DylanZelkin commited on
Commit
e777906
·
verified ·
1 Parent(s): 936326a

Replace dataset

Browse files
mujoco_model_muscle.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="0.00840090 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
- 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
- <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
- 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
- -->
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
- -->
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
- -->
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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=".32646998763084412"
 
574
  />
575
 
576
  <muscle
577
  name="Biceps_Short_Head_act"
578
  tendon="Biceps_Short_Head"
579
  ctrlrange="0 1"
580
- force=".17758000642061234"
 
581
  />
582
 
583
  <muscle
584
  name="Biceps_Long_Head_act"
585
  tendon="Biceps_Long_Head"
586
  ctrlrange="0 1"
587
- force=".093419000506401062"
 
588
  />
589
 
590
  <muscle
591
  name="Deltoid_Medial_act"
592
  tendon="Deltoid_Medial"
593
  ctrlrange="0 1"
594
- force=".68714998662471771"
 
595
  />
596
 
597
  <muscle
598
  name="Triceps_Lat_Head_act"
599
  tendon="Triceps_Lat_Head"
600
  ctrlrange="0 1"
601
- force="1.251789927482605"
 
602
  />
603
 
604
  <muscle
605
  name="Triceps_Long_Head_act"
606
  tendon="Triceps_Long_Head"
607
  ctrlrange="0 1"
608
- force=".61247199773788452"
 
609
  />
610
 
611
  <muscle
612
  name="Brachialis_Proximal_Head_act"
613
  tendon="Brachialis_Proximal_Head"
614
  ctrlrange="0 1"
615
- force=".65999001264572144"
 
616
  />
617
 
618
  <muscle
619
  name="Brachialis_Distal_Head_act"
620
  tendon="Brachialis_Distal_Head"
621
  ctrlrange="0 1"
622
- force=".6712699681520462"
 
623
  />
624
 
625
  <muscle
626
  name="Anconeus_act"
627
  tendon="Anconeus"
628
  ctrlrange="0 1"
629
- force=".23302000015974045"
 
630
  />
631
 
632
  <muscle
633
  name="Deltoid_Posterior_act"
634
  tendon="Deltoid_Posterior"
635
  ctrlrange="0 1"
636
- force=".6770700216293335"
 
637
  />
638
 
639
  <muscle
640
  name="Anconeus_Short_Head_act"
641
  tendon="Anconeus_Short_Head"
642
  ctrlrange="0 1"
643
- force=".19999999552965164"
 
644
  />
645
 
646
  <muscle
647
  name="Subscapularis_SuperiorHead_act"
648
  tendon="Subscapularis_SuperiorHead"
649
  ctrlrange="0 1"
650
- force=".4072199463844299"
 
651
  />
652
 
653
  <muscle
654
  name="Infraspinatus_act"
655
  tendon="Infraspinatus"
656
  ctrlrange="0 1"
657
- force=".65393000841140747"
 
658
  />
659
 
660
  <muscle
661
  name="PronatorTeres_act"
662
  tendon="PronatorTeres"
663
  ctrlrange="0 1"
664
- force=".19999999552965164"
 
665
  />
666
 
667
  <muscle
668
  name="FlexorCarpiRadialis_act"
669
  tendon="FlexorCarpiRadialis"
670
  ctrlrange="0 1"
671
- force=".19999999552965164"
 
672
  />
673
 
674
  <muscle
675
  name="Brachioradialis_act"
676
  tendon="Brachioradialis"
677
  ctrlrange="0 1"
678
- force=".19999999552965164"
 
679
  />
680
 
681
  <muscle
682
  name="Triceps_Medial_Head_act"
683
  tendon="Triceps_Medial_Head"
684
  ctrlrange="0 1"
685
- force=".16010400652885437"
 
686
  />
687
 
688
  <muscle
689
  name="Latissimus_Dorsi_Rostral_act"
690
  tendon="Latissimus_Dorsi_Rostral"
691
  ctrlrange="0 1"
692
- force=".13345499336719513"
 
693
  />
694
 
695
  <muscle
696
  name="Latissimus_Dorsi_Caudal_act"
697
  tendon="Latissimus_Dorsi_Caudal"
698
  ctrlrange="0 1"
699
- force=".13345499336719513"
 
700
  />
701
 
702
  <muscle
703
  name="Pectoralis_Major_Anterior_act"
704
  tendon="Pectoralis_Major_Anterior"
705
  ctrlrange="0 1"
706
- force=".23294399678707123"
 
707
  />
708
 
709
  <muscle
710
  name="Pectoralis_Major_Posterior_act"
711
  tendon="Pectoralis_Major_Posterior"
712
  ctrlrange="0 1"
713
- force=".17015500366687775"
 
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