examples/biorbd/models/Wu_Shoulder_Model_kinova_scaled_adjusted_2.bioMod
version 4
// File extracted from Models/Wu_Shoulder_Model_kinova_scaled_adjusted_2.osim
// Biomod not include all Osim features as the optimisation is performed on a third part software.
// The original file contained some of these features, corresponding warnings are shown in the end of the file.
gravity 0 -9.8000000000000007 0
// SEGMENT DEFINITION
// Information about ground segment
//True segment where are applied inertial values.
// Segment
segment ground
parent base
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Markers
// Information about thorax segment
// Segment
segment thorax_parent_offset
parent ground
RTinMatrix 0
RT 0 0 0 xyz 0 0 0
endsegment
// Segments to define transformation axis.
// Segment
segment thorax_translation
parent thorax_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
translations xyz
// ranges
// -20 20
// -2 4
// -5 5
endsegment
// Rotation transform was initially an orthogonal basis
// Segment
segment thorax_rotation_transform
parent thorax_translation
RTinMatrix 1
RT
0.0 1.0 0.0 0
0.0 0.0 1.0 0
1.0 0.0 0.0 0
0 0 0 1
rotations xyz
// ranges
// -1.5708 1.5708
// -1.5708 1.5708
// -1.5708 1.5708
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment thorax_reset_axis
parent thorax_rotation_transform
RTinMatrix 1
RT
0.0 0.0 1.0 0
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment thorax
parent thorax_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
mass 20
inertia
1.4396329067378999 0 0
0 0.77762242825264982 0
0 0 1.4396329067378999
com -0.030878455125849764 0.31322806786246754 0
meshfile Geometry_cleaned/thorax.vtp
meshcolor 1 1 1
meshscale 1.0292818375283255 0.97883771207021109 1
endsegment
// Segment
segment thorax_geom_2
parent thorax
RTinMatrix 1
RT
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
meshfile Geometry_cleaned/hat_spine.vtp
meshcolor 1 1 1
meshscale 1.0292818375283255 0.97883771207021109 1
endsegment
// Markers
marker MAN
parent thorax
position 0.028585125116334487 -0.0096469628941172614 0.0022341310733218784
endmarker
marker XYP
parent thorax
position 0.093098348228785266 -0.16977435086026191 -0.0015147799744307244
endmarker
marker C7
parent thorax
position -0.115671464229821 0.050907333697403023 -0.0019490996456002982
endmarker
marker T10
parent thorax
position -0.12411576888420972 -0.18842166787031064 0.0018790143716797252
endmarker
// Information about clavicle segment
// Segment
segment clavicle_parent_offset
parent thorax
RTinMatrix 0
RT 0 0 0 xyz 0.0065102076223666587 0.0067833453446465635 0.025465000000000002
endsegment
// Segments to define transformation axis.
// Segment
segment clavicle_translation
parent clavicle_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
// Segment
segment clavicle_sternoclavicular_r1
parent clavicle_translation
RTinMatrix 1
RT
0.015299995322998767 0.05024789063996113 0.9986195770308885 0
0.9892986975709203 0.14417284032013652 -0.0224115840249048 0
-0.1450999556429883 0.9882759440562433 -0.04750432898319804 0
0 0 0 1
rotations x
// ranges
// -1.570796326795 1.570796326795
endsegment
// Segment
segment clavicle_sternoclavicular_r2
parent clavicle_sternoclavicular_r1
RTinMatrix 1
RT
0.6309281305459133 1.9627784775201133e-05 -0.775841281255766 0
0.766619938593272 -0.1537361093016383 0.6234252789613541 0
-0.1192625835586607 -0.9881119411845729 -0.09701148309024395 0
0 0 0 1
rotations y
// ranges
// -1.570796326795 1.570796326795
endsegment
// Segment
segment clavicle_sternoclavicular_r3
parent clavicle_sternoclavicular_r2
RTinMatrix 1
RT
-0.2198132687855211 0.5918071766218879 0.7755297496322461 0
-0.9374553183394769 -0.3481056180525971 -6.926217681835036e-05 0
0.2699252729605994 -0.7270397130687218 0.6313110189424045 0
0 0 0 1
//rotations z
// ranges
// -1.570796326795 1.570796326795
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment clavicle_reset_axis
parent clavicle_sternoclavicular_r3
RTinMatrix 1
RT
0.9269653601051225 -0.34441490614047904 0.14870640064713217 0
0.3604972762830375 0.9274872248617597 -0.09904121117364527 0
-0.10381201740497924 0.14541602437997073 0.9839091649618028 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment clavicle
parent clavicle_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
mass 0.20000000000000001
inertia
0 0 0
0 0 0
0 0 0
com -0.017725195231248728 0.0084954100000000001 0.065984600000000004
meshfile Geometry_cleaned/clavicle.vtp
meshcolor 1 1 1
meshscale 1.3934354177311215 1 1
endsegment
// Markers
marker CLAV_SC
parent clavicle
position 0.014925539756743711 -0.01310540661257345 -0.0057477766590993129
endmarker
marker CLAV_AC
parent clavicle
position -0.025964972865416991 0.02790861704057318 0.11784523434555516
endmarker
marker SCAP_Cor
parent clavicle
position 0.035971339437720018 0.0086023651223235131 0.11690363047522773
endmarker
// Information about scapula segment
// Segment
segment scapula_parent_offset
parent clavicle
RTinMatrix 0
RT -0.52000000000000002 0.52000000000000002 0 xyz -0.019967929536086972 0.020070000000000001 0.13553499999999999
endsegment
// Segments to define transformation axis.
// Segment
segment scapula_translation
parent scapula_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
// Rotation transform was initially an orthogonal basis
// Segment
segment scapula_rotation_transform
parent scapula_translation
RTinMatrix 1
RT
0.0 0.0 -1.0 0
0.0 1.0 0.0 0
1.0 0.0 0.0 0
0 0 0 1
rotations xyz
// ranges
// -1.570796326795 1.570796326795
// -1.570796326795 1.570796326795
// -1.570796326795 1.570796326795
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment scapula_reset_axis
parent scapula_rotation_transform
RTinMatrix 1
RT
0.0 0.0 1.0 0
0.0 1.0 0.0 0
-1.0 -0.0 -0.0 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment scapula
parent scapula_reset_axis
RTinMatrix 0
RT 0.5832133965420941 -0.4458246964234714 0.27717166315597463 xyz -0.0 -0.0 -0.0
mass 0.5
inertia
0 0 0
0 0 0
0 0 0
com -0.071999999999999995 -0.039023511475557673 -0.064675141995500701
meshfile Geometry_cleaned/scapula.vtp
meshcolor 1 1 1
meshscale 1 1.0006028583476327 0.99500218454616463
endsegment
// Markers
marker SCAP_IA
parent scapula
position -0.12780765790330895 -0.13084905009782843 -0.068130426094901456
endmarker
marker SCAP_AA
parent scapula
position -0.096566064750645442 -0.014594355278280458 -0.088603698687889254
endmarker
marker SCAP_AC
parent scapula
position -0.038104119032025596 0.0043635870624950668 0.018807466959583213
endmarker
marker SCAP_BACK
parent scapula
position -0.073456722424290133 0.024307735983989387 0.0050615354081945535
endmarker
marker SCAP_FRONT
parent scapula
position -0.022832618296041884 0.023083727808628662 0.057812244884366287
endmarker
// Information about humerus segment
// Segment
segment humerus_parent_offset
parent scapula
RTinMatrix 0
RT 0 0 0 xyz -0.0095499999999999995 -0.034020497183819519 0.0089550196609154802
endsegment
// Segments to define transformation axis.
// Segment
segment humerus_translation
parent humerus_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
// Segment
segment humerus_shoulder_plane
parent humerus_translation
RTinMatrix 1
RT
9.999999900000002e-05 -0.5155907056664478 0.8568349982525074 0
0.9999999900000002 -3.412442977419667e-05 -0.0001372425695350605 0
9.999999900000002e-05 0.8568350034084143 0.5155906970980978 0
0 0 0 1
rotations x
ranges
-1.8999999999999999 0.34999999999999998
endsegment
// Segment
segment humerus_shoulder_ele
parent humerus_shoulder_plane
RTinMatrix 1
RT
0.599339323201345 9.999999900000002e-05 -0.8004950753530928 0
0.6858628223174961 0.5155875497639124 0.5135773237703589 0
0.41277665223124305 -0.856836897273014 0.30894330684499716 0
0 0 0 1
rotations y
ranges
-0.29999999999999999 3
endsegment
// Segment
segment humerus_shoulder_rotation
parent humerus_shoulder_ele
RTinMatrix 1
RT
0.7055251816279622 0.3783153988153252 0.5992592736938097 0
0.47256640009412343 -0.8812950683522974 -1.10037936450818e-17 0
0.5281242425707341 0.2831897976925027 -0.800555009285413 0
0 0 0 1
rotations z
ranges
0 3
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment humerus_reset_axis
parent humerus_shoulder_rotation
RTinMatrix 1
RT
-0.4725696190041502 9.451377502117462e-05 0.8812933372387534 0
0.8812933196127876 -0.00017625916163265247 0.47256962845551265 0
0.0002000003643198341 0.9999999799999271 3.6632107145161935e-10 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment humerus
parent humerus_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
mass 2.0325000000000002
inertia
0.010982745450000001 0 0
0 0.0029774225000000006 0
0 0 0.010982745450000001
com 0 -0.16121196000000002 0
meshfile Geometry_cleaned/humerus.vtp
meshcolor 1 1 1
meshscale 0.84999999999999998 0.97999999999999998 0.84999999999999998
endsegment
// Markers
marker EPI_lat
parent humerus
position 0.016107563696706212 -0.27181098714413976 0.033175579021756274
endmarker
marker EPI_med
parent humerus
position 0.00026073737838142041 -0.27959075138295464 -0.042775935224929396
endmarker
marker DELT
parent humerus
position 0.022032005797263332 -0.14286187139203799 0.033221007147945403
endmarker
marker ARM
parent humerus
position 0.024058963177472747 -0.10652879921703907 0.040844028132537735
endmarker
// Information about ulna segment
// Segment
segment ulna_parent_offset
parent humerus
RTinMatrix 0
RT 0 0 0 xyz 0.0051850000000000004 -0.28459200000000001 -0.010454999999999999
endsegment
// Segments to define transformation axis.
// Segment
segment ulna_translation
parent ulna_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
// Segment
segment ulna_rotation_0
parent ulna_translation
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 0.3919780619566715 -0.9199745642922371 0
0.0 0.9199745642922371 0.3919780619566715 0
0 0 0 1
endsegment
// Segment
segment ulna_rotation_1
parent ulna_rotation_0
RTinMatrix 1
RT
0.6453279838685939 0.0 -0.7639056180157965 0
0.7027737380944746 0.3919780619566716 0.5936853307850977 0
0.2994342436676454 -0.9199745642922373 0.25295441244321765 0
0 0 0 1
endsegment
// Segment
segment ulna_elbow_flexion
parent ulna_rotation_1
RTinMatrix 1
RT
0.08589634953351034 0.6013703041538472 0.794339709707834 0
-0.9949214186888451 0.09376465199613918 0.03660000915599257 0
-0.05247082780929644 -0.7934493980827966 0.6063702374878361 0
0 0 0 1
rotations z
ranges
0 2.2689280275930002
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment ulna_reset_axis
parent ulna_elbow_flexion
RTinMatrix 1
RT
0.09551407821159333 -0.994921418688845 0.03175581045360772 0
0.9942015387447458 0.09376465199613916 -0.052644946515528354 0
0.04940001235798999 0.03660000915599253 0.9981082496947975 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment ulna
parent ulna_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
mass 0.60750000000000004
inertia
0.0030912422797799129 0 0
0 0.00064496547228358751 0
0 0 0.0033531942758044772
com 0 -0.12312638689771148 0
meshfile Geometry_cleaned/ulna.vtp
meshcolor 1 1 1
meshscale 1.021583795044277 1.021583795044277 1.021583795044277
endsegment
// Markers
marker ULNA
parent ulna
position -0.0055679932448590985 -0.23120568806852537 0.056319343799689281
endmarker
// Information about radius segment
// Segment
segment radius_parent_offset
parent ulna
RTinMatrix 0
RT 0 0 0 xyz 0.0004086335180177108 -0.011751278394394318 0.020430654317090496
endsegment
// Segments to define transformation axis.
// Segment
segment radius_translation
parent radius_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
// Segment
segment radius_rotation_0
parent radius_translation
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 0.9970952290299382 -0.07616498044203134 0
0.0 0.07616498044203134 0.9970952290299382 0
0 0 0 1
endsegment
// Segment
segment radius_pro_sup
parent radius_rotation_0
RTinMatrix 1
RT
0.388425929945961 -0.01716099384199165 -0.9213201382993701 0
0.1861816424036899 0.9806676698277027 0.0602272146671952 0
0.9024753143313561 -0.19492670839333182 0.3841118136395457 0
0 0 0 1
rotations y
ranges
-1.570796326795 1.570796326795
endsegment
// Segment
segment radius_rotation_2
parent radius_pro_sup
RTinMatrix 1
RT
0.37071584212969266 0.16465408854375393 0.9140343513894312 0
-0.14141162245791533 0.9826913722464635 -0.1196679570569417 0
-0.9179174894443903 -0.08489227313594375 0.3875832614212326 0
0 0 0 1
ranges
-1.570796326795 1.570796326795
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment radius_reset_axis
parent radius_rotation_2
RTinMatrix 1
RT
0.992118278029429 -0.12530491770046798 -4.8101740282870183e-17 0
0.12530491770046798 0.992118278029429 -1.4178179663497993e-18 0
4.3427629885068105e-17 -1.00339074274902e-18 1.0000000000000002 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment radius
parent radius_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
mass 0.60750000000000004
inertia
0.0030912422797799129 0 0
0 0.00064496547228358751 0
0 0 0.0033531942758044772
com 0 -0.12312638689771148 0
meshfile Geometry_cleaned/radius.vtp
meshcolor 1 1 1
meshscale 1.021583795044277 1.021583795044277 1.021583795044277
endsegment
// Markers
marker RADIUS
parent radius
position 0.062045310502069684 -0.21791924402960805 0.017585473680696517
endmarker
// Information about hand_r segment
// Segment
segment hand_r_parent_offset
parent radius
RTinMatrix 0
RT 0 0 0 xyz 0.017484304493803296 -0.23506643123968812 0.024283761916858992
endsegment
// Segment to cancel transformation bases effect.
// Segment
segment hand_r_reset_axis
parent hand_r_parent_offset
RTinMatrix 1
RT
1.0 0.0 0.0 0
0.0 1.0 0.0 0
0.0 0.0 1.0 0
0 0 0 1
endsegment
//True segment where are applied inertial values.
// Segment
segment hand_r
parent hand_r_reset_axis
RTinMatrix 0
RT -0.0 0.0 -0.0 xyz -0.0 -0.0 -0.0
mass 0.45750000000000002
inertia
0.0011035241554899452 0 0
0 0.00067671268279484301 0
0 0 0.001657760502641846
com 0 -0.075739724150060694 0
meshfile Geometry_cleaned/lunate.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_1
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.014891011482796278
0 1 0 -0.01099585744838094
0 0 1 -0.011782229208041601
0 0 0 1
meshfile Geometry_cleaned/pisiform.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_3
parent hand_r
RTinMatrix 1
RT
1 0 0 0.013730918490821635
0 1 0 -0.004965153515028576
0 0 1 -0.0013947810277432425
0 0 0 1
meshfile Geometry_cleaned/scaphoid.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_4
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.01199467193236294
0 1 0 -0.00834087952715038
0 0 1 -0.0014337103227759487
0 0 0 1
meshfile Geometry_cleaned/triquetrum.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_5
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.007760276898376876
0 1 0 -0.019519148529398855
0 0 1 0.001754042807616502
0 0 0 1
meshfile Geometry_cleaned/hamate.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_6
parent hand_r
RTinMatrix 1
RT
1 0 0 0.004440164164873225
0 1 0 -0.01674404592635309
0 0 1 0.0025882419868887762
0 0 0 1
meshfile Geometry_cleaned/capitate.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_7
parent hand_r
RTinMatrix 1
RT
1 0 0 0.014609608292988432
0 1 0 -0.021262068681291726
0 0 1 -0.00015238038341373544
0 0 0 1
meshfile Geometry_cleaned/trapezoid.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_8
parent hand_r
RTinMatrix 1
RT
1 0 0 0.02145004156302108
0 1 0 -0.021825987326479786
0 0 1 -0.008876991533029361
0 0 0 1
meshfile Geometry_cleaned/trapezium.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_9
parent hand_r
RTinMatrix 1
RT
1 0 0 0.029458353684034915
0 1 0 -0.02783222141724016
0 0 1 -0.011657655463936944
0 0 0 1
meshfile Geometry_cleaned/1mc.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_10
parent hand_r
RTinMatrix 1
RT
1 0 0 0.020773784095024353
0 1 0 -0.058587476758650364
0 0 1 0.008185162347019555
0 0 0 1
meshfile Geometry_cleaned/2mc.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_11
parent hand_r
RTinMatrix 1
RT
1 0 0 0.004970714842890391
0 1 0 -0.06038823472030612
0 0 1 0.010793425114210867
0 0 0 1
meshfile Geometry_cleaned/3mc.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_12
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.008958186919811864
0 1 0 -0.06181193465293079
0 0 1 0.006495630942600109
0 0 0 1
meshfile Geometry_cleaned/4mc.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_13
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.019914002807587733
0 1 0 -0.05532075277262014
0 0 1 -0.0021032941973384944
0 0 0 1
meshfile Geometry_cleaned/5mc.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_14
parent hand_r
RTinMatrix 1
RT
1 0 0 0.04781073562802495
0 1 0 -0.060310376130240706
0 0 1 -0.025783428232947454
0 0 0 1
meshfile Geometry_cleaned/thumbprox.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_15
parent hand_r
RTinMatrix 1
RT
1 0 0 0.0633824536411074
0 1 0 -0.08911805445444324
0 0 1 -0.03701731051381408
0 0 0 1
meshfile Geometry_cleaned/thumbdist.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_16
parent hand_r
RTinMatrix 1
RT
1 0 0 0.024667825863867333
0 1 0 -0.0900011933188995
0 0 1 0.012211563718973731
0 0 0 1
meshfile Geometry_cleaned/2proxph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_17
parent hand_r
RTinMatrix 1
RT
1 0 0 0.033028726171320244
0 1 0 -0.13590773028703892
0 0 1 0.020360021302105305
0 0 0 1
meshfile Geometry_cleaned/2midph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_18
parent hand_r
RTinMatrix 1
RT
1 0 0 0.03673590732400624
0 1 0 -0.16358979585201006
0 0 1 0.02171698530038821
0 0 0 1
meshfile Geometry_cleaned/2distph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_19
parent hand_r
RTinMatrix 1
RT
1 0 0 0.005237658580257519
0 1 0 -0.08962969661773024
0 0 1 0.012771033301872337
0 0 0 1
meshfile Geometry_cleaned/3proxph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_20
parent hand_r
RTinMatrix 1
RT
1 0 0 0.0070728967746565225
0 1 0 -0.13880406983747226
0 0 1 0.019700447817694026
0 0 0 1
meshfile Geometry_cleaned/3midph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_21
parent hand_r
RTinMatrix 1
RT
1 0 0 0.008591139280932062
0 1 0 -0.17111204791790127
0 0 1 0.021873814746091395
0 0 0 1
meshfile Geometry_cleaned/3distph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_22
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.010993632917236212
0 1 0 -0.08816039379663868
0 0 1 0.006303208998581305
0 0 0 1
meshfile Geometry_cleaned/4proxph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_23
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.01491770585653299
0 1 0 -0.13293464441211253
0 0 1 0.007799206193409583
0 0 0 1
meshfile Geometry_cleaned/4midph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_24
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.017494825187698137
0 1 0 -0.16050659568541972
0 0 1 0.00842541171064997
0 0 0 1
meshfile Geometry_cleaned/4distph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_25
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.021690290926651496
0 1 0 -0.07915771625393228
0 0 1 -0.0037672434935935905
0 0 0 1
meshfile Geometry_cleaned/5proxph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_26
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.02756194088315594
0 1 0 -0.11871321680387882
0 0 1 -0.0069694560764267605
0 0 0 1
meshfile Geometry_cleaned/5midph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Segment
segment hand_r_geom_27
parent hand_r
RTinMatrix 1
RT
1 0 0 -0.030755255341410208
0 1 0 -0.1417115320436292
0 0 1 -0.009464267755237041
0 0 0 1
meshfile Geometry_cleaned/5distph.vtp
meshcolor 1 1 1
meshscale 1.1122655723630324 1.1122655723630324 1.1122655723630324
endsegment
// Markers
marker SEML
parent hand_r
position -2.870979499874915e-05 -0.028397092471877383 0.025584440352950488
endmarker
marker MET2
parent hand_r
position 0.025627702742705871 -0.065897210048525667 0.037768660499899687
endmarker
marker MET5
parent hand_r
position -0.027079917714738277 -0.060199721937794437 0.019621605095738293
endmarker
// MUSCLE DEFINIION
// thorax > scapula
musclegroup thorax_to_scapula
OriginParent thorax
InsertionParent scapula
endmusclegroup
muscle LVS
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.038354129111817986 0.092439280084944189 0.022543799999999999
InsertionPosition -0.067647100000000002 0.00067274132337001406 -0.095175441459486559
optimalLength 0.14897371558402536
maximalForce 169.95639725599801
tendonSlackLength 0.0052673495500779556
pennationAngle 0
endmuscle
muscle TRP2
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.079740625445178182 0.030792080978762286 0.0035691299999999998
InsertionPosition -0.039 -0.0025832563993960834 -0.0099500218454616467
optimalLength 0.08777311531414006
maximalForce 162.449964047061
tendonSlackLength 0.044046536998511979
pennationAngle 0
endmuscle
muscle TRP3
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.094864378124900631 -0.015078897070670394 0.0025060199999999999
InsertionPosition -0.058344 -0.0065134643305282498 -0.044193718528147088
optimalLength 0.080837409544661148
maximalForce 155.28316683500699
tendonSlackLength 0.019665364181553253
pennationAngle 0
endmuscle
muscle TRP4
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.11937713679837272 -0.10333002423697976 0.00068362499999999999
InsertionPosition -0.079191899999999996 -0.012951703338165923 -0.078505771860910845
optimalLength 0.12638689206631343
maximalForce 557.24345537557701
tendonSlackLength 0.0049287977581734073
pennationAngle 0
endmuscle
muscle RMN
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.064844755764284501 0.054777422391559534 0.0030000000000000001
InsertionPosition -0.079057000000000002 -0.013161129516418082 -0.099757924020413918
optimalLength 0.10877204719637304
maximalForce 301.61706145578802
tendonSlackLength 0.023291895380088152
pennationAngle 0
endmuscle
muscle RMJ1
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.08137388986496813 0.009240267155451275 0.00143378
InsertionPosition -0.0903423 -0.04228987944634769 -0.10365733758165034
optimalLength 0.090525405882897023
maximalForce 185.935898822876
tendonSlackLength 0.024926628416222528
pennationAngle 0
endmuscle
muscle RMJ2
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.089547519864964314 -0.024470942801755279 0.00143378
InsertionPosition -0.10000000000000001 -0.099059682976415653 -0.096515211900977976
optimalLength 0.089786662609986689
maximalForce 111.570078855478
tendonSlackLength 0.046838954864813001
pennationAngle 0
endmuscle
muscle SRA1
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.00097167396236370266 -0.054977692587449098 0.11981899999999999
InsertionPosition -0.087849800000000006 -0.04727498294692143 -0.0980829373429489
optimalLength 0.087212665706146372
maximalForce 365.11775335508798
tendonSlackLength 0.071441985287189591
pennationAngle 0
endmuscle
muscle SRA2
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.00064425117559124205 -0.099852213845994311 0.137825
InsertionPosition -0.093100100000000005 -0.062327652106759876 -0.09802592371777441
optimalLength 0.12940786597423884
maximalForce 179.96260532400399
tendonSlackLength 0.042542991696600856
pennationAngle 0
endmuscle
muscle SRA3
type hill
statetype degroote
musclegroup thorax_to_scapula
OriginPosition -0.011706434050944658 -0.15839258205406534 0.148868
InsertionPosition -0.096883499999999997 -0.077465472569843707 -0.097751402615058117
optimalLength 0.13280547898553621
maximalForce 377.92166433725902
tendonSlackLength 0.0087364343732339103
pennationAngle 0
endmuscle
// thorax > clavicle
musclegroup thorax_to_clavicle
OriginParent thorax
InsertionParent clavicle
endmusclegroup
muscle TRP1
type hill
statetype degroote
musclegroup thorax_to_clavicle
OriginPosition -0.060686560068853826 0.094800236646457522 0.0019247699999999999
InsertionPosition -0.042636058224653307 0.024845900000000001 0.098256899999999994
optimalLength 0.10058518056114195
maximalForce 280.56713981164
tendonSlackLength 0.015066196509909813
pennationAngle 0
endmuscle
muscle SBCL
type hill
statetype degroote
musclegroup thorax_to_clavicle
OriginPosition -0.00095503150433270717 -0.012919678961614717 0.0391262
InsertionPosition -0.021943402927804383 0.0090854600000000001 0.075709299999999993
optimalLength 0.0244214227345541
maximalForce 195.80764894274199
tendonSlackLength 0.044527421986811443
pennationAngle 0
endmuscle
// scapula > thorax
musclegroup scapula_to_thorax
OriginParent scapula
InsertionParent thorax
endmusclegroup
muscle PMN
type hill
statetype degroote
musclegroup scapula_to_thorax
OriginPosition 0.012 -0.041294879964006805 -0.026387457934164284
InsertionPosition 0.033395049218606525 -0.073489373514349726 0.0894181
optimalLength 0.11687099550957379
maximalForce 218.72293530659101
tendonSlackLength 0.0050782716361936243
pennationAngle 0
endmuscle
// humerus > clavicle
musclegroup humerus_to_clavicle
OriginParent humerus
InsertionParent clavicle
endmusclegroup
muscle DELT1
type hill
statetype degroote
musclegroup humerus_to_clavicle
OriginPosition 0.0038752434999999997 -0.10187001999999999 0.0065918859999999999
InsertionPosition -0.033677243893434607 0.019284200000000001 0.099015000000000006
optimalLength 0.17862531668340353
maximalForce 556.79999999999995
tendonSlackLength 0.031911942991955086
pennationAngle 0.383972435439
endmuscle
viapoint DELT1-P3
parent clavicle
muscle DELT1
musclegroup humerus_to_clavicle
position -0.0032142932154970868 0.031505100000000001 0.13061800000000001
endviapoint
muscle PECM1
type hill
statetype degroote
musclegroup humerus_to_clavicle
OriginPosition 0.013599999999999999 -0.039685786000000001 0.0042500000000000003
InsertionPosition 0.0015403313794683361 0.0060833399999999996 0.0513213
optimalLength 0.10238891827956645
maximalForce 983.39999999999998
tendonSlackLength 0.04794798124311405
pennationAngle 0.29670597283900002
endmuscle
viapoint PECM1-P2
parent clavicle
muscle PECM1
musclegroup humerus_to_clavicle
position -0.00067696994212547532 0.0055703899999999997 0.059160499999999998
endviapoint
// humerus > scapula
musclegroup humerus_to_scapula
OriginParent humerus
InsertionParent scapula
endmusclegroup
muscle DELT2
type hill
statetype degroote
musclegroup humerus_to_scapula
OriginPosition 0.0038752434999999997 -0.10187001999999999 0.0065918859999999999
InsertionPosition -0.027529399999999999 -0.0032041304730007895 0.0014192114159055763
optimalLength 0.12839265558104354
maximalForce 1098.4000000000001
tendonSlackLength 0.045492693593586743
pennationAngle 0.26179938779900003
endmuscle
viapoint default
parent humerus
muscle DELT2
musclegroup humerus_to_scapula
position -0.0029752124999999998 -0.056788941999999995 0.024106934999999999
endviapoint
viapoint DELT2-P3
parent scapula
muscle DELT2
musclegroup humerus_to_scapula
position -0.027642099999999999 -0.0048423975209162017 0.018269334610670585
endviapoint
muscle SUPSP
type hill
statetype degroote
musclegroup humerus_to_scapula
OriginPosition 0.012116664999999999 0.016507413999999998 0.017802229999999999
InsertionPosition -0.067039799999999997 -0.01159648682681989 -0.064175053897547796
optimalLength 0.11318558801894239
maximalForce 410.69999999999999
tendonSlackLength 0.024094442771414346
pennationAngle 0.12217304764
endmuscle
viapoint SUPSP-P2
parent humerus
muscle SUPSP
musclegroup humerus_to_scapula
position 0.0030309299999999998 0.030606674 0.0046898749999999996
endviapoint
viapoint SUPSP-P2_0
parent scapula
muscle SUPSP
musclegroup humerus_to_scapula
position -0.056179699999999999 -0.0013378960758680363 -0.040500369919330176
endviapoint
muscle INFSP
type hill
statetype degroote
musclegroup humerus_to_scapula
OriginPosition -0.0043329344999999998 0.0078800525999999996 0.022437194999999997
InsertionPosition -0.087984999999999994 -0.05458568761086674 -0.069006585505267073
optimalLength 0.12856503035137123
maximalForce 864.60000000000002
tendonSlackLength 0.032748613173402955
pennationAngle 0.32288591161899999
endmuscle
viapoint INFSP-P2
parent scapula
muscle INFSP
musclegroup humerus_to_scapula
position -0.042663899999999998 -0.048514729888414147 -0.021795423352265284
endviapoint
muscle SUBSC
type hill
statetype degroote
musclegroup humerus_to_scapula
OriginPosition 0.016999574999999999 -0.0081454953999999993 -0.0014864205
InsertionPosition -0.071999999999999995 -0.039023511475557673 -0.064675141995500701
optimalLength 0.15967541111623323
maximalForce 944.29999999999995
tendonSlackLength 0.007338024407915129
pennationAngle 0.34906585039900001
endmuscle
viapoint SUBSC-P2
parent humerus
muscle SUBSC
musclegroup humerus_to_scapula
position 0.0063167155000000003 0.010167107999999999 -0.019282674999999999
endviapoint
viapoint default
parent scapula
muscle SUBSC
musclegroup humerus_to_scapula
position -0.039108799999999999 -0.032307465090328363 -0.033204615901363879
endviapoint
muscle TMIN
type hill
statetype degroote
musclegroup humerus_to_scapula
OriginPosition 0.0055728804999999994 -0.0035810866 0.018426385
InsertionPosition -0.082000400000000001 -0.067521781544442439 -0.040726036414785241
optimalLength 0.043991956829814986
maximalForce 605.39999999999998
tendonSlackLength 0.10080276200739063
pennationAngle 0.418879020479
endmuscle
viapoint TMIN-P1_0
parent humerus
muscle TMIN
musclegroup humerus_to_scapula
position -0.0072057134999999996 -0.013893263999999999 0.022852165000000001
endviapoint
viapoint TMIN-P2
parent scapula
muscle TMIN
musclegroup humerus_to_scapula
position -0.075018899999999999 -0.052682540974289538 -0.010216483430483109
endviapoint
muscle TMAJ
type hill
statetype degroote
musclegroup humerus_to_scapula
OriginPosition 0.0031441500000000001 -0.0441 -0.0057485839999999993
InsertionPosition -0.104709 -0.10782196220696587 -0.070799877942474609
optimalLength 0.13873412511849612
maximalForce 234.90000000000001
tendonSlackLength 0.053674513824663116
pennationAngle 0.27925268031900002
endmuscle
viapoint default
parent scapula
muscle TMAJ
musclegroup humerus_to_scapula
position -0.045351900000000001 -0.10628003320225217 -0.0024591777491713824
endviapoint
// scapula > humerus
musclegroup scapula_to_humerus
OriginParent scapula
InsertionParent humerus
endmusclegroup
muscle DELT3
type hill
statetype degroote
musclegroup scapula_to_humerus
OriginPosition -0.059062499999999997 -0.0015696557099185151 -0.038268381018956216
InsertionPosition 0.0038752434999999997 -0.10187001999999999 0.0065918859999999999
optimalLength 0.12168303750339739
maximalForce 944.70000000000005
tendonSlackLength 0.096613160884212096
pennationAngle 0.31415926535900002
endmuscle
viapoint DELT3-P2
parent scapula
muscle DELT3
musclegroup scapula_to_humerus
position -0.072188100000000005 -0.023734399860291685 0.0059474066576440986
endviapoint
viapoint DELT3-P2_0
parent humerus
muscle DELT3
musclegroup scapula_to_humerus
position -0.015796825 -0.048707960000000002 0.0050155440000000003
endviapoint
muscle CORB
type hill
statetype degroote
musclegroup scapula_to_humerus
OriginPosition 0.012500000000000001 -0.041294879964006805 -0.026387457934164284
InsertionPosition 0 -0.12544 -0.0099104899999999992
optimalLength 0.081763395438906539
maximalForce 306.89999999999998
tendonSlackLength 0.060438086772749429
pennationAngle 0
endmuscle
// humerus > thorax
musclegroup humerus_to_thorax
OriginParent humerus
InsertionParent thorax
endmusclegroup
muscle PECM2
type hill
statetype degroote
musclegroup humerus_to_thorax
OriginPosition 0.013599999999999999 -0.034785785999999999 0.0042500000000000003
InsertionPosition 0.025593916315611837 -0.046576230620979264 0.0174664
optimalLength 0.14296164500908479
maximalForce 699.70000000000005
tendonSlackLength 0.097520264988339975
pennationAngle 0.43633231299899999
endmuscle
viapoint PECM2-P2
parent thorax
muscle PECM2
musclegroup humerus_to_thorax
position 0.043556325375053655 -0.04255124994894656 0.080812499999999995
endviapoint
muscle PECM3
type hill
statetype degroote
musclegroup humerus_to_thorax
OriginPosition 0.013599999999999999 -0.029399999999999999 0.0042500000000000003
InsertionPosition 0.064488933033050963 -0.14463208149778231 0.022060199999999999
optimalLength 0.18298157388425934
maximalForce 446.69999999999999
tendonSlackLength 0.09971637892865319
pennationAngle 0.43633231299899999
endmuscle
viapoint PECM3-P2
parent thorax
muscle PECM3
musclegroup humerus_to_thorax
position 0.044535172402543094 -0.091091616322965918 0.082833000000000004
endviapoint
muscle LAT
type hill
statetype degroote
musclegroup humerus_to_thorax
OriginPosition 0.0084298920000000013 -0.021887026 -0.0074986999999999996
InsertionPosition -0.09747504857760747 -0.15759091396787986 0.00051214399999999997
optimalLength 0.22717282303674899
maximalForce 1129.7
tendonSlackLength 0.075495500102847099
pennationAngle 0.33161255787900001
endmuscle
viapoint LAT-P2
parent humerus
muscle LAT
musclegroup humerus_to_thorax
position 0.0017181305 -0.018512984 -0.018245335000000001
endviapoint
/*-------------- WARNINGS---------------
Some wrapping objects were present on the muscles :['TRP1', 'TRP2', 'TRP4', 'RMN', 'RMJ1', 'RMJ2', 'SRA1', 'SRA2', 'SRA3', 'SUPSP', 'INFSP', 'LAT', 'CORB'] in the original file force set.
Only via point are supported in biomod so they will be ignored.*/