examples/biorbd/models/no_mesh_no_marker.s2mMod
version 1
// General informations
root_actuated 1
external_forces 0
// Informations about Pelvis segment
// Segment
segment Pelvis
RT
0.9983435315 -0.0567103253 0.0096167086 0.0000000000
0.0532367436 0.9743032990 0.2188510625 0.0000000000
-0.0217820878 -0.2179769859 0.9757099911 0.0000000000
0.0000000000 0.0000000000 0.0000000000 1.0000000000
translations xyz
rotations xyz
mass 9.58000
inertia
0.0477000000 0.0000000000 0.0000000000
0.0000000000 0.0867000000 0.0000000000
0.0000000000 0.0000000000 0.0778000000
com 0.0000000000 0.0000000000 0.0918000000
endsegment
// Informations about Thorax segment
// Segment
segment Thorax
parent Pelvis
RT
0.9992543367 0.0212393095 0.0322126668 0.0041380225
-0.0093443587 0.9432202831 -0.3320313625 -0.1330231799
-0.0374370806 0.3314830892 0.9427170894 0.1932558805
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 17.55000
inertia
0.3801000000 0.0000000000 0.0000000000
0.0000000000 0.4459000000 0.0000000000
0.0000000000 0.0000000000 0.1613000000
com 0.0000000000 0.0000000000 0.1802000000
endsegment
// Informations about Tete segment
// Segment
segment Tete
parent Thorax
RT
0.9915483827 -0.1170962838 -0.0558486420 -0.0054864880
0.0886264391 0.9257719784 -0.3675467372 0.0447922297
0.0947418588 0.3594907986 0.9283261064 0.3250632517
0.0000000000 0.0000000000 0.0000000000 1.0000000000
//0.9979151533 0.0023908673 -0.0644951996 0.0024085106
//0.0569603394 0.4372401317 0.8975391841 0.0102638362
//0.0303457867 -0.8993416209 0.4361923684 0.3138652531
//0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 4.54000
inertia
0.0443000000 0.0000000000 0.0000000000
0.0000000000 0.0446000000 0.0000000000
0.0000000000 0.0000000000 0.0140000000
com 0.0000000000 0.0000000000 0.0574000000
endsegment
// Informations about BrasD segment
// Segment
segment BrasD
parent Thorax
RT
0.9030216822 -0.4057979105 -0.1409886945 0.1852763865
0.4231511860 0.8968338547 0.1289571229 0.0137101005
0.0741136092 -0.1761111430 0.9815759578 0.2182807120
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 1.81000
inertia
0.0090000000 0.0000000000 0.0000000000
0.0000000000 0.0090000000 0.0000000000
0.0000000000 0.0000000000 0.0021000000
com 0.0000000000 0.0000000000 -0.1112400000
endsegment
// Informations about ABrasD segment
// Segment
segment ABrasD
parent BrasD
RT
0.9832777536 -0.0334403464 -0.1790062887 -0.0000001635
-0.0512153550 0.8925349707 -0.4480569739 0.0000001666
0.1747540136 0.4497323388 0.8758997505 -0.3060827137
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 1.06000
inertia
0.0063000000 0.0000000000 0.0000000000
0.0000000000 0.0063000000 0.0000000000
0.0000000000 0.0000000000 0.0007000000
com 0.0000000000 0.0000000000 -0.1127000000
endsegment
// Informations about MainD segment
// Segment
segment MainD
parent ABrasD
RT
0.0935556953 0.1122718334 -0.9892617750 -0.0000001655
0.9673968110 -0.2451231087 0.0636689945 0.0000000287
-0.2353437406 -0.9629682381 -0.1315455735 -0.2430286136
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xy
mass 0.44000
inertia
0.0015000000 0.0000000000 0.0000000000
0.0000000000 0.0016000000 0.0000000000
0.0000000000 0.0000000000 0.0002000000
//com 0.0000000000 -0.0732000000 0.0000000000
com 0.0045909043 0.0458948675 0.0030599950
endsegment
// Informations about BrasG segment
// Segment
segment BrasG
parent Thorax
RT
0.9969577779 0.0703873565 0.0333788703 -0.1953685328
-0.0729662649 0.9938190464 0.0836338118 0.0230441504
-0.0272866373 -0.0858140145 0.9959364250 0.2076270739
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 1.81000
inertia
0.0090000000 0.0000000000 0.0000000000
0.0000000000 0.0090000000 0.0000000000
0.0000000000 0.0000000000 0.0021000000
com 0.0000000000 0.0000000000 -0.1112400000
endsegment
// Informations about ABrasG segment
// Segment
segment ABrasG
parent BrasG
RT
0.9983937360 0.0531048139 0.0194385962 0.0000002828
-0.0383875262 0.8888225586 -0.4566313343 -0.0000002710
-0.0415281820 0.4551561081 0.8894400898 -0.3158738207
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 1.06000
inertia
0.0063000000 0.0000000000 0.0000000000
0.0000000000 0.0063000000 0.0000000000
0.0000000000 0.0000000000 0.0007000000
com 0.0000000000 0.0000000000 -0.1127000000
endsegment
// Informations about MainG segment
// Segment
segment MainG
parent ABrasG
RT
-0.1302145943 -0.0679031578 0.9891520826 -0.0000000603
-0.9445588903 -0.2947874860 -0.1445832126 -0.0000000733
0.3014069919 -0.9531430964 -0.0257532478 -0.2333990624
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xy
mass 0.44000
inertia
0.0015000000 0.0000000000 0.0000000000
0.0000000000 0.0016000000 0.0000000000
0.0000000000 0.0000000000 0.0002000000
//com 0.0000000000 -0.0732000000 0.0000000000
com -0.0046140520 0.0440132685 0.0149093955
endsegment
// Informations about CuisseD segment
// Segment
segment CuisseD
parent Pelvis
RT
0.9819348890 0.1367016107 -0.1308238108 0.0835197461
-0.1579196972 0.9729395014 -0.1686613645 -0.0774944660
0.1042262762 0.1862738604 0.9769528026 -0.0443226889
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 9.38000
inertia
0.1299000000 0.0000000000 0.0000000000
0.0000000000 0.1299000000 0.0000000000
0.0000000000 0.0000000000 0.0357000000
com 0.0000000000 0.0000000000 -0.1732000000
endsegment
// Informations about JambeD segment
// Segment
segment JambeD
parent CuisseD
RT
0.9976303721 -0.0039625688 0.0686848284 0.0000000434
-0.0012616454 0.9971178590 0.0758543468 0.0000000064
-0.0687875804 -0.0757613306 0.9947501493 -0.4364030680
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations x
mass 2.71000
inertia
0.0256000000 0.0000000000 0.0000000000
0.0000000000 0.0256000000 0.0000000000
0.0000000000 0.0000000000 0.0039000000
com 0.0000000000 0.0000000000 -0.1208000000
endsegment
// Informations about PiedD segment
// Segment
segment PiedD
parent JambeD
RT
0.8771233720 0.1678220946 -0.4499888748 0.0000000112
-0.4318424585 -0.1344042844 -0.8918781671 0.0000000096
-0.2101575149 0.9766115817 -0.0454163197 -0.4115461337
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xz
mass 0.94000
inertia
0.0049000000 0.0000000000 0.0000000000
0.0000000000 0.0049000000 0.0000000000
0.0000000000 0.0000000000 0.0008000000
com 0.0000000000 0.0000000000 -0.0564000000
endsegment
// Informations about CuisseG segment
// Segment
segment CuisseG
parent Pelvis
RT
0.9877964709 -0.1237389794 0.0945742335 -0.0831241078
0.1362146060 0.9808160124 -0.1394317046 -0.0771357224
-0.0755088658 0.1506124563 0.9857037792 -0.0440326799
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xyz
mass 9.38000
inertia
0.1299000000 0.0000000000 0.0000000000
0.0000000000 0.1299000000 0.0000000000
0.0000000000 0.0000000000 0.0357000000
com 0.0000000000 0.0000000000 -0.1732000000
endsegment
// Informations about JambeG segment
// Segment
segment JambeG
parent CuisseG
RT
0.9987452764 -0.0044581978 -0.0498655879 0.0000002686
0.0059641837 0.9995278657 0.0300879934 0.0000000571
0.0497075439 -0.0303479173 0.9983015999 -0.4384434247
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations x
mass 2.71000
inertia
0.0256000000 0.0000000000 0.0000000000
0.0000000000 0.0256000000 0.0000000000
0.0000000000 0.0000000000 0.0039000000
com 0.0000000000 0.0000000000 -0.1208000000
endsegment
// Informations about PiedG segment
// Segment
segment PiedG
parent JambeG
RT
0.8419413674 -0.2308711468 0.4876799784 -0.0000000540
0.4687345592 -0.1347107955 -0.8730051438 0.0000000515
0.2672473045 0.9636124108 -0.0052010951 -0.4033995224
0.0000000000 0.0000000000 0.0000000000 1.0000000000
rotations xz
mass 0.94000
inertia
0.0049000000 0.0000000000 0.0000000000
0.0000000000 0.0049000000 0.0000000000
0.0000000000 0.0000000000 0.0008000000
com 0.0000000000 0.0000000000 -0.0564000000
endsegment