Erdnaxela3/bioptim_gui

version 4

root_actuated 0
external_forces 0

gravity 0 0 -9.81


segment Pelvis
    rt 0.0 0.0 0.0 xyz 0.0 0.0 0.0
    translations xyz
    rotations xyz
    rangesQ
        -0.5 0.5
        -0.5 0.5
        0 5
        -10*3.14 10*3.14
        -10*3.14 10*3.14
        -10*3.14 10*3.14
    com 0.0 0.0 0.0
    mass 7.675025110374424
    inertia
        0.03779648711896561 0.0 0.0
        0.0 0.07082405858190183 0.0
        0.0 0.0 0.06049873913533803
    meshfile Model_mesh/pelvis.stl
    meshrt -0.175 0 0 xyz 0 0 0
endsegment

segment Thorax
    parent Pelvis
    rt 0.0 0.0 0.0 xyz 0.0 0.0 0.10691934707592193
    com 0.0 0.0 0.16964581895320646
    mass 16.761753111614897
    inertia
        0.1695723294081144 0.0 0.0
        0.0 0.24777379453235931 0.0
        0.0 0.0 0.16817009906757605
    meshfile Model_mesh/thorax.stl
    meshrt -0.15 0 0 xyz 0 -0.025 0
    meshscale 1.1 1 1
endsegment

segment Head
    parent Thorax
    rt 0.0 0.0 0.0 xyz 0.0 0.0 0.322
    rotations zx
    rangesQ
        -60*3.14/180 60*3.14/180
        -70*3.14/180 3.14/8
    com 0.0 0.0 0.1169371541218166
    mass 3.9436452215486697
    inertia
        0.019654858975982244 0.0 0.0
        0.0 0.019654858975982244 0.0
        0.0 0.0 0.01093028555984711
    meshfile Model_mesh/tete.stl
    meshrt 0 0 pi xyz 0 0 0
endsegment

segment RightUpperArm
    parent Thorax
    rt 0 0.17 0.1 xyz -0.18 0.0 0.25999999999999995
    rotations zy
    rangesQ
        -0.65 2
        -0.05 3
    com 0.0 0.0 -0.11579539469552311
    mass 1.569290839009084
    inertia
        0.008572587015903282 0.0 0.0
        0.0 0.008572587015903282 0.0
        0.0 0.0 0.0015458844507023558
    meshfile Model_mesh/bras.stl
endsegment

segment RightForearm
    parent RightUpperArm
    rt 0.0 0.0 0.0 xyz 0.0 0.0 -0.24350000000000002
    rotations zx
    rangesQ
        -1.8 1.1
        -2.65 0
    com 0.0 0.0 -0.09478305833450895
    mass 0.8754802725163806
    inertia
        0.0034417004296885077 0.0 0.0
        0.0 0.0034850839826728753 0.0
        0.0 0.0 0.0005205672999114934
    meshfile Model_mesh/avantbras.stl
endsegment

segment RightHand
    parent RightForearm
    rt 0.0 0.0 0.0 xyz 0.0 0.0 -0.22349999999999998
    com 0.0 0.0 -0.06033342208442053
    mass 0.2444923481642268
    inertia
        0.00038077991636840285 0.0 0.0
        0.0 0.00043171611747488926 0.0
        0.0 0.0 0.00010085370145929663
    meshfile Model_mesh/main.stl
endsegment

    marker MiddleRightHand
        parent RightHand
        position 0 0 -0.1
    endmarker

segment LeftUpperArm
    parent Thorax
    rt 0 -0.17 -0.1 xyz 0.18 0.0 0.25999999999999995
    rotations zy
    rangesQ
        -2 0.65
        -3 0.05
    com 0.0 0.0 -0.11579539469552311
    mass 1.569290839009084
    inertia
        0.008572587015903282 0.0 0.0
        0.0 0.008572587015903282 0.0
        0.0 0.0 0.0015458844507023558
    meshfile Model_mesh/bras.stl
endsegment

segment LeftForearm
    parent LeftUpperArm
    rt 0.0 0.0 0.0 xyz 0.0 0.0 -0.24350000000000002
    rotations zx
    rangesQ
        -1.1 1.8
        -2.65 0
    com 0.0 0.0 -0.09478305833450895
    mass 0.8754802725163806
    inertia
        0.0034417004296885077 0.0 0.0
        0.0 0.0034850839826728753 0.0
        0.0 0.0 0.0005205672999114934
    meshfile Model_mesh/avantbras.stl
endsegment

segment LeftHand
    parent LeftForearm
    rt 0.0 0.0 0.0 xyz 0.0 0.0 -0.22349999999999998
    com 0.0 0.0 -0.06033342208442053
    mass 0.2444923481642268
    inertia
        0.00038077991636840285 0.0 0.0
        0.0 0.00043171611747488926 0.0
        0.0 0.0 0.00010085370145929663
    meshfile Model_mesh/main.stl
endsegment

    marker MiddleLeftHand
        parent LeftHand
        position 0 0 -0.1
    endmarker

segment UpperLegs
    parent Pelvis
    rt 0.0 0.0 0.0 xyz 0.0 0.0 -0.08608065292407807
    rotations xy
    rangesQ
        -2.4 0.3
        -0.35 0.35
    com 0.0 0.0 -0.17089938491274764
    mass 16.759868032417362
    inertia
        0.22636667008666034 0.0 0.0
        0.0 0.32703062745636713 0.0
        0.0 0.0 0.1605173999990793
    meshfile Model_mesh/cuisse.stl
endsegment

segment LowerLegs
    parent UpperLegs
    rt 0.0 0.0 0.0 xyz 0.0 0.0 -0.3775
    com 0.0 0.0 -0.17877624969815803
    mass 6.025039072122063
    inertia
        0.08169790576444133 0.0 0.0
        0.0 0.11788579669137447 0.0
        0.0 0.0 0.04385448191981976
    meshfile Model_mesh/jambe.stl
    meshrt pi 0 0 xyz 0 0 0
endsegment

    marker PikeTargetRightHand
        parent LowerLegs
        position -0.1 0 -0.22
    endmarker

    marker PikeTargetLeftHand
        parent LowerLegs
        position 0.1 0 -0.22
    endmarker

    marker TuckTargetRightHand
        parent LowerLegs
        position -0.1 0 -0.22
    endmarker

    marker TuckTargetLeftHand
        parent LowerLegs
        position 0.1 0 -0.22
    endmarker

segment Feet
    parent LowerLegs
    rt -0.35 0 0 xyz 0.0 0.0 -0.36400000000000005
    com 3.6956449538576916e-18 0.0 -0.06243250494552888
    mass 1.0561425325432152
    inertia
        0.002054330685841803 1.4423761698259375e-20 -5.421010862427522e-20
        1.4423761698259372e-20 0.008273648337148215 0.0
        -5.421010862427522e-20 0.0 0.007111905908612709
    meshfile Model_mesh/pied.stl
    meshrt 0 0 pi xyz 0 0 0
endsegment