![]() The ForceSet tag has six Thelen2003Muscle objects named TRIlong, TRIlat, TRImed, BIClong, BICshort, and BRA. Now open your new model in OpenSim to see the bucket! From the XML editor, save the OpenSim model file (e.g., arm26_with_bucket.osim). Place the code within the PinJoint tags, immediately following the orientation tag.Add a tag and name for the Coordinate, and add tags and values for motion type, default_value, default_speed_value, initial_value, range, clamped, and locked as seen below: The above description of joints in OpenSim is illustrated here: JointReferenceFrames.jpg Additionally, the local location and orientation offset of the joint center with respect to the child body origin can be specified using the location and orientation tags. The location_in_parent and orientation_in_parent vectors should be given in the coordinate frame of the parent body. In most cases, the location_in_parent and orientation_in_parent tags are all that's required to specify the new joint (in which case, the child body origin, e.g., bucket, would be located at the joint center of r_handle). In the above example, the vector from the parent body r_ulna_radius_hand to the joint r_handle is and the orientation of the joint (in a zero pose) is exactly the same as the orientation of the parent body (in a zero pose). The location_in_parent and orientation_in_parent tags define the position and orientation of the joint with respect to the parent body origin. ![]() Add a new Body named bucket immediately below the Body named r_ulna_radius_hand. From the XML editor, save a copy of the OpenSim model file ( arm26_with_bucket.osim). The BodySet tag has three Body objects named ground, r_humerus, and r_ulna_radius_hand. The Model tag has eight main sets named: BodySet, ConstraintSet, ForceSet, MarkerSet, ContactGeometrySet, ControllerSet, ProbeSet, and ComponentSet.
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