299 0.0014110375999547425 0.011624181595743514"
|
| 309 |
-
rgba=".1 .2 .6 .5"
|
| 310 |
-
size="0.0002"/>
|
| 311 |
-
|
| 312 |
-
<site name="Pectoralis_Major_Posterior-Insertion"
|
| 313 |
-
pos="0.0055313255098350875 0.0010215392755078267 0.011759959498415538"
|
| 314 |
-
rgba=".1 .2 .6 .5"
|
| 315 |
-
size="0.0002"/>
|
| 316 |
-
|
| 317 |
-
<body name="ulna"
|
| 318 |
-
pos="-0.00378201 0.00461677 0.00462321"
|
| 319 |
-
quat="0.92121983 0.24684012 0.29045952 -0.07782838">
|
| 320 |
-
|
| 321 |
-
<joint name="elbow_flex"
|
| 322 |
-
type="hinge"
|
| 323 |
-
pos="0.00320000 -0.00030000 0.00860000"
|
| 324 |
-
axis="0.00000000 -0.86602542 0.49999997"
|
| 325 |
-
range="-57.29577951 71.61972439"
|
| 326 |
-
limited="true"/>
|
| 327 |
-
<site name="jcenel"
|
| 328 |
-
pos="0.00320000 -0.00030000 0.00860000"
|
| 329 |
-
rgba=".5 .5 .2 .5"
|
| 330 |
-
size="0.0009"/>
|
| 331 |
-
|
| 332 |
-
<geom type="mesh" mesh="Bone_Segments_Ulna" contype="0" conaffinity="0"/>
|
| 333 |
-
|
| 334 |
-
<inertial pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435" mass="0.00071272498462349176" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 335 |
-
<site name="COM3"
|
| 336 |
-
pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435"
|
| 337 |
-
rgba=".2 .8 .2 .5"
|
| 338 |
-
size="0.0005"/>
|
| 339 |
-
|
| 340 |
-
<!--Attachement-->
|
| 341 |
-
<site name="Biceps_Short_Head_Insertion"
|
| 342 |
-
pos="0.00206182 0.00009756 0.00882748"
|
| 343 |
-
rgba=".1 .2 .6 .5"
|
| 344 |
-
size="0.0002"/>
|
| 345 |
-
|
| 346 |
-
<site name="Biceps_Long_Head_Insertion"
|
| 347 |
-
pos="0.00205791 0.00004879 0.00877397"
|
| 348 |
-
rgba=".1 .2 .6 .5"
|
| 349 |
-
size="0.0002"/>
|
| 350 |
-
|
| 351 |
-
<site name="Triceps_Lat_Head_Insertion"
|
| 352 |
-
pos="0.00407945 -0.00044753 0.00834867"
|
| 353 |
-
rgba=".1 .2 .6 .5"
|
| 354 |
-
size="0.0002"/>
|
| 355 |
-
|
| 356 |
-
<site name="Triceps_Long_Head_Insertion"
|
| 357 |
-
pos="0.00419498 -0.00057041 0.00797751"
|
| 358 |
-
rgba=".1 .2 .6 .5"
|
| 359 |
-
size="0.0002"/>
|
| 360 |
-
|
| 361 |
-
<site name="MaybeBrachialis_InnerHead_Insertion"
|
| 362 |
-
pos="0.0022711976820488228 0.000058667960054253204 0.0087904077547398991"
|
| 363 |
-
rgba=".1 .2 .6 .5"
|
| 364 |
-
size="0.0002"/>
|
| 365 |
-
|
| 366 |
-
<site name="Anconeus_Insertion"
|
| 367 |
-
pos="0.0023999996483325958 -0.0001999999803956598 0.008800002746284008"
|
| 368 |
-
rgba=".1 .2 .6 .5"
|
| 369 |
-
size="0.0002"/>
|
| 370 |
-
|
| 371 |
-
<site name="Short_Anconeus_Insertion"
|
| 372 |
-
pos="0.0038000000640749931 -0.00059999991208314896 0.0082999998703598976"
|
| 373 |
-
rgba=".1 .2 .6 .5"
|
| 374 |
-
size="0.0002"/>
|
| 375 |
-
|
| 376 |
-
<body name="radius"
|
| 377 |
-
pos="-0.00000326 -0.00041155 0.00012026"
|
| 378 |
-
quat="1.00000000 -0.00003490 0.00000000 -0.00000001">
|
| 379 |
-
<geom type="mesh" mesh="Bone_Segments_Radius" contype="0" conaffinity="0"/>
|
| 380 |
-
|
| 381 |
-
<inertial pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018" mass="5.3100000513950363e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 382 |
-
<site name="COM5"
|
| 383 |
-
pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018"
|
| 384 |
-
rgba=".2 .8 .2 .5"
|
| 385 |
-
size="0.0005"/>
|
| 386 |
-
|
| 387 |
-
<!--Attachement-->
|
| 388 |
-
<site name="MaybeBrachialis_OuterrHead_Insertion"
|
| 389 |
-
pos="0.002099999925121665 0.000059000001783715561 0.0087999999523162842"
|
| 390 |
-
rgba=".1 .2 .6 .5"
|
| 391 |
-
size="0.0002"/>
|
| 392 |
-
|
| 393 |
-
<site name="PronatorTeres-Insertion"
|
| 394 |
-
pos="0.00087550107568740848 0.0011853275020137226 0.010050151513765163"
|
| 395 |
-
rgba=".1 .2 .6 .5"
|
| 396 |
-
size="0.0002"/>
|
| 397 |
-
|
| 398 |
-
<site name="FlexorCarpiRadialis-P2"
|
| 399 |
-
pos="0.00039500295990069212 0.0013726340156420712 0.010208441611422561"
|
| 400 |
-
rgba=".1 .2 .6 .5"
|
| 401 |
-
size="0.0002"/>
|
| 402 |
-
|
| 403 |
-
<site name="Brachioradialis-Insertion"
|
| 404 |
-
pos="-0.0029278056764625027 0.00126620712543319 0.011637220667654609"
|
| 405 |
-
rgba=".1 .2 .6 .5"
|
| 406 |
-
size="0.0002"/>
|
| 407 |
-
|
| 408 |
-
<site name="Triceps_Medial_Head_Insertion"
|
| 409 |
-
pos="0.0038194762507961851 -0.00023364176770013332 0.0083994770629340493"
|
| 410 |
-
rgba=".1 .2 .6 .5"
|
| 411 |
-
size="0.0002"/>
|
| 412 |
-
|
| 413 |
-
<body name="hand"
|
| 414 |
-
pos="0.00249215 0.00414491 0.00156364"
|
| 415 |
-
quat="0.95125125 0.25488699 -0.09960050 -0.14224425">
|
| 416 |
-
<geom type="mesh" mesh="Bone_Segments_Hand" contype="0" conaffinity="0"/>
|
| 417 |
-
|
| 418 |
-
<inertial pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128" mass="7.2599999839439988e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 419 |
-
<site name="COM4"
|
| 420 |
-
pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128"
|
| 421 |
-
rgba=".2 .8 .2 .5"
|
| 422 |
-
size="0.0005"/>
|
| 423 |
-
|
| 424 |
-
<site
|
| 425 |
-
name="handm"
|
| 426 |
-
pos="-0.0048766345966886893 0.0025063881418005383 0.012287416048729322"
|
| 427 |
-
size="0.00025"
|
| 428 |
-
rgba="1 1 0 1"
|
| 429 |
-
/>
|
| 430 |
-
|
| 431 |
-
<!--Attachement-->
|
| 432 |
-
<site name="FlexorCarpiRadialis-Insertion"
|
| 433 |
-
pos="-0.0040155582771694981 0.0015821272299320829 0.011737779242925817"
|
| 434 |
-
rgba=".1 .2 .6 .5"
|
| 435 |
-
size="0.0002"/>
|
| 436 |
-
</body>
|
| 437 |
-
</body>
|
| 438 |
-
</body>
|
| 439 |
-
</body>
|
| 440 |
-
</body>
|
| 441 |
-
</body>
|
| 442 |
-
</body>
|
| 443 |
-
</worldbody>
|
| 444 |
-
|
| 445 |
-
<tendon>
|
| 446 |
-
<!---->
|
| 447 |
-
<spatial name="Pectoralis_Clavicle_Head" width=".0001" rgba=".9 0 0 .5">
|
| 448 |
-
<site site="Pec_Insertion"/>
|
| 449 |
-
<site site="Pec_Midpoint_01"/>
|
| 450 |
-
<site site="Pec_Origin_Clav"/>
|
| 451 |
-
</spatial>
|
| 452 |
-
|
| 453 |
-
<spatial name="Biceps_Short_Head" width=".0001" rgba=".9 0 0 .5">
|
| 454 |
-
<site site="Biceps_Short_Head_Insertion"/>
|
| 455 |
-
<site site="Biceps_Short_Head_P2"/>
|
| 456 |
-
<site site="Biceps_Short_Head_P3"/>
|
| 457 |
-
<site site="Biceps_Short_Head_Origin"/>
|
| 458 |
-
</spatial>
|
| 459 |
-
|
| 460 |
-
<spatial name="Biceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
|
| 461 |
-
<site site="Biceps_Long_Head_Insertion"/>
|
| 462 |
-
<site site="Biceps_Long_Head_P2"/>
|
| 463 |
-
<site site="Biceps_Long_Head_Origin"/>
|
| 464 |
-
</spatial>
|
| 465 |
-
|
| 466 |
-
<spatial name="Deltoid_Medial" width=".0001" rgba=".9 0 0 .5">
|
| 467 |
-
<site site="Deltoid_A_Insertion"/>
|
| 468 |
-
<site site="Deltoid_A-P2"/>
|
| 469 |
-
<site site="Deltoid_A_Origin"/>
|
| 470 |
-
</spatial>
|
| 471 |
-
|
| 472 |
-
<spatial name="Triceps_Lat_Head" width=".0001" rgba=".9 0 0 .5">
|
| 473 |
-
<site site="Triceps_Lat_Head_Insertion"/>
|
| 474 |
-
<site site="Triceps_Lat_Head_Origin"/>
|
| 475 |
-
</spatial>
|
| 476 |
-
|
| 477 |
-
<spatial name="Triceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
|
| 478 |
-
<site site="Triceps_Long_Head_Insertion"/>
|
| 479 |
-
<site site="Triceps_Long_Head_P2"/>
|
| 480 |
-
<site site="Triceps_Long_Head_Origin"/>
|
| 481 |
-
</spatial>
|
| 482 |
-
|
| 483 |
-
<spatial name="Brachialis_Proximal_Head" width=".0001" rgba=".9 0 0 .5">
|
| 484 |
-
<site site="MaybeBrachialis_InnerHead_Insertion"/>
|
| 485 |
-
<site site="MaybeBrachialis_InnerHead_P2"/>
|
| 486 |
-
<site site="MaybeBrachialis_InnerHead_P3"/>
|
| 487 |
-
<site site="MaybeBrachialis_InnerHead_Origin"/>
|
| 488 |
-
</spatial>
|
| 489 |
-
|
| 490 |
-
<spatial name="Brachialis_Distal_Head" width=".0001" rgba=".9 0 0 .5">
|
| 491 |
-
<site site="MaybeBrachialis_OuterrHead_Insertion"/>
|
| 492 |
-
<site site="MaybeBrachialis_OuterrHead_P2"/>
|
| 493 |
-
<site site="MaybeBrachialis_OuterrHead_Origin"/>
|
| 494 |
-
</spatial>
|
| 495 |
-
|
| 496 |
-
<spatial name="Anconeus" width=".0001" rgba=".9 0 0 .5">
|
| 497 |
-
<site site="Anconeus_Origin"/>
|
| 498 |
-
<site site="Anconeus_Insertion"/>
|
| 499 |
-
</spatial>
|
| 500 |
-
|
| 501 |
-
<spatial name="Deltoid_Posterior" width=".0001" rgba=".9 0 0 .5">
|
| 502 |
-
<site site="Deltoid_M_Insertion"/>
|
| 503 |
-
<site site="Deltoid_M_P2"/>
|
| 504 |
-
<site site="Deltoid_M_Origin"/>
|
| 505 |
-
</spatial>
|
| 506 |
-
|
| 507 |
-
<spatial name="Anconeus_Short_Head" width=".0001" rgba=".9 0 0 .5">
|
| 508 |
-
<site site="Short_Anconeus_Insertion"/>
|
| 509 |
-
<site site="Short_Anconeus_Origin"/>
|
| 510 |
-
</spatial>
|
| 511 |
-
|
| 512 |
-
<spatial name="Subscapularis_SuperiorHead" width=".0001" rgba=".9 0 0 .5">
|
| 513 |
-
<site site="Subscapularis_SuperiorHead_Insertion"/>
|
| 514 |
-
<site site="Subscapularis_SuperiorHead_Origin"/>
|
| 515 |
-
</spatial>
|
| 516 |
-
|
| 517 |
-
<spatial name="Infraspinatus" width=".0001" rgba=".9 0 0 .5">
|
| 518 |
-
<site site="Infraspinatus_Insertion"/>
|
| 519 |
-
<site site="Infraspinatus_P1"/>
|
| 520 |
-
<site site="Infraspinatus_Origin"/>
|
| 521 |
-
</spatial>
|
| 522 |
-
|
| 523 |
-
<spatial name="PronatorTeres" width=".0001" rgba=".9 0 0 .5">
|
| 524 |
-
<site site="PronatorTeres-Insertion"/>
|
| 525 |
-
<site site="PronatorTeres-Origin"/>
|
| 526 |
-
</spatial>
|
| 527 |
-
|
| 528 |
-
<spatial name="FlexorCarpiRadialis" width=".0001" rgba=".9 0 0 .5">
|
| 529 |
-
<site site="FlexorCarpiRadialis-Insertion"/>
|
| 530 |
-
<site site="FlexorCarpiRadialis-P2"/>
|
| 531 |
-
<site site="FlexorCarpiRadialis-Origin"/>
|
| 532 |
-
</spatial>
|
| 533 |
-
|
| 534 |
-
<spatial name="Brachioradialis" width=".0001" rgba=".9 0 0 .5">
|
| 535 |
-
<site site="Brachioradialis-Insertion"/>
|
| 536 |
-
<site site="Brachioradialis-Origin"/>
|
| 537 |
-
</spatial>
|
| 538 |
-
|
| 539 |
-
<spatial name="Triceps_Medial_Head" width=".0001" rgba=".9 0 0 .5">
|
| 540 |
-
<site site="Triceps_Medial_Head_Insertion"/>
|
| 541 |
-
<site site="Triceps_Medial_Head-P2"/>
|
| 542 |
-
<site site="Triceps_Medial_Head_Origin"/>
|
| 543 |
-
</spatial>
|
| 544 |
-
|
| 545 |
-
<spatial name="Latissimus_Dorsi_Rostral" width=".0001" rgba=".9 0 0 .5">
|
| 546 |
-
<site site="Latissimus_Dorsi_Rostral-Inserion"/>
|
| 547 |
-
<site site="Latissimus_Dorsi-P2"/>
|
| 548 |
-
<site site="Latissimus_Dorsi-Origin"/>
|
| 549 |
-
</spatial>
|
| 550 |
-
|
| 551 |
-
<spatial name="Latissimus_Dorsi_Caudal" width=".0001" rgba=".9 0 0 .5">
|
| 552 |
-
<site site="Latissimus_Dorsi_Caudal1-Insertion"/>
|
| 553 |
-
<site site="Latissimus_Dorsi_Caudal1-P2"/>
|
| 554 |
-
<site site="Latissimus_Dorsi_Caudal-Origin"/>
|
| 555 |
-
</spatial>
|
| 556 |
-
|
| 557 |
-
<spatial name="Pectoralis_Major_Anterior" width=".0001" rgba=".9 0 0 .5">
|
| 558 |
-
<site site="Pectoralis_Major-Origin"/>
|
| 559 |
-
<site site="Pectoralis_Major-Insertion"/>
|
| 560 |
-
</spatial>
|
| 561 |
-
|
| 562 |
-
<spatial name="Pectoralis_Major_Posterior" width=".0001" rgba=".9 0 0 .5">
|
| 563 |
-
<site site="Pectoralis_Major_Posterior-Origin"/>
|
| 564 |
-
<site site="Pectoralis_Major_Posterior-Insertion"/>
|
| 565 |
-
</spatial>
|
| 566 |
-
</tendon>
|
| 567 |
-
|
| 568 |
-
<actuator>
|
| 569 |
-
<muscle
|
| 570 |
-
name="Pectoralis_Clavicle_Head_act"
|
| 571 |
-
tendon="Pectoralis_Clavicle_Head"
|
| 572 |
-
ctrlrange="0 2"
|
| 573 |
-
force=".32646998763084412"
|
| 574 |
-
/>
|
| 575 |
-
|
| 576 |
-
<muscle
|
| 577 |
-
name="Biceps_Short_Head_act"
|
| 578 |
-
tendon="Biceps_Short_Head"
|
| 579 |
-
ctrlrange="0 2"
|
| 580 |
-
force=".17758000642061234"
|
| 581 |
-
/>
|
| 582 |
-
|
| 583 |
-
<muscle
|
| 584 |
-
name="Biceps_Long_Head_act"
|
| 585 |
-
tendon="Biceps_Long_Head"
|
| 586 |
-
ctrlrange="0 2"
|
| 587 |
-
force=".093419000506401062"
|
| 588 |
-
/>
|
| 589 |
-
|
| 590 |
-
<muscle
|
| 591 |
-
name="Deltoid_Medial_act"
|
| 592 |
-
tendon="Deltoid_Medial"
|
| 593 |
-
ctrlrange="0 2"
|
| 594 |
-
force=".68714998662471771"
|
| 595 |
-
/>
|
| 596 |
-
|
| 597 |
-
<muscle
|
| 598 |
-
name="Triceps_Lat_Head_act"
|
| 599 |
-
tendon="Triceps_Lat_Head"
|
| 600 |
-
ctrlrange="0 2"
|
| 601 |
-
force="1.251789927482605"
|
| 602 |
-
/>
|
| 603 |
-
|
| 604 |
-
<muscle
|
| 605 |
-
name="Triceps_Long_Head_act"
|
| 606 |
-
tendon="Triceps_Long_Head"
|
| 607 |
-
ctrlrange="0 2"
|
| 608 |
-
force=".61247199773788452"
|
| 609 |
-
/>
|
| 610 |
-
|
| 611 |
-
<muscle
|
| 612 |
-
name="Brachialis_Proximal_Head_act"
|
| 613 |
-
tendon="Brachialis_Proximal_Head"
|
| 614 |
-
ctrlrange="0 2"
|
| 615 |
-
force=".65999001264572144"
|
| 616 |
-
/>
|
| 617 |
-
|
| 618 |
-
<muscle
|
| 619 |
-
name="Brachialis_Distal_Head_act"
|
| 620 |
-
tendon="Brachialis_Distal_Head"
|
| 621 |
-
ctrlrange="0 2"
|
| 622 |
-
force=".6712699681520462"
|
| 623 |
-
/>
|
| 624 |
-
|
| 625 |
-
<muscle
|
| 626 |
-
name="Anconeus_act"
|
| 627 |
-
tendon="Anconeus"
|
| 628 |
-
ctrlrange="0 2"
|
| 629 |
-
force=".23302000015974045"
|
| 630 |
-
/>
|
| 631 |
-
|
| 632 |
-
<muscle
|
| 633 |
-
name="Deltoid_Posterior_act"
|
| 634 |
-
tendon="Deltoid_Posterior"
|
| 635 |
-
ctrlrange="0 2"
|
| 636 |
-
force=".6770700216293335"
|
| 637 |
-
/>
|
| 638 |
-
|
| 639 |
-
<muscle
|
| 640 |
-
name="Anconeus_Short_Head_act"
|
| 641 |
-
tendon="Anconeus_Short_Head"
|
| 642 |
-
ctrlrange="0 2"
|
| 643 |
-
force=".19999999552965164"
|
| 644 |
-
/>
|
| 645 |
-
|
| 646 |
-
<muscle
|
| 647 |
-
name="Subscapularis_SuperiorHead_act"
|
| 648 |
-
tendon="Subscapularis_SuperiorHead"
|
| 649 |
-
ctrlrange="0 2"
|
| 650 |
-
force=".4072199463844299"
|
| 651 |
-
/>
|
| 652 |
-
|
| 653 |
-
<muscle
|
| 654 |
-
name="Infraspinatus_act"
|
| 655 |
-
tendon="Infraspinatus"
|
| 656 |
-
ctrlrange="0 2"
|
| 657 |
-
force=".65393000841140747"
|
| 658 |
-
/>
|
| 659 |
-
|
| 660 |
-
<muscle
|
| 661 |
-
name="PronatorTeres_act"
|
| 662 |
-
tendon="PronatorTeres"
|
| 663 |
-
ctrlrange="0 2"
|
| 664 |
-
force=".19999999552965164"
|
| 665 |
-
/>
|
| 666 |
-
|
| 667 |
-
<muscle
|
| 668 |
-
name="FlexorCarpiRadialis_act"
|
| 669 |
-
tendon="FlexorCarpiRadialis"
|
| 670 |
-
ctrlrange="0 2"
|
| 671 |
-
force=".19999999552965164"
|
| 672 |
-
/>
|
| 673 |
-
|
| 674 |
-
<muscle
|
| 675 |
-
name="Brachioradialis_act"
|
| 676 |
-
tendon="Brachioradialis"
|
| 677 |
-
ctrlrange="0 2"
|
| 678 |
-
force=".19999999552965164"
|
| 679 |
-
/>
|
| 680 |
-
|
| 681 |
-
<muscle
|
| 682 |
-
name="Triceps_Medial_Head_act"
|
| 683 |
-
tendon="Triceps_Medial_Head"
|
| 684 |
-
ctrlrange="0 2"
|
| 685 |
-
force=".16010400652885437"
|
| 686 |
-
/>
|
| 687 |
-
|
| 688 |
-
<muscle
|
| 689 |
-
name="Latissimus_Dorsi_Rostral_act"
|
| 690 |
-
tendon="Latissimus_Dorsi_Rostral"
|
| 691 |
-
ctrlrange="0 2"
|
| 692 |
-
force=".13345499336719513"
|
| 693 |
-
/>
|
| 694 |
-
|
| 695 |
-
<muscle
|
| 696 |
-
name="Latissimus_Dorsi_Caudal_act"
|
| 697 |
-
tendon="Latissimus_Dorsi_Caudal"
|
| 698 |
-
ctrlrange="0 2"
|
| 699 |
-
force=".13345499336719513"
|
| 700 |
-
/>
|
| 701 |
-
|
| 702 |
-
<muscle
|
| 703 |
-
name="Pectoralis_Major_Anterior_act"
|
| 704 |
-
tendon="Pectoralis_Major_Anterior"
|
| 705 |
-
ctrlrange="0 2"
|
| 706 |
-
force=".23294399678707123"
|
| 707 |
-
/>
|
| 708 |
-
|
| 709 |
-
<muscle
|
| 710 |
-
name="Pectoralis_Major_Posterior_act"
|
| 711 |
-
tendon="Pectoralis_Major_Posterior"
|
| 712 |
-
ctrlrange="0 2"
|
| 713 |
-
force=".17015500366687775"
|
| 714 |
-
/>
|
| 715 |
-
|
| 716 |
-
</actuator>
|
| 717 |
-
<sensor/>
|
| 718 |
-
|
| 719 |
-
<keyframe>
|
| 720 |
-
<!-- qpos order = order of joints in model -->
|
| 721 |
-
<key name="default_pose" qpos="1.5690594131319469 0 0 0.94480200333927733"/>
|
| 722 |
-
</keyframe>
|
| 723 |
-
</mujoco>
|
| 724 |
-
|
| 725 |
-
<!-- HOW THE ORIGINAL MODE MESHES WERE LAID OUT:
|
| 726 |
-
I converted it as a frame-transform problem, not a mesh-offset problem.
|
| 727 |
-
|
| 728 |
-
In brief, I did this:
|
| 729 |
-
|
| 730 |
-
I read the OpenSim joint definitions as two offset frames:
|
| 731 |
-
|
| 732 |
-
a parent frame on the parent bone
|
| 733 |
-
|
| 734 |
-
a child frame on the child bone
|
| 735 |
-
|
| 736 |
-
For the version that matched what you wanted, I set the movable joint coordinates to zero instead of using the OpenSim default coordinate values.
|
| 737 |
-
|
| 738 |
-
For each bone, I computed its pose from the OpenSim relation
|
| 739 |
-
|
| 740 |
-
T_child = T_parent * T_parentOffset * T_joint(0) * inverse(T_childOffset)
|
| 741 |
-
|
| 742 |
-
Since this was the zero-pose check, T_joint(0) was just the zero-angle joint transform.
|
| 743 |
-
|
| 744 |
-
I then wrote the resulting transform directly onto each MuJoCo body as a pos and quat.
|
| 745 |
-
|
| 746 |
-
I left the bone meshes at identity under those bodies, instead of adding extra geom offsets. That matters because your earlier XML was effectively applying transforms twice in different places, which is why the later bones started drifting.
|
| 747 |
-
|
| 748 |
-
So the main fix was:
|
| 749 |
-
|
| 750 |
-
use the OpenSim joint-frame math directly
|
| 751 |
-
|
| 752 |
-
set joint values to zero
|
| 753 |
-
|
| 754 |
-
bake the result into body poses
|
| 755 |
-
|
| 756 |
-
remove the extra nested compensation frames
|
| 757 |
-
|
| 758 |
-
That’s why the socket locations were already “close” before, but the orientations were wrong: the hierarchy had roughly the right attachment points, but the rotations were being accumulated in the wrong frames.
|
| 759 |
-
-->
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|
mujoco_model_muscle_fixed_new.xml
DELETED
|
@@ -1,767 +0,0 @@
|
|
| 1 |
-
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
-
<mujoco model="mouse">
|
| 3 |
-
<compiler angle="degree">
|
| 4 |
-
<lengthrange mode="muscle" timestep="0"/>
|
| 5 |
-
</compiler>
|
| 6 |
-
|
| 7 |
-
<option integrator="RK4" timestep="0.001" solver="CG" iterations="6" ls_iterations="6"/>
|
| 8 |
-
|
| 9 |
-
<default>
|
| 10 |
-
<joint limited="true" solreflimit="0.01 1" solimplimit="0.99 0.9999 0" armature="4e-8" damping="1e-5" stiffness="1e-12"/>
|
| 11 |
-
<muscle ctrllimited="true" ctrlrange="0 1"/>
|
| 12 |
-
</default>
|
| 13 |
-
|
| 14 |
-
<size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
|
| 15 |
-
|
| 16 |
-
<visual>
|
| 17 |
-
<scale framelength="0.5" framewidth="0.01"/>
|
| 18 |
-
<global offheight="512"/>
|
| 19 |
-
</visual>
|
| 20 |
-
|
| 21 |
-
<asset>
|
| 22 |
-
<material name="target" rgba="0.6 0.3 0.3 0.3"/>
|
| 23 |
-
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
|
| 24 |
-
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
| 25 |
-
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
| 26 |
-
|
| 27 |
-
<mesh name="Bones_Scapula" file="./GeomJan01242023/Bones_Scapula.stl"/>
|
| 28 |
-
<mesh name="Bone_Segmentation_Segment_8" file="./GeomJan01242023/Bone_Segmentation_Segment_8.stl"/>
|
| 29 |
-
<mesh name="Bone_Segmentation_Humerus" file="./GeomJan01242023/Bone_Segmentation_Humerus.stl"/>
|
| 30 |
-
<mesh name="Bone_Segments_Ulna" file="./GeomJan01242023/Bone_Segments_Ulna.stl"/>
|
| 31 |
-
<mesh name="Bone_Segments_Radius" file="./GeomJan01242023/Bone_Segments_Radius.stl"/>
|
| 32 |
-
<mesh name="Bone_Segments_Hand" file="./GeomJan01242023/Bone_Segments_Hand.stl"/>
|
| 33 |
-
</asset>
|
| 34 |
-
|
| 35 |
-
<worldbody>
|
| 36 |
-
<light directional="true"/>
|
| 37 |
-
<body name="ground">
|
| 38 |
-
<camera name="my_camera" pos="0.04 .004 0.037" fovy="20"
|
| 39 |
-
quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
|
| 40 |
-
<camera name="close-profile" pos="0.04 .004 0.037" fovy="20"
|
| 41 |
-
quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
|
| 42 |
-
|
| 43 |
-
<body name="arm_root"
|
| 44 |
-
pos="0 0 0"
|
| 45 |
-
quat="0.5 0.5 0.5 0.5">
|
| 46 |
-
|
| 47 |
-
<body name="scapula"
|
| 48 |
-
pos="0 0 0"
|
| 49 |
-
quat="0.63302222 0.13302222 0.75440651 0.11161889">
|
| 50 |
-
<geom type="mesh" mesh="Bones_Scapula" contype="0" conaffinity="0"/>
|
| 51 |
-
|
| 52 |
-
<inertial pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512" mass="0.00030000001424923539" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 53 |
-
<site name="COM1"
|
| 54 |
-
pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512"
|
| 55 |
-
rgba=".2 .8 .2 .5"
|
| 56 |
-
size="0.0002"/>
|
| 57 |
-
|
| 58 |
-
|
| 59 |
-
<!--Attachement-->
|
| 60 |
-
<site name="Biceps_Long_Head_Origin"
|
| 61 |
-
pos="0.00849576 0.00228907 0.01221302"
|
| 62 |
-
rgba=".1 .2 .6 .5"
|
| 63 |
-
size="0.0002"/>
|
| 64 |
-
|
| 65 |
-
<site name="Triceps_Long_Head_Origin"
|
| 66 |
-
pos="0.00976038 0.00117412 0.01157653"
|
| 67 |
-
rgba=".1 .2 .6 .5"
|
| 68 |
-
size="0.0002"/>
|
| 69 |
-
|
| 70 |
-
<site name="Deltoid_M_Origin"
|
| 71 |
-
pos="0.008529389654173128 0.0023751864313252044 0.012078824552582676"
|
| 72 |
-
rgba=".1 .2 .6 .5"
|
| 73 |
-
size="0.0002"/>
|
| 74 |
-
|
| 75 |
-
<site name="Subscapularis_SuperiorHead_Origin"
|
| 76 |
-
pos="0.01330000 0.00040000 0.01290000"
|
| 77 |
-
rgba=".1 .2 .6 .5"
|
| 78 |
-
size="0.0002"/>
|
| 79 |
-
|
| 80 |
-
<site name="Infraspinatus_P1"
|
| 81 |
-
pos="0.0089999986812472343 0.0018000002019107342 0.011800001375377178"
|
| 82 |
-
rgba=".1 .2 .6 .5"
|
| 83 |
-
size="0.0002"/>
|
| 84 |
-
|
| 85 |
-
<site name="Infraspinatus_Origin"
|
| 86 |
-
pos="0.010599999688565731 0.0013000000035390258 0.011599999852478504"
|
| 87 |
-
rgba=".1 .2 .6 .5"
|
| 88 |
-
size="0.0002"/>
|
| 89 |
-
|
| 90 |
-
<site name="Latissimus_Dorsi-P2"
|
| 91 |
-
pos="0.012904155305964331 0.0010275014401610262 0.010721486942517478"
|
| 92 |
-
rgba=".1 .2 .6 .5"
|
| 93 |
-
size="0.0002"/>
|
| 94 |
-
<site name="Latissimus_Dorsi-Origin"
|
| 95 |
-
pos="0.015904210598531213 -0.000911297318792264 0.0095497686771152061"
|
| 96 |
-
rgba=".1 .2 .6 .5"
|
| 97 |
-
size="0.0002"/>
|
| 98 |
-
|
| 99 |
-
<site name="Latissimus_Dorsi_Caudal1-P2"
|
| 100 |
-
pos="0.012865897215296856 0.00053475836869008083 0.0090672458236239293"
|
| 101 |
-
rgba=".1 .2 .6 .5"
|
| 102 |
-
size="0.0002"/>
|
| 103 |
-
<site name="Latissimus_Dorsi_Caudal-Origin"
|
| 104 |
-
pos="0.01642339681673563 -0.0021892911968953853 0.003409771566023621"
|
| 105 |
-
rgba=".1 .2 .6 .5"
|
| 106 |
-
size="0.0002"/>
|
| 107 |
-
|
| 108 |
-
<site name="Pectoralis_Major-Origin"
|
| 109 |
-
pos="0.013071920908343252 -0.0018212145290540712 0.01243718068545514"
|
| 110 |
-
rgba=".1 .2 .6 .5"
|
| 111 |
-
size="0.0002"/>
|
| 112 |
-
|
| 113 |
-
<site name="Pectoralis_Major_Posterior-Origin"
|
| 114 |
-
pos="0.012410827074709981 -0.0021030550114739394 0.014539440044553896"
|
| 115 |
-
rgba=".1 .2 .6 .5"
|
| 116 |
-
size="0.0002"/>
|
| 117 |
-
|
| 118 |
-
<body name="clavicle"
|
| 119 |
-
pos="-0.00186349 -0.00240113 0.00264621"
|
| 120 |
-
quat="0.99240380 -0.08682489 0.08682340 0.00760476">
|
| 121 |
-
<geom type="mesh" mesh="Bone_Segmentation_Segment_8" contype="0" conaffinity="0"/>
|
| 122 |
-
|
| 123 |
-
<inertial pos="0 0 0" mass="3.5299999581184238e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 124 |
-
<site name="COM6"
|
| 125 |
-
pos="0 0 0"
|
| 126 |
-
rgba=".2 .8 .2 .5"
|
| 127 |
-
size="0.0002"/>
|
| 128 |
-
|
| 129 |
-
<!--Attachement-->
|
| 130 |
-
<site name="Pec_Midpoint_01"
|
| 131 |
-
pos="0.00962040 -0.00023840 0.01272385"
|
| 132 |
-
rgba=".1 .2 .6 .5"
|
| 133 |
-
size="0.0002"/>
|
| 134 |
-
<site name="Pec_Origin_Clav"
|
| 135 |
-
pos="0.01132773 -0.00095770 0.01317145"
|
| 136 |
-
rgba=".1 .2 .6 .5"
|
| 137 |
-
size="0.0002"/>
|
| 138 |
-
|
| 139 |
-
<site name="Deltoid_A-P2"
|
| 140 |
-
pos="0.00846818 0.00139408 0.01324769"
|
| 141 |
-
rgba=".1 .2 .6 .5"
|
| 142 |
-
size="0.0002"/>
|
| 143 |
-
|
| 144 |
-
<site name="Deltoid_A_Origin"
|
| 145 |
-
pos="0.00930000 0.00050000 0.01330000"
|
| 146 |
-
rgba=".1 .2 .6 .5"
|
| 147 |
-
size="0.0002"/>
|
| 148 |
-
</body>
|
| 149 |
-
|
| 150 |
-
<body name="humerus"
|
| 151 |
-
pos="-0.00526908 0.00709871 0.01138070"
|
| 152 |
-
quat="0.87214846 0.05125853 0.42527927 -0.23636239">
|
| 153 |
-
|
| 154 |
-
<!-- shoulder joints: add these, do not change humerus pose -->
|
| 155 |
-
<joint name="elv_angle"
|
| 156 |
-
type="hinge"
|
| 157 |
-
pos="0.00854555 0.00107889 0.01209415"
|
| 158 |
-
axis="-0.76529511 -0.11091370 0.63261453"
|
| 159 |
-
range="-28.64788976 157.56339366"
|
| 160 |
-
limited="true"/>
|
| 161 |
-
<joint name="shoulder_ext"
|
| 162 |
-
type="hinge"
|
| 163 |
-
pos="0.00854555 0.00107889 0.01209415"
|
| 164 |
-
axis="-0.36827993 0.88203501 -0.29079843"
|
| 165 |
-
range="-83.54085653 126.05071766"
|
| 166 |
-
limited="true"/>
|
| 167 |
-
<joint name="shoulder_rot"
|
| 168 |
-
type="hinge"
|
| 169 |
-
pos="0.00854555 0.00107889 0.01209415"
|
| 170 |
-
axis="0.52658517 0.45514852 0.71674785"
|
| 171 |
-
range="-57.29577951 28.64788976"
|
| 172 |
-
limited="true"/>
|
| 173 |
-
|
| 174 |
-
<geom type="mesh" mesh="Bone_Segmentation_Humerus" contype="0" conaffinity="0"/>
|
| 175 |
-
|
| 176 |
-
<inertial pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339" mass="0.00012589999823831022" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 177 |
-
<site name="COM2"
|
| 178 |
-
pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339"
|
| 179 |
-
rgba=".2 .8 .2 .5"
|
| 180 |
-
size="0.0005"/>
|
| 181 |
-
|
| 182 |
-
<!--Attachement-->
|
| 183 |
-
<site name="Pec_Insertion"
|
| 184 |
-
pos="0.00561727 0.00121731 0.01180135"
|
| 185 |
-
rgba=".1 .2 .6 .5"
|
| 186 |
-
size="0.0002"/>
|
| 187 |
-
|
| 188 |
-
<site name="Biceps_Short_Head_P2"
|
| 189 |
-
pos="0.00545745 0.00100268 0.01151327"
|
| 190 |
-
rgba=".1 .2 .6 .5"
|
| 191 |
-
size="0.0002"/>
|
| 192 |
-
<site name="Biceps_Short_Head_P3"
|
| 193 |
-
pos="0.00854309 0.00173658 0.01275594"
|
| 194 |
-
rgba=".1 .2 .6 .5"
|
| 195 |
-
size="0.0002"/>
|
| 196 |
-
<site name="Biceps_Short_Head_Origin"
|
| 197 |
-
pos="0.00912379 0.00145397 0.01223746"
|
| 198 |
-
rgba=".1 .2 .6 .5"
|
| 199 |
-
size="0.0002"/>
|
| 200 |
-
|
| 201 |
-
<site name="Biceps_Long_Head_P2"
|
| 202 |
-
pos="0.00654402 0.00111317 0.01210295"
|
| 203 |
-
rgba=".1 .2 .6 .5"
|
| 204 |
-
size="0.0002"/>
|
| 205 |
-
|
| 206 |
-
<site name="Deltoid_A_Insertion"
|
| 207 |
-
pos="0.00550000 0.00120000 0.01150000"
|
| 208 |
-
rgba=".1 .2 .6 .5"
|
| 209 |
-
size="0.0002"/>
|
| 210 |
-
|
| 211 |
-
<site name="Triceps_Lat_Head_Origin"
|
| 212 |
-
pos="0.00847404 0.00162151 0.01162285"
|
| 213 |
-
rgba=".1 .2 .6 .5"
|
| 214 |
-
size="0.0002"/>
|
| 215 |
-
|
| 216 |
-
<site name="Triceps_Long_Head_P2"
|
| 217 |
-
pos="0.00676086 0.00071579 0.00919821"
|
| 218 |
-
rgba=".1 .2 .6 .5"
|
| 219 |
-
size="0.0002"/>
|
| 220 |
-
|
| 221 |
-
<site name="MaybeBrachialis_InnerHead_P2"
|
| 222 |
-
pos="0.005000001285225153 0.000699999975040555 0.0098000010475516319"
|
| 223 |
-
rgba=".1 .2 .6 .5"
|
| 224 |
-
size="0.0002"/>
|
| 225 |
-
<site name="MaybeBrachialis_InnerHead_P3"
|
| 226 |
-
pos="0.0058000041171908379 0.00020000000949949026 0.010500005446374416"
|
| 227 |
-
rgba=".1 .2 .6 .5"
|
| 228 |
-
size="0.0002"/>
|
| 229 |
-
<site name="MaybeBrachialis_InnerHead_Origin"
|
| 230 |
-
pos="0.0083177145626602278 0.00045153958661048321 0.012020553165621659"
|
| 231 |
-
rgba=".1 .2 .6 .5"
|
| 232 |
-
size="0.0002"/>
|
| 233 |
-
|
| 234 |
-
<site name="MaybeBrachialis_OuterrHead_P2"
|
| 235 |
-
pos="0.004999999888241291 0.000699999975040555 0.0098000001162290573"
|
| 236 |
-
rgba=".1 .2 .6 .5"
|
| 237 |
-
size="0.0002"/>
|
| 238 |
-
<site name="MaybeBrachialis_OuterrHead_Origin"
|
| 239 |
-
pos="0.0082377977499531463 0.0013925189132782123 0.011701324054897599"
|
| 240 |
-
rgba=".1 .2 .6 .5"
|
| 241 |
-
size="0.0002"/>
|
| 242 |
-
|
| 243 |
-
<site name="Anconeus_Origin"
|
| 244 |
-
pos="0.0051999995484948158 0.00050000002374872565 0.010699999518692493"
|
| 245 |
-
rgba=".1 .2 .6 .5"
|
| 246 |
-
size="0.0002"/>
|
| 247 |
-
|
| 248 |
-
<site name="Deltoid_M_Insertion"
|
| 249 |
-
pos="0.0058772130318881233 0.00149081944152008 0.011389911914674269"
|
| 250 |
-
rgba=".1 .2 .6 .5"
|
| 251 |
-
size="0.0002"/>
|
| 252 |
-
|
| 253 |
-
<site name="Deltoid_M_P2"
|
| 254 |
-
pos="0.008 0.0019 0.01238"
|
| 255 |
-
rgba=".1 .2 .6 .5"
|
| 256 |
-
size="0.0002"/>
|
| 257 |
-
|
| 258 |
-
<site name="Short_Anconeus_Origin"
|
| 259 |
-
pos="0.0036000004038214684 -0.00089999998454004526 0.0090999985113739967"
|
| 260 |
-
rgba=".1 .2 .6 .5"
|
| 261 |
-
size="0.0002"/>
|
| 262 |
-
|
| 263 |
-
<site name="Subscapularis_SuperiorHead_Insertion"
|
| 264 |
-
pos="0.00815859 0.00061863 0.01234591"
|
| 265 |
-
rgba=".1 .2 .6 .5"
|
| 266 |
-
size="0.0002"/>
|
| 267 |
-
|
| 268 |
-
<site name="Infraspinatus_Insertion"
|
| 269 |
-
pos="0.0082999998703598976 0.0016000003088265657 0.011900001205503941"
|
| 270 |
-
rgba=".1 .2 .6 .5"
|
| 271 |
-
size="0.0002"/>
|
| 272 |
-
|
| 273 |
-
<site name="PronatorTeres-Origin"
|
| 274 |
-
pos="0.0035691947698062859 -0.00066973217558682907 0.0092697723943589751"
|
| 275 |
-
rgba=".1 .2 .6 .5"
|
| 276 |
-
size="0.0002"/>
|
| 277 |
-
|
| 278 |
-
<site name="FlexorCarpiRadialis-Origin"
|
| 279 |
-
pos="0.003424910947835591 -0.00092751065178608982 0.009228797150415774"
|
| 280 |
-
rgba=".1 .2 .6 .5"
|
| 281 |
-
size="0.0002"/>
|
| 282 |
-
|
| 283 |
-
<site name="Brachioradialis-Origin"
|
| 284 |
-
pos="0.0040301408561327356 0.00064780518353433443 0.0090598902737887288"
|
| 285 |
-
rgba=".1 .2 .6 .5"
|
| 286 |
-
size="0.0002"/>
|
| 287 |
-
|
| 288 |
-
<site name="Triceps_Medial_Head-P2"
|
| 289 |
-
pos="0.0048773966363577729 -0.000020990597736210165 0.0095378741754235195"
|
| 290 |
-
rgba=".1 .2 .6 .5"
|
| 291 |
-
size="0.0002"/>
|
| 292 |
-
<site name="Triceps_Medial_Head_Origin"
|
| 293 |
-
pos="0.0065206629844889504 0.00024985577586227232 0.010981274063174208"
|
| 294 |
-
rgba=".1 .2 .6 .5"
|
| 295 |
-
size="0.0002"/>
|
| 296 |
-
|
| 297 |
-
<site name="Latissimus_Dorsi_Rostral-Inserion"
|
| 298 |
-
pos="0.005898000206798315 0.0014979999978095293 0.011264000087976456"
|
| 299 |
-
rgba=".1 .2 .6 .5"
|
| 300 |
-
size="0.0002"/>
|
| 301 |
-
|
| 302 |
-
<site name="Latissimus_Dorsi_Caudal1-Insertion"
|
| 303 |
-
pos="0.0055302735648831564 0.0016819697092966763 0.01149872552021617"
|
| 304 |
-
rgba=".1 .2 .6 .5"
|
| 305 |
-
size="0.0002"/>
|
| 306 |
-
|
| 307 |
-
<site name="Pectoralis_Major-Insertion"
|
| 308 |
-
pos="0.0053022676397607299 0.0014110375999547425 0.011624181595743514"
|
| 309 |
-
rgba=".1 .2 .6 .5"
|
| 310 |
-
size="0.0002"/>
|
| 311 |
-
|
| 312 |
-
<site name="Pectoralis_Major_Posterior-Insertion"
|
| 313 |
-
pos="0.0055313255098350875 0.0010215392755078267 0.011759959498415538"
|
| 314 |
-
rgba=".1 .2 .6 .5"
|
| 315 |
-
size="0.0002"/>
|
| 316 |
-
|
| 317 |
-
<body name="ulna"
|
| 318 |
-
pos="-0.00378201 0.00461677 0.00462321"
|
| 319 |
-
quat="0.92121983 0.24684012 0.29045952 -0.07782838">
|
| 320 |
-
|
| 321 |
-
<joint name="elbow_flex"
|
| 322 |
-
type="hinge"
|
| 323 |
-
pos="0.00320000 -0.00030000 0.00860000"
|
| 324 |
-
axis="0.00000000 -0.86602542 0.49999997"
|
| 325 |
-
range="-57.29577951 71.61972439"
|
| 326 |
-
limited="true"/>
|
| 327 |
-
<site name="jcenel"
|
| 328 |
-
pos="0.00320000 -0.00030000 0.00860000"
|
| 329 |
-
rgba=".5 .5 .2 .5"
|
| 330 |
-
size="0.0009"/>
|
| 331 |
-
|
| 332 |
-
<geom type="mesh" mesh="Bone_Segments_Ulna" contype="0" conaffinity="0"/>
|
| 333 |
-
|
| 334 |
-
<inertial pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435" mass="0.00071272498462349176" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 335 |
-
<site name="COM3"
|
| 336 |
-
pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435"
|
| 337 |
-
rgba=".2 .8 .2 .5"
|
| 338 |
-
size="0.0005"/>
|
| 339 |
-
|
| 340 |
-
<!--Attachement-->
|
| 341 |
-
<site name="Biceps_Short_Head_Insertion"
|
| 342 |
-
pos="0.00206182 0.00009756 0.00882748"
|
| 343 |
-
rgba=".1 .2 .6 .5"
|
| 344 |
-
size="0.0002"/>
|
| 345 |
-
|
| 346 |
-
<site name="Biceps_Long_Head_Insertion"
|
| 347 |
-
pos="0.00205791 0.00004879 0.00877397"
|
| 348 |
-
rgba=".1 .2 .6 .5"
|
| 349 |
-
size="0.0002"/>
|
| 350 |
-
|
| 351 |
-
<site name="Triceps_Lat_Head_Insertion"
|
| 352 |
-
pos="0.00407945 -0.00044753 0.00834867"
|
| 353 |
-
rgba=".1 .2 .6 .5"
|
| 354 |
-
size="0.0002"/>
|
| 355 |
-
|
| 356 |
-
<site name="Triceps_Long_Head_Insertion"
|
| 357 |
-
pos="0.00419498 -0.00057041 0.00797751"
|
| 358 |
-
rgba=".1 .2 .6 .5"
|
| 359 |
-
size="0.0002"/>
|
| 360 |
-
|
| 361 |
-
<site name="MaybeBrachialis_InnerHead_Insertion"
|
| 362 |
-
pos="0.0022711976820488228 0.000058667960054253204 0.0087904077547398991"
|
| 363 |
-
rgba=".1 .2 .6 .5"
|
| 364 |
-
size="0.0002"/>
|
| 365 |
-
|
| 366 |
-
<site name="Anconeus_Insertion"
|
| 367 |
-
pos="0.0023999996483325958 -0.0001999999803956598 0.008800002746284008"
|
| 368 |
-
rgba=".1 .2 .6 .5"
|
| 369 |
-
size="0.0002"/>
|
| 370 |
-
|
| 371 |
-
<site name="Short_Anconeus_Insertion"
|
| 372 |
-
pos="0.0038000000640749931 -0.00059999991208314896 0.0082999998703598976"
|
| 373 |
-
rgba=".1 .2 .6 .5"
|
| 374 |
-
size="0.0002"/>
|
| 375 |
-
|
| 376 |
-
<body name="radius"
|
| 377 |
-
pos="-0.00000326 -0.00041155 0.00012026"
|
| 378 |
-
quat="1.00000000 -0.00003490 0.00000000 -0.00000001">
|
| 379 |
-
<geom type="mesh" mesh="Bone_Segments_Radius" contype="0" conaffinity="0"/>
|
| 380 |
-
|
| 381 |
-
<inertial pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018" mass="5.3100000513950363e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 382 |
-
<site name="COM5"
|
| 383 |
-
pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018"
|
| 384 |
-
rgba=".2 .8 .2 .5"
|
| 385 |
-
size="0.0005"/>
|
| 386 |
-
|
| 387 |
-
<!--Attachement-->
|
| 388 |
-
<site name="MaybeBrachialis_OuterrHead_Insertion"
|
| 389 |
-
pos="0.002099999925121665 0.000059000001783715561 0.0087999999523162842"
|
| 390 |
-
rgba=".1 .2 .6 .5"
|
| 391 |
-
size="0.0002"/>
|
| 392 |
-
|
| 393 |
-
<site name="PronatorTeres-Insertion"
|
| 394 |
-
pos="0.00087550107568740848 0.0011853275020137226 0.010050151513765163"
|
| 395 |
-
rgba=".1 .2 .6 .5"
|
| 396 |
-
size="0.0002"/>
|
| 397 |
-
|
| 398 |
-
<site name="FlexorCarpiRadialis-P2"
|
| 399 |
-
pos="0.00039500295990069212 0.0013726340156420712 0.010208441611422561"
|
| 400 |
-
rgba=".1 .2 .6 .5"
|
| 401 |
-
size="0.0002"/>
|
| 402 |
-
|
| 403 |
-
<site name="Brachioradialis-Insertion"
|
| 404 |
-
pos="-0.0029278056764625027 0.00126620712543319 0.011637220667654609"
|
| 405 |
-
rgba=".1 .2 .6 .5"
|
| 406 |
-
size="0.0002"/>
|
| 407 |
-
|
| 408 |
-
<site name="Triceps_Medial_Head_Insertion"
|
| 409 |
-
pos="0.0038194762507961851 -0.00023364176770013332 0.0083994770629340493"
|
| 410 |
-
rgba=".1 .2 .6 .5"
|
| 411 |
-
size="0.0002"/>
|
| 412 |
-
|
| 413 |
-
<body name="hand"
|
| 414 |
-
pos="0.00249215 0.00414491 0.00156364"
|
| 415 |
-
quat="0.95125125 0.25488699 -0.09960050 -0.14224425">
|
| 416 |
-
<geom type="mesh" mesh="Bone_Segments_Hand" contype="0" conaffinity="0"/>
|
| 417 |
-
|
| 418 |
-
<inertial pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128" mass="7.2599999839439988e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
|
| 419 |
-
<site name="COM4"
|
| 420 |
-
pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128"
|
| 421 |
-
rgba=".2 .8 .2 .5"
|
| 422 |
-
size="0.0005"/>
|
| 423 |
-
|
| 424 |
-
<site
|
| 425 |
-
name="handm"
|
| 426 |
-
pos="-0.0048766345966886893 0.0025063881418005383 0.012287416048729322"
|
| 427 |
-
size="0.00025"
|
| 428 |
-
rgba="1 1 0 1"
|
| 429 |
-
/>
|
| 430 |
-
|
| 431 |
-
<!--Attachement-->
|
| 432 |
-
<site name="FlexorCarpiRadialis-Insertion"
|
| 433 |
-
pos="-0.0040155582771694981 0.0015821272299320829 0.011737779242925817"
|
| 434 |
-
rgba=".1 .2 .6 .5"
|
| 435 |
-
size="0.0002"/>
|
| 436 |
-
</body>
|
| 437 |
-
</body>
|
| 438 |
-
</body>
|
| 439 |
-
</body>
|
| 440 |
-
</body>
|
| 441 |
-
</body>
|
| 442 |
-
</body>
|
| 443 |
-
</worldbody>
|
| 444 |
-
|
| 445 |
-
<tendon>
|
| 446 |
-
<!---->
|
| 447 |
-
<spatial name="Pectoralis_Clavicle_Head" width=".0001" rgba=".9 0 0 .5">
|
| 448 |
-
<site site="Pec_Insertion"/>
|
| 449 |
-
<site site="Pec_Midpoint_01"/>
|
| 450 |
-
<site site="Pec_Origin_Clav"/>
|
| 451 |
-
</spatial>
|
| 452 |
-
|
| 453 |
-
<spatial name="Biceps_Short_Head" width=".0001" rgba=".9 0 0 .5">
|
| 454 |
-
<site site="Biceps_Short_Head_Insertion"/>
|
| 455 |
-
<site site="Biceps_Short_Head_P2"/>
|
| 456 |
-
<site site="Biceps_Short_Head_P3"/>
|
| 457 |
-
<site site="Biceps_Short_Head_Origin"/>
|
| 458 |
-
</spatial>
|
| 459 |
-
|
| 460 |
-
<spatial name="Biceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
|
| 461 |
-
<site site="Biceps_Long_Head_Insertion"/>
|
| 462 |
-
<site site="Biceps_Long_Head_P2"/>
|
| 463 |
-
<site site="Biceps_Long_Head_Origin"/>
|
| 464 |
-
</spatial>
|
| 465 |
-
|
| 466 |
-
<spatial name="Deltoid_Medial" width=".0001" rgba=".9 0 0 .5">
|
| 467 |
-
<site site="Deltoid_A_Insertion"/>
|
| 468 |
-
<site site="Deltoid_A-P2"/>
|
| 469 |
-
<site site="Deltoid_A_Origin"/>
|
| 470 |
-
</spatial>
|
| 471 |
-
|
| 472 |
-
<spatial name="Triceps_Lat_Head" width=".0001" rgba=".9 0 0 .5">
|
| 473 |
-
<site site="Triceps_Lat_Head_Insertion"/>
|
| 474 |
-
<site site="Triceps_Lat_Head_Origin"/>
|
| 475 |
-
</spatial>
|
| 476 |
-
|
| 477 |
-
<spatial name="Triceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
|
| 478 |
-
<site site="Triceps_Long_Head_Insertion"/>
|
| 479 |
-
<site site="Triceps_Long_Head_P2"/>
|
| 480 |
-
<site site="Triceps_Long_Head_Origin"/>
|
| 481 |
-
</spatial>
|
| 482 |
-
|
| 483 |
-
<spatial name="Brachialis_Proximal_Head" width=".0001" rgba=".9 0 0 .5">
|
| 484 |
-
<site site="MaybeBrachialis_InnerHead_Insertion"/>
|
| 485 |
-
<site site="MaybeBrachialis_InnerHead_P2"/>
|
| 486 |
-
<site site="MaybeBrachialis_InnerHead_P3"/>
|
| 487 |
-
<site site="MaybeBrachialis_InnerHead_Origin"/>
|
| 488 |
-
</spatial>
|
| 489 |
-
|
| 490 |
-
<spatial name="Brachialis_Distal_Head" width=".0001" rgba=".9 0 0 .5">
|
| 491 |
-
<site site="MaybeBrachialis_OuterrHead_Insertion"/>
|
| 492 |
-
<site site="MaybeBrachialis_OuterrHead_P2"/>
|
| 493 |
-
<site site="MaybeBrachialis_OuterrHead_Origin"/>
|
| 494 |
-
</spatial>
|
| 495 |
-
|
| 496 |
-
<spatial name="Anconeus" width=".0001" rgba=".9 0 0 .5">
|
| 497 |
-
<site site="Anconeus_Origin"/>
|
| 498 |
-
<site site="Anconeus_Insertion"/>
|
| 499 |
-
</spatial>
|
| 500 |
-
|
| 501 |
-
<spatial name="Deltoid_Posterior" width=".0001" rgba=".9 0 0 .5">
|
| 502 |
-
<site site="Deltoid_M_Insertion"/>
|
| 503 |
-
<site site="Deltoid_M_P2"/>
|
| 504 |
-
<site site="Deltoid_M_Origin"/>
|
| 505 |
-
</spatial>
|
| 506 |
-
|
| 507 |
-
<spatial name="Anconeus_Short_Head" width=".0001" rgba=".9 0 0 .5">
|
| 508 |
-
<site site="Short_Anconeus_Insertion"/>
|
| 509 |
-
<site site="Short_Anconeus_Origin"/>
|
| 510 |
-
</spatial>
|
| 511 |
-
|
| 512 |
-
<spatial name="Subscapularis_SuperiorHead" width=".0001" rgba=".9 0 0 .5">
|
| 513 |
-
<site site="Subscapularis_SuperiorHead_Insertion"/>
|
| 514 |
-
<site site="Subscapularis_SuperiorHead_Origin"/>
|
| 515 |
-
</spatial>
|
| 516 |
-
|
| 517 |
-
<spatial name="Infraspinatus" width=".0001" rgba=".9 0 0 .5">
|
| 518 |
-
<site site="Infraspinatus_Insertion"/>
|
| 519 |
-
<site site="Infraspinatus_P1"/>
|
| 520 |
-
<site site="Infraspinatus_Origin"/>
|
| 521 |
-
</spatial>
|
| 522 |
-
|
| 523 |
-
<spatial name="PronatorTeres" width=".0001" rgba=".9 0 0 .5">
|
| 524 |
-
<site site="PronatorTeres-Insertion"/>
|
| 525 |
-
<site site="PronatorTeres-Origin"/>
|
| 526 |
-
</spatial>
|
| 527 |
-
|
| 528 |
-
<spatial name="FlexorCarpiRadialis" width=".0001" rgba=".9 0 0 .5">
|
| 529 |
-
<site site="FlexorCarpiRadialis-Insertion"/>
|
| 530 |
-
<site site="FlexorCarpiRadialis-P2"/>
|
| 531 |
-
<site site="FlexorCarpiRadialis-Origin"/>
|
| 532 |
-
</spatial>
|
| 533 |
-
|
| 534 |
-
<spatial name="Brachioradialis" width=".0001" rgba=".9 0 0 .5">
|
| 535 |
-
<site site="Brachioradialis-Insertion"/>
|
| 536 |
-
<site site="Brachioradialis-Origin"/>
|
| 537 |
-
</spatial>
|
| 538 |
-
|
| 539 |
-
<spatial name="Triceps_Medial_Head" width=".0001" rgba=".9 0 0 .5">
|
| 540 |
-
<site site="Triceps_Medial_Head_Insertion"/>
|
| 541 |
-
<site site="Triceps_Medial_Head-P2"/>
|
| 542 |
-
<site site="Triceps_Medial_Head_Origin"/>
|
| 543 |
-
</spatial>
|
| 544 |
-
|
| 545 |
-
<spatial name="Latissimus_Dorsi_Rostral" width=".0001" rgba=".9 0 0 .5">
|
| 546 |
-
<site site="Latissimus_Dorsi_Rostral-Inserion"/>
|
| 547 |
-
<site site="Latissimus_Dorsi-P2"/>
|
| 548 |
-
<site site="Latissimus_Dorsi-Origin"/>
|
| 549 |
-
</spatial>
|
| 550 |
-
|
| 551 |
-
<spatial name="Latissimus_Dorsi_Caudal" width=".0001" rgba=".9 0 0 .5">
|
| 552 |
-
<site site="Latissimus_Dorsi_Caudal1-Insertion"/>
|
| 553 |
-
<site site="Latissimus_Dorsi_Caudal1-P2"/>
|
| 554 |
-
<site site="Latissimus_Dorsi_Caudal-Origin"/>
|
| 555 |
-
</spatial>
|
| 556 |
-
|
| 557 |
-
<spatial name="Pectoralis_Major_Anterior" width=".0001" rgba=".9 0 0 .5">
|
| 558 |
-
<site site="Pectoralis_Major-Origin"/>
|
| 559 |
-
<site site="Pectoralis_Major-Insertion"/>
|
| 560 |
-
</spatial>
|
| 561 |
-
|
| 562 |
-
<spatial name="Pectoralis_Major_Posterior" width=".0001" rgba=".9 0 0 .5">
|
| 563 |
-
<site site="Pectoralis_Major_Posterior-Origin"/>
|
| 564 |
-
<site site="Pectoralis_Major_Posterior-Insertion"/>
|
| 565 |
-
</spatial>
|
| 566 |
-
</tendon>
|
| 567 |
-
|
| 568 |
-
<actuator>
|
| 569 |
-
<muscle
|
| 570 |
-
name="Pectoralis_Clavicle_Head_act"
|
| 571 |
-
tendon="Pectoralis_Clavicle_Head"
|
| 572 |
-
ctrlrange="0 3"
|
| 573 |
-
force=".032646998763084412"
|
| 574 |
-
vmax="10"
|
| 575 |
-
/>
|
| 576 |
-
|
| 577 |
-
<muscle
|
| 578 |
-
name="Biceps_Short_Head_act"
|
| 579 |
-
tendon="Biceps_Short_Head"
|
| 580 |
-
ctrlrange="0 3"
|
| 581 |
-
force=".017758000642061234"
|
| 582 |
-
vmax="100"
|
| 583 |
-
timeconst="0.014999999664723873 0.059999998658895493"
|
| 584 |
-
/>
|
| 585 |
-
|
| 586 |
-
<muscle
|
| 587 |
-
name="Biceps_Long_Head_act"
|
| 588 |
-
tendon="Biceps_Long_Head"
|
| 589 |
-
ctrlrange="0 3"
|
| 590 |
-
force=".093419000506401062"
|
| 591 |
-
vmax="10"
|
| 592 |
-
timeconst="0.014999999664723873 0.5"
|
| 593 |
-
/>
|
| 594 |
-
|
| 595 |
-
<muscle
|
| 596 |
-
name="Deltoid_Medial_act"
|
| 597 |
-
tendon="Deltoid_Medial"
|
| 598 |
-
ctrlrange="0 3"
|
| 599 |
-
force=".068714998662471771"
|
| 600 |
-
/>
|
| 601 |
-
|
| 602 |
-
<muscle
|
| 603 |
-
name="Triceps_Lat_Head_act"
|
| 604 |
-
tendon="Triceps_Lat_Head"
|
| 605 |
-
ctrlrange="0 3"
|
| 606 |
-
force=".1251789927482605"
|
| 607 |
-
/>
|
| 608 |
-
|
| 609 |
-
<muscle
|
| 610 |
-
name="Triceps_Long_Head_act"
|
| 611 |
-
tendon="Triceps_Long_Head"
|
| 612 |
-
ctrlrange="0 3"
|
| 613 |
-
force=".61247199773788452"
|
| 614 |
-
/>
|
| 615 |
-
|
| 616 |
-
<muscle
|
| 617 |
-
name="Brachialis_Proximal_Head_act"
|
| 618 |
-
tendon="Brachialis_Proximal_Head"
|
| 619 |
-
ctrlrange="0 3"
|
| 620 |
-
force=".065999001264572144"
|
| 621 |
-
/>
|
| 622 |
-
|
| 623 |
-
<muscle
|
| 624 |
-
name="Brachialis_Distal_Head_act"
|
| 625 |
-
tendon="Brachialis_Distal_Head"
|
| 626 |
-
ctrlrange="0 3"
|
| 627 |
-
force=".06712699681520462"
|
| 628 |
-
/>
|
| 629 |
-
|
| 630 |
-
<muscle
|
| 631 |
-
name="Anconeus_act"
|
| 632 |
-
tendon="Anconeus"
|
| 633 |
-
ctrlrange="0 3"
|
| 634 |
-
force=".023302000015974045"
|
| 635 |
-
vmax="10"
|
| 636 |
-
/>
|
| 637 |
-
|
| 638 |
-
<muscle
|
| 639 |
-
name="Deltoid_Posterior_act"
|
| 640 |
-
tendon="Deltoid_Posterior"
|
| 641 |
-
ctrlrange="0 3"
|
| 642 |
-
force=".06770700216293335"
|
| 643 |
-
vmax="10"
|
| 644 |
-
/>
|
| 645 |
-
|
| 646 |
-
<muscle
|
| 647 |
-
name="Anconeus_Short_Head_act"
|
| 648 |
-
tendon="Anconeus_Short_Head"
|
| 649 |
-
ctrlrange="0 3"
|
| 650 |
-
force=".019999999552965164"
|
| 651 |
-
vmax="100"
|
| 652 |
-
/>
|
| 653 |
-
|
| 654 |
-
<muscle
|
| 655 |
-
name="Subscapularis_SuperiorHead_act"
|
| 656 |
-
tendon="Subscapularis_SuperiorHead"
|
| 657 |
-
ctrlrange="0 3"
|
| 658 |
-
force=".04072199463844299"
|
| 659 |
-
/>
|
| 660 |
-
|
| 661 |
-
<muscle
|
| 662 |
-
name="Infraspinatus_act"
|
| 663 |
-
tendon="Infraspinatus"
|
| 664 |
-
ctrlrange="0 3"
|
| 665 |
-
force=".065393000841140747"
|
| 666 |
-
/>
|
| 667 |
-
|
| 668 |
-
<muscle
|
| 669 |
-
name="PronatorTeres_act"
|
| 670 |
-
tendon="PronatorTeres"
|
| 671 |
-
ctrlrange="0 3"
|
| 672 |
-
force=".019999999552965164"
|
| 673 |
-
/>
|
| 674 |
-
|
| 675 |
-
<muscle
|
| 676 |
-
name="FlexorCarpiRadialis_act"
|
| 677 |
-
tendon="FlexorCarpiRadialis"
|
| 678 |
-
ctrlrange="0 3"
|
| 679 |
-
force=".019999999552965164"
|
| 680 |
-
/>
|
| 681 |
-
|
| 682 |
-
<muscle
|
| 683 |
-
name="Brachioradialis_act"
|
| 684 |
-
tendon="Brachioradialis"
|
| 685 |
-
ctrlrange="0 3"
|
| 686 |
-
force=".019999999552965164"
|
| 687 |
-
/>
|
| 688 |
-
|
| 689 |
-
<muscle
|
| 690 |
-
name="Triceps_Medial_Head_act"
|
| 691 |
-
tendon="Triceps_Medial_Head"
|
| 692 |
-
ctrlrange="0 3"
|
| 693 |
-
force=".16010400652885437"
|
| 694 |
-
/>
|
| 695 |
-
|
| 696 |
-
<muscle
|
| 697 |
-
name="Latissimus_Dorsi_Rostral_act"
|
| 698 |
-
tendon="Latissimus_Dorsi_Rostral"
|
| 699 |
-
ctrlrange="0 3"
|
| 700 |
-
force=".13345499336719513"
|
| 701 |
-
/>
|
| 702 |
-
|
| 703 |
-
<muscle
|
| 704 |
-
name="Latissimus_Dorsi_Caudal_act"
|
| 705 |
-
tendon="Latissimus_Dorsi_Caudal"
|
| 706 |
-
ctrlrange="0 3"
|
| 707 |
-
force=".13345499336719513"
|
| 708 |
-
/>
|
| 709 |
-
|
| 710 |
-
<muscle
|
| 711 |
-
name="Pectoralis_Major_Anterior_act"
|
| 712 |
-
tendon="Pectoralis_Major_Anterior"
|
| 713 |
-
ctrlrange="0 3"
|
| 714 |
-
force=".23294399678707123"
|
| 715 |
-
/>
|
| 716 |
-
|
| 717 |
-
<muscle
|
| 718 |
-
name="Pectoralis_Major_Posterior_act"
|
| 719 |
-
tendon="Pectoralis_Major_Posterior"
|
| 720 |
-
ctrlrange="0 3"
|
| 721 |
-
force=".17015500366687775"
|
| 722 |
-
/>
|
| 723 |
-
|
| 724 |
-
</actuator>
|
| 725 |
-
<sensor/>
|
| 726 |
-
|
| 727 |
-
<keyframe>
|
| 728 |
-
<!-- qpos order = order of joints in model -->
|
| 729 |
-
<key name="default_pose" qpos="1.5690594131319469 0 0 0.94480200333927733"/>
|
| 730 |
-
</keyframe>
|
| 731 |
-
</mujoco>
|
| 732 |
-
|
| 733 |
-
<!-- HOW THE ORIGINAL MODE MESHES WERE LAID OUT:
|
| 734 |
-
I converted it as a frame-transform problem, not a mesh-offset problem.
|
| 735 |
-
|
| 736 |
-
In brief, I did this:
|
| 737 |
-
|
| 738 |
-
I read the OpenSim joint definitions as two offset frames:
|
| 739 |
-
|
| 740 |
-
a parent frame on the parent bone
|
| 741 |
-
|
| 742 |
-
a child frame on the child bone
|
| 743 |
-
|
| 744 |
-
For the version that matched what you wanted, I set the movable joint coordinates to zero instead of using the OpenSim default coordinate values.
|
| 745 |
-
|
| 746 |
-
For each bone, I computed its pose from the OpenSim relation
|
| 747 |
-
|
| 748 |
-
T_child = T_parent * T_parentOffset * T_joint(0) * inverse(T_childOffset)
|
| 749 |
-
|
| 750 |
-
Since this was the zero-pose check, T_joint(0) was just the zero-angle joint transform.
|
| 751 |
-
|
| 752 |
-
I then wrote the resulting transform directly onto each MuJoCo body as a pos and quat.
|
| 753 |
-
|
| 754 |
-
I left the bone meshes at identity under those bodies, instead of adding extra geom offsets. That matters because your earlier XML was effectively applying transforms twice in different places, which is why the later bones started drifting.
|
| 755 |
-
|
| 756 |
-
So the main fix was:
|
| 757 |
-
|
| 758 |
-
use the OpenSim joint-frame math directly
|
| 759 |
-
|
| 760 |
-
set joint values to zero
|
| 761 |
-
|
| 762 |
-
bake the result into body poses
|
| 763 |
-
|
| 764 |
-
remove the extra nested compensation frames
|
| 765 |
-
|
| 766 |
-
That’s why the socket locations were already “close” before, but the orientations were wrong: the hierarchy had roughly the right attachment points, but the rotations were being accumulated in the wrong frames.
|
| 767 |
-
-->
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|
mujoco_model_muscle_fixed.xml → muscle.xml
RENAMED
|
@@ -570,147 +570,168 @@
|
|
| 570 |
name="Pectoralis_Clavicle_Head_act"
|
| 571 |
tendon="Pectoralis_Clavicle_Head"
|
| 572 |
ctrlrange="0 1"
|
| 573 |
-
force=".
|
|
|
|
| 574 |
/>
|
| 575 |
|
| 576 |
<muscle
|
| 577 |
name="Biceps_Short_Head_act"
|
| 578 |
tendon="Biceps_Short_Head"
|
| 579 |
ctrlrange="0 1"
|
| 580 |
-
force=".
|
|
|
|
| 581 |
/>
|
| 582 |
|
| 583 |
<muscle
|
| 584 |
name="Biceps_Long_Head_act"
|
| 585 |
tendon="Biceps_Long_Head"
|
| 586 |
ctrlrange="0 1"
|
| 587 |
-
force=".
|
|
|
|
| 588 |
/>
|
| 589 |
|
| 590 |
<muscle
|
| 591 |
name="Deltoid_Medial_act"
|
| 592 |
tendon="Deltoid_Medial"
|
| 593 |
ctrlrange="0 1"
|
| 594 |
-
force=".
|
|
|
|
| 595 |
/>
|
| 596 |
|
| 597 |
<muscle
|
| 598 |
name="Triceps_Lat_Head_act"
|
| 599 |
tendon="Triceps_Lat_Head"
|
| 600 |
ctrlrange="0 1"
|
| 601 |
-
force="
|
|
|
|
| 602 |
/>
|
| 603 |
|
| 604 |
<muscle
|
| 605 |
name="Triceps_Long_Head_act"
|
| 606 |
tendon="Triceps_Long_Head"
|
| 607 |
ctrlrange="0 1"
|
| 608 |
-
force=".
|
|
|
|
| 609 |
/>
|
| 610 |
|
| 611 |
<muscle
|
| 612 |
name="Brachialis_Proximal_Head_act"
|
| 613 |
tendon="Brachialis_Proximal_Head"
|
| 614 |
ctrlrange="0 1"
|
| 615 |
-
force=".
|
|
|
|
| 616 |
/>
|
| 617 |
|
| 618 |
<muscle
|
| 619 |
name="Brachialis_Distal_Head_act"
|
| 620 |
tendon="Brachialis_Distal_Head"
|
| 621 |
ctrlrange="0 1"
|
| 622 |
-
force=".
|
|
|
|
| 623 |
/>
|
| 624 |
|
| 625 |
<muscle
|
| 626 |
name="Anconeus_act"
|
| 627 |
tendon="Anconeus"
|
| 628 |
ctrlrange="0 1"
|
| 629 |
-
force=".
|
|
|
|
| 630 |
/>
|
| 631 |
|
| 632 |
<muscle
|
| 633 |
name="Deltoid_Posterior_act"
|
| 634 |
tendon="Deltoid_Posterior"
|
| 635 |
ctrlrange="0 1"
|
| 636 |
-
force=".
|
|
|
|
| 637 |
/>
|
| 638 |
|
| 639 |
<muscle
|
| 640 |
name="Anconeus_Short_Head_act"
|
| 641 |
tendon="Anconeus_Short_Head"
|
| 642 |
ctrlrange="0 1"
|
| 643 |
-
force=".
|
|
|
|
| 644 |
/>
|
| 645 |
|
| 646 |
<muscle
|
| 647 |
name="Subscapularis_SuperiorHead_act"
|
| 648 |
tendon="Subscapularis_SuperiorHead"
|
| 649 |
ctrlrange="0 1"
|
| 650 |
-
force=".
|
|
|
|
| 651 |
/>
|
| 652 |
|
| 653 |
<muscle
|
| 654 |
name="Infraspinatus_act"
|
| 655 |
tendon="Infraspinatus"
|
| 656 |
ctrlrange="0 1"
|
| 657 |
-
force=".
|
|
|
|
| 658 |
/>
|
| 659 |
|
| 660 |
<muscle
|
| 661 |
name="PronatorTeres_act"
|
| 662 |
tendon="PronatorTeres"
|
| 663 |
ctrlrange="0 1"
|
| 664 |
-
force=".
|
|
|
|
| 665 |
/>
|
| 666 |
|
| 667 |
<muscle
|
| 668 |
name="FlexorCarpiRadialis_act"
|
| 669 |
tendon="FlexorCarpiRadialis"
|
| 670 |
ctrlrange="0 1"
|
| 671 |
-
force=".
|
|
|
|
| 672 |
/>
|
| 673 |
|
| 674 |
<muscle
|
| 675 |
name="Brachioradialis_act"
|
| 676 |
tendon="Brachioradialis"
|
| 677 |
ctrlrange="0 1"
|
| 678 |
-
force=".
|
|
|
|
| 679 |
/>
|
| 680 |
|
| 681 |
<muscle
|
| 682 |
name="Triceps_Medial_Head_act"
|
| 683 |
tendon="Triceps_Medial_Head"
|
| 684 |
ctrlrange="0 1"
|
| 685 |
-
force=".
|
|
|
|
| 686 |
/>
|
| 687 |
|
| 688 |
<muscle
|
| 689 |
name="Latissimus_Dorsi_Rostral_act"
|
| 690 |
tendon="Latissimus_Dorsi_Rostral"
|
| 691 |
ctrlrange="0 1"
|
| 692 |
-
force=".
|
|
|
|
| 693 |
/>
|
| 694 |
|
| 695 |
<muscle
|
| 696 |
name="Latissimus_Dorsi_Caudal_act"
|
| 697 |
tendon="Latissimus_Dorsi_Caudal"
|
| 698 |
ctrlrange="0 1"
|
| 699 |
-
force=".
|
|
|
|
| 700 |
/>
|
| 701 |
|
| 702 |
<muscle
|
| 703 |
name="Pectoralis_Major_Anterior_act"
|
| 704 |
tendon="Pectoralis_Major_Anterior"
|
| 705 |
ctrlrange="0 1"
|
| 706 |
-
force=".
|
|
|
|
| 707 |
/>
|
| 708 |
|
| 709 |
<muscle
|
| 710 |
name="Pectoralis_Major_Posterior_act"
|
| 711 |
tendon="Pectoralis_Major_Posterior"
|
| 712 |
ctrlrange="0 1"
|
| 713 |
-
force=".
|
|
|
|
| 714 |
/>
|
| 715 |
|
| 716 |
</actuator>
|
|
|
|
| 570 |
name="Pectoralis_Clavicle_Head_act"
|
| 571 |
tendon="Pectoralis_Clavicle_Head"
|
| 572 |
ctrlrange="0 1"
|
| 573 |
+
force="3.2646998763084412"
|
| 574 |
+
timeconst="0.002 0.002"
|
| 575 |
/>
|
| 576 |
|
| 577 |
<muscle
|
| 578 |
name="Biceps_Short_Head_act"
|
| 579 |
tendon="Biceps_Short_Head"
|
| 580 |
ctrlrange="0 1"
|
| 581 |
+
force="1.7758000642061234"
|
| 582 |
+
timeconst="0.002 0.002"
|
| 583 |
/>
|
| 584 |
|
| 585 |
<muscle
|
| 586 |
name="Biceps_Long_Head_act"
|
| 587 |
tendon="Biceps_Long_Head"
|
| 588 |
ctrlrange="0 1"
|
| 589 |
+
force="0.93419000506401062"
|
| 590 |
+
timeconst="0.002 0.002"
|
| 591 |
/>
|
| 592 |
|
| 593 |
<muscle
|
| 594 |
name="Deltoid_Medial_act"
|
| 595 |
tendon="Deltoid_Medial"
|
| 596 |
ctrlrange="0 1"
|
| 597 |
+
force="6.8714998662471771"
|
| 598 |
+
timeconst="0.002 0.002"
|
| 599 |
/>
|
| 600 |
|
| 601 |
<muscle
|
| 602 |
name="Triceps_Lat_Head_act"
|
| 603 |
tendon="Triceps_Lat_Head"
|
| 604 |
ctrlrange="0 1"
|
| 605 |
+
force="12.51789927482605"
|
| 606 |
+
timeconst="0.002 0.002"
|
| 607 |
/>
|
| 608 |
|
| 609 |
<muscle
|
| 610 |
name="Triceps_Long_Head_act"
|
| 611 |
tendon="Triceps_Long_Head"
|
| 612 |
ctrlrange="0 1"
|
| 613 |
+
force="6.1247199773788452"
|
| 614 |
+
timeconst="0.002 0.002"
|
| 615 |
/>
|
| 616 |
|
| 617 |
<muscle
|
| 618 |
name="Brachialis_Proximal_Head_act"
|
| 619 |
tendon="Brachialis_Proximal_Head"
|
| 620 |
ctrlrange="0 1"
|
| 621 |
+
force="6.5999001264572144"
|
| 622 |
+
timeconst="0.002 0.002"
|
| 623 |
/>
|
| 624 |
|
| 625 |
<muscle
|
| 626 |
name="Brachialis_Distal_Head_act"
|
| 627 |
tendon="Brachialis_Distal_Head"
|
| 628 |
ctrlrange="0 1"
|
| 629 |
+
force="6.712699681520462"
|
| 630 |
+
timeconst="0.002 0.002"
|
| 631 |
/>
|
| 632 |
|
| 633 |
<muscle
|
| 634 |
name="Anconeus_act"
|
| 635 |
tendon="Anconeus"
|
| 636 |
ctrlrange="0 1"
|
| 637 |
+
force="2.3302000015974045"
|
| 638 |
+
timeconst="0.002 0.002"
|
| 639 |
/>
|
| 640 |
|
| 641 |
<muscle
|
| 642 |
name="Deltoid_Posterior_act"
|
| 643 |
tendon="Deltoid_Posterior"
|
| 644 |
ctrlrange="0 1"
|
| 645 |
+
force="6.770700216293335"
|
| 646 |
+
timeconst="0.002 0.002"
|
| 647 |
/>
|
| 648 |
|
| 649 |
<muscle
|
| 650 |
name="Anconeus_Short_Head_act"
|
| 651 |
tendon="Anconeus_Short_Head"
|
| 652 |
ctrlrange="0 1"
|
| 653 |
+
force="1.9999999552965164"
|
| 654 |
+
timeconst="0.002 0.002"
|
| 655 |
/>
|
| 656 |
|
| 657 |
<muscle
|
| 658 |
name="Subscapularis_SuperiorHead_act"
|
| 659 |
tendon="Subscapularis_SuperiorHead"
|
| 660 |
ctrlrange="0 1"
|
| 661 |
+
force="4.072199463844299"
|
| 662 |
+
timeconst="0.002 0.002"
|
| 663 |
/>
|
| 664 |
|
| 665 |
<muscle
|
| 666 |
name="Infraspinatus_act"
|
| 667 |
tendon="Infraspinatus"
|
| 668 |
ctrlrange="0 1"
|
| 669 |
+
force="6.5393000841140747"
|
| 670 |
+
timeconst="0.002 0.002"
|
| 671 |
/>
|
| 672 |
|
| 673 |
<muscle
|
| 674 |
name="PronatorTeres_act"
|
| 675 |
tendon="PronatorTeres"
|
| 676 |
ctrlrange="0 1"
|
| 677 |
+
force="1.9999999552965164"
|
| 678 |
+
timeconst="0.002 0.002"
|
| 679 |
/>
|
| 680 |
|
| 681 |
<muscle
|
| 682 |
name="FlexorCarpiRadialis_act"
|
| 683 |
tendon="FlexorCarpiRadialis"
|
| 684 |
ctrlrange="0 1"
|
| 685 |
+
force="1.9999999552965164"
|
| 686 |
+
timeconst="0.002 0.002"
|
| 687 |
/>
|
| 688 |
|
| 689 |
<muscle
|
| 690 |
name="Brachioradialis_act"
|
| 691 |
tendon="Brachioradialis"
|
| 692 |
ctrlrange="0 1"
|
| 693 |
+
force="1.9999999552965164"
|
| 694 |
+
timeconst="0.002 0.002"
|
| 695 |
/>
|
| 696 |
|
| 697 |
<muscle
|
| 698 |
name="Triceps_Medial_Head_act"
|
| 699 |
tendon="Triceps_Medial_Head"
|
| 700 |
ctrlrange="0 1"
|
| 701 |
+
force="1.6010400652885437"
|
| 702 |
+
timeconst="0.002 0.002"
|
| 703 |
/>
|
| 704 |
|
| 705 |
<muscle
|
| 706 |
name="Latissimus_Dorsi_Rostral_act"
|
| 707 |
tendon="Latissimus_Dorsi_Rostral"
|
| 708 |
ctrlrange="0 1"
|
| 709 |
+
force="1.3345499336719513"
|
| 710 |
+
timeconst="0.002 0.002"
|
| 711 |
/>
|
| 712 |
|
| 713 |
<muscle
|
| 714 |
name="Latissimus_Dorsi_Caudal_act"
|
| 715 |
tendon="Latissimus_Dorsi_Caudal"
|
| 716 |
ctrlrange="0 1"
|
| 717 |
+
force="1.3345499336719513"
|
| 718 |
+
timeconst="0.002 0.002"
|
| 719 |
/>
|
| 720 |
|
| 721 |
<muscle
|
| 722 |
name="Pectoralis_Major_Anterior_act"
|
| 723 |
tendon="Pectoralis_Major_Anterior"
|
| 724 |
ctrlrange="0 1"
|
| 725 |
+
force="2.3294399678707123"
|
| 726 |
+
timeconst="0.002 0.002"
|
| 727 |
/>
|
| 728 |
|
| 729 |
<muscle
|
| 730 |
name="Pectoralis_Major_Posterior_act"
|
| 731 |
tendon="Pectoralis_Major_Posterior"
|
| 732 |
ctrlrange="0 1"
|
| 733 |
+
force="1.7015500366687775"
|
| 734 |
+
timeconst="0.002 0.002"
|
| 735 |
/>
|
| 736 |
|
| 737 |
</actuator>
|
mujoco_model_torque.xml → torque.xml
RENAMED
|
File without changes
|