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Model_JeCh_15DoFs.bioMod
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Model_JeCh_15DoFs.bioMod
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version 1
// General informations
root_actuated 0
external_forces 0
// Informations about Pelvis segment
// Segment
segment Pelvis
translations xyz
rotations xyz
RT
1 0 0 0.0000000000
0 1 0 0.0000000000
0 0 1 0.0000000000
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 0.0001
inertia
0.0001 0.0000000000 0.0000000000
0.0000000000 0.0001 0.0000000000
0.0000000000 0.0000000000 0.0001
com 0.0000000000 0.0000000000 0.0000000000
meshfile Model_mesh/pelvis.stl
endsegment
// Markers
marker base_pelvis
parent Pelvis
position 0 0 0
technical 1
endmarker
marker top_tete
parent Pelvis
position 0 0 0.788
technical 1
endmarker
// Informations about Thorax segment
// Segment
segment Thorax
parent Pelvis
rotations xyz
RT
1 0 0 -0.0105445918
0 1 0 -0.0594876700
0 00 1 0.2160444777
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 20.3888
inertia
0.4918 0.0000000000 0.0000000000
0.0000000000 0.5645 0.0000000000
0.0000000000 0.0000000000 0.2255
com 0 0 0.1760
meshfile Model_mesh/thorax.stl
endsegment
// Informations about Tete segment
// Segment
segment Tete
parent Thorax
RT
1 0 0 -0.0014793674
0 1 0 -0.0066127196
0 0 1 0.2994318521
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 5.9721
inertia
0.0974 0.0000000000 0.0000000000
0.0000000000 0.0974 0.0000000000
0.0000000000 0.0000000000 0.0203
com 0 0 0.1182
meshfile Model_mesh/tete.stl
endsegment
// Informations about EpauleD segment
// Segment
segment EpauleD
parent Thorax
RT
0.9926071942 0.0960671994 0.0741758111 0.0323399606
-0.0905310952 0.9930877165 -0.0747054765 0.0167688444
-0.0808398328 0.0674379760 0.9944430807 0.1699134093
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 0.6007
inertia
0 0 0
0 0 0
0 0 0
com 0.1003 0 0
endsegment
// Informations about BrasD segment
// Segment
segment BrasD
parent EpauleD
rotations zy
RT
0.7407461168 -0.6039532562 -0.2941694317 0.1612546624
0.6178599746 0.7843909783 -0.0545879575 -0.0000019510
0.2637124230 -0.1413197002 0.9541931147 0.0000024963
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 2.2471
inertia
0.0134 0.0000000000 0.0000000000
0.0000000000 0.0134 0.0000000000
0.0000000000 0.0000000000 0.0031
com 0 0 -0.1214
meshfile Model_mesh/bras.stl
endsegment
// Markers
marker base_brasD
parent BrasD
position 0 0 0
technical 1
endmarker
marker top_brasD
parent BrasD
position 0 0 -0.26
technical 1
endmarker
// Informations about ABrasD segment
// Segment
segment ABrasD
parent BrasD
RT
1 0 0 0.0000006432
0 1 0 0.0000007417
0 0 1 -0.2929873739
0 0 0 1
mass 1.2921
inertia
0.0064 0.0000000000 0.0000000000
0.0000000000 0.0065 0.0000000000
0.0000000000 0.0000000000 0.0010
com 0 0 -0.1248
meshfile Model_mesh/avantbras.stl
endsegment
// Markers
marker base_AbrasD
parent ABrasD
position 0 0 0
technical 1
endmarker
marker top_AbrasD
parent ABrasD
position 0 0 -0.4245
technical 1
endmarker
// Informations about MainD segment
// Segment
segment MainD
parent ABrasD
RT
1 0 0 0.0000003366
0 1 0 0.0000005075
0 0 1 -0.2540782785
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 0.5275
inertia
0.0023 0.0000000000 0.0000000000
0.0000000000 0.0025 0.0000000000
0.0000000000 0.0000000000 0.0003
com 0.0255838836 -0.0346156093 -0.0344497047
meshfile Model_mesh/main.stl
endsegment
// Markers
marker MidMainD
parent MainD
position 0 0 -0.1
technical 1
endmarker
// Informations about EpauleG segment
// Segment
segment EpauleG
parent Thorax
RT
0.9840921936 -0.1440107224 -0.1040358888 -0.0284824291
0.1366368693 0.9877881205 -0.0748665146 0.0276167488
0.1135469960 0.0594604144 0.9917517526 0.1667404889
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 0.6007
inertia
0.0000000000 0.0000000000 0.0000000000
0.0000000000 0.0000000000 0.0000000000
0.0000000000 0.0000000000 0.0000000000
com -0.1003 0 0
endsegment
// Informations about BrasG segment
// Segment
segment BrasG
parent EpauleG
rotations zy
RT
0.7822185856 0.5693963449 0.2528277810 -0.1671338270
-0.5693349884 0.8181046273 -0.0810091957 -0.0000077493
-0.2529659173 -0.0805768033 0.9641139058 0.0000038505
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 2.2471
inertia
0.0134 0.0000000000 0.0000000000
0.0000000000 0.0134 0.0000000000
0.0000000000 0.0000000000 0.0031
com 0 0 -0.1214
meshfile Model_mesh/bras.stl
endsegment
// Markers
marker base_brasG
parent BrasG
position 0 0 0
technical 1
endmarker
marker top_brasG
parent BrasG
position 0 0 -0.26
technical 1
endmarker
// Informations about ABrasG segment
// Segment
segment ABrasG
parent BrasG
RT
1 0 0 0.0000008108
0 1 0 0.0000069167
0 0 1 -0.2885936396
0 0 0 1
mass 1.2921
inertia
0.0064 0.0000000000 0.0000000000
0.0000000000 0.0065 0.0000000000
0.0000000000 0.0000000000 0.0010
com 0 0 -0.1248
meshfile Model_mesh/avantbras.stl
endsegment
// Markers
marker base_AbrasG
parent ABrasG
position 0 0 0
technical 1
endmarker
marker top_AbrasG
parent ABrasG
position 0 0 -0.4245
technical 1
endmarker
// Informations about MainG segment
// Segment
segment MainG
parent ABrasG
RT
1 0 0 0.0000003366
0 1 0 0.0000005075
0 0 1 -0.2540782785
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 0.5275
inertia
0.0023 0.0000000000 0.0000000000
0.0000000000 0.0025 0.0000000000
0.0000000000 0.0000000000 0.0003
com -0.0271839495 0.0277505879 -0.0414542613
meshfile Model_mesh/main.stl
endsegment
// Markers
marker MidMainG
parent MainG
position 0 0 -0.1
technical 1
endmarker
// Pour obtenir les valeurs de la cuisse 'Milieu', j'ai fait la moyenne des deux matrices de RT, multiplié par deux la masse, multipliée par 2 l'inertie en z de la cuisse (pt pas super bonne inertie :/)
// Informations about CuisseM segment
// Segment
segment CuisseM
parent Pelvis
rotations xy
RT
1 0 0 -0.00429149
0 1 0 0.02974073
0 0 1 -0.09228426
0. 0. 0. 1.
mass 19.7458
inertia
0.1565 0.0000000000 0.0000000000
0.0000000000 0.1565 0.0000000000
0.0000000000 0.0000000000 0.0764
com 0 0 -0.1855
meshfile Model_mesh/cuisse.stl
endsegment
// Markers
marker base_cuisseM
parent CuisseM
position 0 0 0
technical 1
endmarker
marker top_jambeM
parent CuisseM
position 0 0 -0.8025
technical 1
endmarker
// Pour obtenir les valeurs de la jambe 'Milieu', j'ai multipliée par 2 l'inertie en z de la cuisse (pt pas super bonne inertie :/), enlevé la translation en x et y de RT
// Informations about JambeM segment
// Segment
segment JambeM
parent CuisseM
RT
1 0 0 0
0 1 0 0
0 0 -1 -0.4030
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 7.4604
inertia
0.0565 0.0000000000 0.0000000000
0.0000000000 0.0565 0.0000000000
0.0000000000 0.0000000000 0.0112
com 0 0 0.1732
meshfile Model_mesh/jambe.stl
endsegment
// Markers
marker GenouM_D
parent JambeM
position 0.1 0 0.1
technical 1
endmarker
marker GenouM_G
parent JambeM
position -0.1 0 0.1
technical 1
endmarker
// Pour obtenir les valeurs de la jambe 'Milieu', pas changé l'inertie (pt pas super bonne inertie :/)
// Informations about PiedM segment
// Segment
segment PiedM
parent JambeM
RT
-1 0 0 -0.0000731275
0 0 -1 0.0063187126
0 -1 0 0.3813371128
0.0000000000 0.0000000000 0.0000000000 1.0000000000
mass 2.4008
inertia
0.0077 0.0000000000 0.0000000000
0.0000000000 0.0076 0.0000000000
0.0000000000 0.0000000000 0.0009
com 0 0 0.0403
meshfile Model_mesh/pied.stl
endsegment
// Markers
marker chevilleM
parent PiedM
position 0 0 0
technical 1
endmarker