From edb2cdf6b9fc0c94cce910c9d488e69200402c57 Mon Sep 17 00:00:00 2001 From: Tobias Klauser Date: Tue, 27 Nov 2012 17:01:23 +0100 Subject: Create (and use) model which is fixed in space --- LocomotorPrimitives.cpp | 11 +- locomotor-primitives-fixed.osim | 5104 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 5112 insertions(+), 3 deletions(-) create mode 100644 locomotor-primitives-fixed.osim diff --git a/LocomotorPrimitives.cpp b/LocomotorPrimitives.cpp index 7e24f08..341fa74 100644 --- a/LocomotorPrimitives.cpp +++ b/LocomotorPrimitives.cpp @@ -10,13 +10,14 @@ #include "LocomotorPrimitivesManager.h" #include "LocomotorPrimitivesController.h" -#define NO_SIM 0 +#define FIXED_IN_SPACE 1 +#define NO_SIM 0 static const std::string MODEL_NAME = "LocomotorPrimitives"; // Define the initial and final simulation time static const double initialTime = 0.0; -static const double finalTime = 5.0; +static const double finalTime = 2.0; static void constructModel(OpenSim::Model &model) { @@ -88,7 +89,8 @@ int main(void) try { // Create an OpenSim model and set its name - OpenSim::Model osimModel("../../locomotor-primitives.osim"); + std::string modelName = FIXED_IN_SPACE ? "locomotor-primitives-fixed.osim" : "locomotor-primitives.osim"; + OpenSim::Model osimModel("../../" + modelName); osimModel.setName(MODEL_NAME); constructModel(osimModel); @@ -96,12 +98,15 @@ int main(void) simulateModel(osimModel); } catch (OpenSim::Exception ex) { std::cout << ex.getMessage() << std::endl; + std::cin.get(); return 1; } catch (std::exception ex) { std::cout << ex.what() << std::endl; + std::cin.get(); return 1; } catch (...) { std::cout << "UNRECOGNIZED EXCEPTION" << std::endl; + std::cin.get(); return 1; } diff --git a/locomotor-primitives-fixed.osim b/locomotor-primitives-fixed.osim new file mode 100644 index 0000000..8588eec --- /dev/null +++ b/locomotor-primitives-fixed.osim @@ -0,0 +1,5104 @@ + + + + + Delp S.L., Loan J.P., Hoy M.G., Zajac F.E., Topp E.L., Rosen J.M., Thelen D.G., Anderson F.C., Seth A. Notes: 3D, 23 DOF gait model created by D.G. Thelen, Univ. of Wisconsin-Madison, and Ajay Seth, Frank C. Anderson, and Scott L. Delp, Stanford University. Lower extremity joint defintions based on Delp et al. (1990). Low back joint and anthropometry based on Anderson and Pandy (1999, 2001). Planar knee model of Yamaguchi and Zajac (1989). Seth replaced tibia translation constraints with a CustomJoint for the knee and removed the patella to eliminate all kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame as defined by Delp 1990. License: Creative Commons (CCBY 3.0). You are free to distribute, remix, tweak, and build upon this work, even commercially, as long as you credit us for the original creation. http://creativecommons.org/licenses/by/3.0/ More Information: http://simtk-confluence.stanford.edu:8080/display/OpenSim/Gait+2392+and+2354+Models + Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990. Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomecl7. vol. 21. pp. 1-10. 1989. Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999. Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123:381-390, 2001. + meters + N + + 0 -9.80665 0 + + + + + 0 + 0 0 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + treadmill.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 0 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 0 + + + + + + + + 11.777 + -0.0707 0 0 + 0.1028 + 0.0871 + 0.0579 + 0 + 0 + 0 + + + + + ground + + 0 0 0 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + + false + + + + + + + + + sacrum.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + pelvis.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + l_pelvis.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 9.3014 + 0 -0.17 0 + 0.1339 + 0.0351 + 0.1412 + 0 + 0 + 0 + + + + + pelvis + + -0.0707 -0.0661 0.0835 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -2.0943951 2.0943951 + + false + + false + + + + false + + + + rotational + + 0 + + 0 + + -2.0943951 2.0943951 + + false + + false + + + + false + + + + rotational + + 0 + + 0 + + -2.0943951 2.0943951 + + false + + false + + + + false + + + + + + false + + + + + + hip_flexion_r + + 0 0 1 + + + + 1 0 + + + + + + hip_adduction_r + + 1 0 0 + + + + 1 0 + + + + + + hip_rotation_r + + 0 1 0 + + + + 1 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + femur.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 3.7075 + 0 -0.1867 0 + 0.0504 + 0.0051 + 0.0511 + 0 + 0 + 0 + + + + + femur_r + + 0 0 0 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -2.0943951 0.17453293 + + false + + false + + + + false + + + + + + false + + + + + + knee_angle_r + + 0 0 1 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 1 0 0 + + + + 0 + + + + + + + knee_angle_r + + 1 0 0 + + + + -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944 + -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525 + + + + + + knee_angle_r + + 0 1 0 + + + + -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944 + -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + tibia.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + fibula.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 0.1 + 0 0 0 + 0.001 + 0.001 + 0.001 + 0 + 0 + 0 + + + + + tibia_r + + 0 -0.43 0 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -1.57079633 1.57079633 + + false + + false + + + + false + + + + + + false + + + + + + ankle_angle_r + + -0.10501355 -0.17402245 0.97912632 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0.97912632 -0 0.10501355 + + + + 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + talus.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1.25 + 0.1 0.03 0 + 0.0014 + 0.0039 + 0.0041 + 0 + 0 + 0 + + + + + talus_r + + -0.04877 -0.04195 0.00792 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -1.57079633 1.57079633 + + false + + false + + + + false + + + + + + false + + + + + + subtalar_angle_r + + 0.78717961 0.60474746 -0.12094949 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + -0.12094949 0 -0.78717961 + + + + 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + foot.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 0.2166 + 0.0346 0.006 -0.0175 + 0.0001 + 0.0002 + 0.001 + 0 + 0 + 0 + + + + + calcn_r + + 0.1788 -0.002 0.00108 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -1.57079633 1.57079633 + + false + + false + + + + false + + + + + + false + + + + + + mtp_angle_r + + -0.5809544 0 0.81393611 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0.81393611 -0 0.5809544 + + + + 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + bofoot.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 9.3014 + 0 -0.17 0 + 0.1339 + 0.0351 + 0.1412 + 0 + 0 + 0 + + + + + pelvis + + -0.0707 -0.0661 -0.0835 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -2.0943951 2.0943951 + + false + + false + + + + false + + + + rotational + + 0 + + 0 + + -2.0943951 2.0943951 + + false + + false + + + + false + + + + rotational + + 0 + + 0 + + -2.0943951 2.0943951 + + false + + false + + + + false + + + + + + false + + + + + + hip_flexion_l + + 0 0 1 + + + + 1 0 + + + + + + hip_adduction_l + + -1 0 0 + + + + 1 0 + + + + + + hip_rotation_l + + 0 -1 0 + + + + 1 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + l_femur.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 3.7075 + 0 -0.1867 0 + 0.0504 + 0.0051 + 0.0511 + 0 + 0 + 0 + + + + + femur_l + + 0 0 0 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -2.0943951 0.17453293 + + false + + false + + + + false + + + + + + false + + + + + + knee_angle_l + + 0 0 1 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 1 0 0 + + + + 0 + + + + + + + knee_angle_l + + 1 0 0 + + + + -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944 + -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525 + + + + + + knee_angle_l + + 0 1 0 + + + + -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944 + -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + l_tibia.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + l_fibula.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 0.1 + 0 0 0 + 0.001 + 0.001 + 0.001 + 0 + 0 + 0 + + + + + tibia_l + + 0 -0.43 0 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -1.04719755 1.04719755 + + false + + false + + + + false + + + + + + false + + + + + + ankle_angle_l + + 0.10501355 0.17402245 0.97912632 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0.97912632 0 -0.10501355 + + + + 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + l_talus.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1.25 + 0.1 0.03 0 + 0.0014 + 0.0039 + 0.0041 + 0 + 0 + 0 + + + + + talus_l + + -0.04877 -0.04195 -0.00792 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -1.57079633 1.57079633 + + false + + false + + + + false + + + + + + false + + + + + + subtalar_angle_l + + -0.78717961 -0.60474746 -0.12094949 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + -0.12094949 0 0.78717961 + + + + 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + l_foot.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 0.2166 + 0.0346 0.006 0.0175 + 0.0001 + 0.0002 + 0.001 + 0 + 0 + 0 + + + + + calcn_l + + 0.1788 -0.002 -0.00108 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -1.04719755 1.04719755 + + false + + false + + + + false + + + + + + false + + + + + + mtp_angle_l + + 0.5809544 0 0.81393611 + + + + 1 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0.81393611 0 -0.5809544 + + + + 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + l_bofoot.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 34.2366 + -0.03 0.32 0 + 1.4745 + 0.7555 + 1.4314 + 0 + 0 + 0 + + + + + pelvis + + -0.1007 0.0815 0 + + 0 0 0 + + 0 0 0 + + 0 0 0 + + + + + + rotational + + 0 + + 0 + + -1.57079633 1.57079633 + + false + + false + + + + false + + + + rotational + + 0 + + 0 + + -1.57079633 1.57079633 + + false + + false + + + + false + + + + rotational + + 0 + + 0 + + -1.57079633 1.57079633 + + false + + false + + + + false + + + + + + false + + + + + + lumbar_extension + + 0 0 1 + + + + 1 0 + + + + + + lumbar_bending + + 1 0 0 + + + + 1 0 + + + + + + lumbar_rotation + + 0 1 0 + + + + 1 0 + + + + + + + + + 1 0 0 + + + + 0 + + + + + + + + 0 1 0 + + + + 0 + + + + + + + + 0 0 1 + + + + 0 + + + + + + + + + + + + + hat_spine.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + hat_jaw.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + hat_skull.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + hat_ribs.vtp + + 1 1 1 + + + + -0 0 -0 0 0 0 + + 1 1 1 + + 4 + + 1 + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + + + + + + + + + + + + + false + + 0 + + 1 + + + + + + 0.0179 -0.1624 0.0115 + tibia_r + + + 0.0329 -0.3951 -0.0177 + tibia_r + + + 0.1166 0.0178 -0.0305 + calcn_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 905 + + 0.098 + + 0.223 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + 0.0179 -0.1624 -0.0115 + tibia_l + + + 0.0329 -0.3951 0.0177 + tibia_l + + + 0.1166 0.0178 0.0305 + calcn_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 905 + + 0.098 + + 0.223 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.022 -0.3946 0.0272 + femur_r + + + -0.03 -0.4018 0.0274 + femur_r + -0.785398 0.174533 + knee_angle_r + + + 0 0.031 -0.0053 + calcn_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 683 + + 0.064 + + 0.38 + + 0.13962634 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.022 -0.3946 -0.0272 + femur_l + + + -0.03 -0.4018 -0.0274 + femur_l + -0.785398 0.174533 + knee_angle_l + + + 0 0.031 0.0053 + calcn_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 683 + + 0.064 + + 0.38 + + 0.13962634 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.019 -0.3929 -0.0235 + femur_r + + + -0.03 -0.4022 -0.0258 + femur_r + -0.785398 0.174533 + knee_angle_r + + + 0 0.031 -0.0053 + calcn_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1558 + + 0.06 + + 0.39 + + 0.29670597 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.019 -0.3929 0.0235 + femur_l + + + -0.03 -0.4022 0.0258 + femur_l + -0.785398 0.174533 + knee_angle_l + + + 0 0.031 0.0053 + calcn_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1558 + + 0.06 + + 0.39 + + 0.29670597 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0024 -0.1533 0.0071 + tibia_r + + + 0 0.031 -0.0053 + calcn_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 3549 + + 0.05 + + 0.25 + + 0.43633231 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0024 -0.1533 -0.0071 + tibia_l + + + 0 0.031 0.0053 + calcn_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 3549 + + 0.05 + + 0.25 + + 0.43633231 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + 0.0048 -0.1854 0.0349 + femur_r + + + 0.0269 -0.2591 0.0409 + femur_r + + + 0.0361 -0.403 0.0205 + femur_r + -2.61799 -1.21004 + knee_angle_r + + + 0.0253 -0.4243 0.0184 + femur_r + -2.61799 -1.92004 + knee_angle_r + + + 0.0599557 0.0195864 0.0165 + tibia_r + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766 + + + knee_angle_r + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421 + + + knee_angle_r + + + -2.0944 2.0944 + 0.0165 0.0165 + + + knee_angle_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1871 + + 0.084 + + 0.157 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + 0.0048 -0.1854 -0.0349 + femur_l + + + 0.0269 -0.2591 -0.0409 + femur_l + + + 0.0361 -0.403 -0.0205 + femur_l + -2.61799 -1.21004 + knee_angle_l + + + 0.0253 -0.4243 -0.0184 + femur_l + -2.61799 -1.92004 + knee_angle_l + + + 0.0599557 0.0195864 -0.0165 + tibia_l + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766 + + + knee_angle_l + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421 + + + knee_angle_l + + + -2.0944 2.0944 + -0.0165 -0.0165 + + + knee_angle_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1871 + + 0.084 + + 0.157 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + 0.014 -0.2099 0.0188 + femur_r + + + 0.0356 -0.2769 0.0009 + femur_r + + + 0.037 -0.4048 -0.0125 + femur_r + -2.61799 -1.21004 + knee_angle_r + + + 0.0274 -0.4255 -0.0131 + femur_r + -2.61799 -1.78006 + knee_angle_r + + + 0.0559586 0.0217917 -0.0146 + tibia_r + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.00981097 0.0122243 0.0217371 0.0238851 0.0249902 0.0307959 0.0364187 0.0392871 0.0425654 0.0475764 0.0559586 0.0559681 0.0559776 0.0575419 0.0613368 0.0679503 0.0629332 + + + knee_angle_r + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0224154 0.0227651 0.0241265 0.0242933 0.0243287 0.0239462 0.0233593 0.0230677 0.0228342 0.0226362 0.0217917 0.0217903 0.0217889 0.0215365 0.0206842 0.0183269 -0.0656205 + + + knee_angle_r + + + -2.0944 2.0944 + -0.0146 -0.0146 + + + knee_angle_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1294 + + 0.089 + + 0.126 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + 0.014 -0.2099 -0.0188 + femur_l + + + 0.0356 -0.2769 -0.0009 + femur_l + + + 0.037 -0.4048 0.0125 + femur_l + -2.61799 -1.21004 + knee_angle_l + + + 0.0274 -0.4255 0.0131 + femur_l + -2.61799 -1.78006 + knee_angle_l + + + 0.0559586 0.0217917 0.0146 + tibia_l + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.00981097 0.0122243 0.0217371 0.0238851 0.0249902 0.0307959 0.0364187 0.0392871 0.0425654 0.0475764 0.0559586 0.0559681 0.0559776 0.0575419 0.0613368 0.0679503 0.0629332 + + + knee_angle_l + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0224154 0.0227651 0.0241265 0.0242933 0.0243287 0.0239462 0.0233593 0.0230677 0.0228342 0.0226362 0.0217917 0.0217903 0.0217889 0.0215365 0.0206842 0.0183269 -0.0656205 + + + knee_angle_l + + + -2.0944 2.0944 + 0.0146 0.0146 + + + knee_angle_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1294 + + 0.089 + + 0.126 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0295 -0.0311 0.0968 + pelvis + + + 0.0334 -0.403 0.0019 + femur_r + -2.61799 -1.45997 + knee_angle_r + + + 0.0617576 0.020984 0.0014 + tibia_r + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481 + + + knee_angle_r + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774 + + + knee_angle_r + + + -2.0944 0.1745 + 0.0014 0.0014 + + + knee_angle_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1169 + + 0.114 + + 0.31 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0295 -0.0311 -0.0968 + pelvis + + + 0.0334 -0.403 -0.0019 + femur_l + -2.61799 -1.45997 + knee_angle_l + + + 0.0617576 0.020984 -0.0014 + tibia_l + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481 + + + knee_angle_l + + + -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944 + 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774 + + + knee_angle_l + + + -2.0944 0.1745 + -0.0014 -0.0014 + + + knee_angle_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1169 + + 0.114 + + 0.31 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1192 -0.09747 0.07151 + pelvis + + + -0.0348 -0.03519 -0.01891 + tibia_r + -0.558505 0.174533 + knee_angle_r + + + -0.027 -0.04771 -0.01957 + tibia_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1288 + + 0.08 + + 0.359 + + 0.26179939 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1192 -0.09747 -0.07151 + pelvis + + + -0.0348 -0.03519 0.01891 + tibia_l + -0.558505 0.174533 + knee_angle_l + + + -0.027 -0.04771 0.01957 + tibia_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 1288 + + 0.08 + + 0.359 + + 0.26179939 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.12635 -0.10988 0.06039 + pelvis + + + -0.04203 -0.02859 -0.02277 + tibia_r + -0.331613 0.174533 + knee_angle_r + + + -0.03322 -0.05282 -0.02288 + tibia_r + + + -0.0113 -0.0746 -0.0245 + tibia_r + + + 0.0027 -0.0956 -0.0193 + tibia_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 410 + + 0.201 + + 0.2555 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.12635 -0.10988 -0.06039 + pelvis + + + -0.04203 -0.02859 0.02277 + tibia_l + -0.331613 0.174533 + knee_angle_l + + + -0.03322 -0.05282 0.02288 + tibia_l + + + -0.0113 -0.0746 0.0245 + tibia_l + + + 0.0027 -0.0956 0.0193 + tibia_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 410 + + 0.201 + + 0.2555 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.12596 -0.10257 0.06944 + pelvis + + + -0.0301 -0.036 0.02943 + tibia_r + + + -0.0234 -0.0563 0.0343 + tibia_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 896 + + 0.109 + + 0.326 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.12596 -0.10257 -0.06944 + pelvis + + + -0.0301 -0.036 -0.02943 + tibia_l + + + -0.0234 -0.0563 -0.0343 + tibia_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 896 + + 0.109 + + 0.326 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + 0.005 -0.2111 0.0234 + femur_r + + + -0.0301 -0.036 0.02943 + tibia_r + + + -0.0234 -0.0563 0.0343 + tibia_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 804 + + 0.173 + + 0.089 + + 0.40142573 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + 0.005 -0.2111 -0.0234 + femur_l + + + -0.0301 -0.036 -0.02943 + tibia_l + + + -0.0234 -0.0563 -0.0343 + tibia_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 804 + + 0.173 + + 0.089 + + 0.40142573 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0316 -0.0836 0.0169 + pelvis + + + 0.005 -0.2111 0.0234 + femur_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 627 + + 0.138 + + 0.11 + + 0.10471976 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0316 -0.0836 -0.0169 + pelvis + + + 0.005 -0.2111 -0.0234 + femur_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 627 + + 0.138 + + 0.11 + + 0.10471976 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0311 0.0214 0.1241 + pelvis + + + 0.0294 -0.0995 0.0597 + femur_r + + + 0.0054 -0.4049 0.0357 + femur_r + + + 0.006 -0.0487 0.0297 + tibia_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 233 + + 0.095 + + 0.425 + + 0.05235988 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.0311 0.0214 -0.1241 + pelvis + + + 0.0294 -0.0995 -0.0597 + femur_l + + + 0.0054 -0.4049 -0.0357 + femur_l + + + 0.006 -0.0487 -0.0297 + tibia_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 233 + + 0.095 + + 0.425 + + 0.05235988 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1195 0.0612 0.07 + pelvis + + + -0.1291 0.0012 0.0886 + pelvis + + + -0.0457 -0.0248 0.0392 + femur_r + + + -0.0277 -0.0566 0.047 + femur_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 573 + + 0.142 + + 0.125 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1195 0.0612 -0.07 + pelvis + + + -0.1291 0.0012 -0.0886 + pelvis + + + -0.0457 -0.0248 -0.0392 + femur_l + + + -0.0277 -0.0566 -0.047 + femur_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 573 + + 0.142 + + 0.125 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1349 0.0176 0.0563 + pelvis + + + -0.1376 -0.052 0.0914 + pelvis + + + -0.0426 -0.053 0.0293 + femur_r + + + -0.0156 -0.1016 0.0419 + femur_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 819 + + 0.147 + + 0.127 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1349 0.0176 -0.0563 + pelvis + + + -0.1376 -0.052 -0.0914 + pelvis + + + -0.0426 -0.053 -0.0293 + femur_l + + + -0.0156 -0.1016 -0.0419 + femur_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 819 + + 0.147 + + 0.127 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1556 -0.0314 0.0058 + pelvis + + + -0.1529 -0.1052 0.0403 + pelvis + + + -0.0299 -0.1041 0.0135 + femur_r + + + -0.006 -0.1419 0.0411 + femur_r + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 552 + + 0.144 + + 0.145 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.1556 -0.0314 -0.0058 + pelvis + + + -0.1529 -0.1052 -0.0403 + pelvis + + + -0.0299 -0.1041 -0.0135 + femur_l + + + -0.006 -0.1419 -0.0411 + femur_l + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 552 + + 0.144 + + 0.145 + + 0.08726646 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.14 0.0439 0.0436 + pelvis + + + -0.055 0.11 0.0241 + torso + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 2500 + + 0.12 + + 0.03 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.14 0.0439 -0.0436 + pelvis + + + -0.055 0.11 -0.0241 + torso + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 2500 + + 0.12 + + 0.03 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.03 -0.0636 0.01 + pelvis + + + 0.065 0.11 0.11 + torso + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 900 + + 0.12 + + 0.14 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + false + + 0 + + 1 + + + + + + -0.03 -0.0636 -0.01 + pelvis + + + 0.065 0.11 -0.11 + torso + + + + + + + + + + + + 1 1 1 + + -0 0 -0 0 0 0 + + false + + 4 + + + + + + + + 1 + + 900 + + 0.12 + + 0.14 + + 0 + + 10 + + 0.01 + + 0.04 + + 0.033 + + 0.6 + + 0.5 + + 4 + + 0.3 + + 1.8 + + + + + + + + + + + + + + + + + + + + + + + + + -- cgit v1.2.3-54-g00ecf