<OpenSimDocument Version="20200"> <Model name="SUNY_2DOF_Arm_Model"> <defaults> <ControlLinear name="default"> <is_model_control> true </is_model_control> <extrapolate> true </extrapolate> <default_min> -1.00000000 </default_min> <default_max> 1.00000000 </default_max> <filter_on> false </filter_on> <use_steps> false </use_steps> <x_nodes /> <min_nodes /> <max_nodes /> <kp> 100.00000000 </kp> <kv> 20.00000000 </kv> </ControlLinear> <CoordinateActuator name="default"> <isDisabled> false </isDisabled> <min_control> -infinity </min_control> <max_control> infinity </max_control> <coordinate> Unassigned </coordinate> <optimal_force> 300.00000000 </optimal_force> </CoordinateActuator> <PointActuator name="default"> <isDisabled> false </isDisabled> <min_control> -infinity </min_control> <max_control> infinity </max_control> <body> </body> <point> 0.00000000 0.00000000 0.00000000 </point> <point_is_global> false </point_is_global> <direction> 1.00000000 0.00000000 0.00000000 </direction> <force_is_global> true </force_is_global> <optimal_force> 1000.00000000 </optimal_force> </PointActuator> <TorqueActuator name="default"> <isDisabled> false </isDisabled> <min_control> -infinity </min_control> <max_control> infinity </max_control> <bodyA> Unassigned </bodyA> <bodyB> Unassigned </bodyB> <torque_is_global> true </torque_is_global> <axis> 1.00000000 0.00000000 0.00000000 </axis> <optimal_force> 300.00000000 </optimal_force> </TorqueActuator> <Thelen2003Muscle name="default"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects /> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <PathWrapSet name=""> <objects /> <groups /> </PathWrapSet> </GeometryPath> <max_isometric_force> 546.00000000 </max_isometric_force> <optimal_fiber_length> 0.05350000 </optimal_fiber_length> <tendon_slack_length> 0.07800000 </tendon_slack_length> <pennation_angle> 0.13962634 </pennation_angle> <activation_time_constant> 0.01000000 </activation_time_constant> <deactivation_time_constant> 0.04000000 </deactivation_time_constant> <Vmax> 10.00000000 </Vmax> <Vmax0> 5.00000000 </Vmax0> <FmaxTendonStrain> 0.03300000 </FmaxTendonStrain> <FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain> <KshapeActive> 0.50000000 </KshapeActive> <KshapePassive> 4.00000000 </KshapePassive> <damping>1.0</damping> <Af> 0.30000000 </Af> <Flen> 1.80000000 </Flen> </Thelen2003Muscle> <Schutte1993Muscle name="default"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects /> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <PathWrapSet name=""> <objects /> <groups /> </PathWrapSet> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force> 546.00000000 </max_isometric_force> <optimal_fiber_length> 0.05350000 </optimal_fiber_length> <tendon_slack_length> 0.07800000 </tendon_slack_length> <pennation_angle> 0.13962634 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> </Schutte1993Muscle> <Delp1990Muscle name="default"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects /> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <PathWrapSet name=""> <objects /> <groups /> </PathWrapSet> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force> 546.00000000 </max_isometric_force> <optimal_fiber_length> 0.05350000 </optimal_fiber_length> <tendon_slack_length> 0.07800000 </tendon_slack_length> <pennation_angle> 0.13962634 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <mass> 0.00000000 </mass> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> <force_velocity_curve> <NaturalCubicSpline name=""> <x> -1.00000000 -0.95000000 -0.90000000 -0.85000000 -0.80000000 -0.75000000 -0.70000000 -0.65000000 -0.60000000 -0.55000000 -0.50000000 -0.45000000 -0.40000000 -0.35000000 -0.30000000 -0.25000000 -0.20000000 -0.15000000 -0.10000000 -0.05000000 0.00000000 0.05000000 0.10000000 0.15000000 0.20000000 0.25000000 0.30000000 0.35000000 0.40000000 0.45000000 0.50000000 0.55000000 0.60000000 0.65000000 0.70000000 0.75000000 0.80000000 0.85000000 0.90000000 0.95000000 1.00000000 </x> <y> 0.00000000 0.01041700 0.02173900 0.03409100 0.04761900 0.06250000 0.07894700 0.09722200 0.11764700 0.14062500 0.16666700 0.19642900 0.23076900 0.27083300 0.31818200 0.37500000 0.44444400 0.53125000 0.64285700 0.79166700 1.00000000 1.48201400 1.60157100 1.65579100 1.68673900 1.70675100 1.72075300 1.73109900 1.73905500 1.74536500 1.75049000 1.75473600 1.75831200 1.76136400 1.76399900 1.76629800 1.76832100 1.77011500 1.77171700 1.77315500 1.77445500 </y> </NaturalCubicSpline> </force_velocity_curve> </Delp1990Muscle> <CMC_Joint name="default"> <on> false </on> <weight> 1.00000000 1.00000000 1.00000000 </weight> <wrt_body> -1 </wrt_body> <express_body> -1 </express_body> <active> false false false </active> <kp> 1.00000000 1.00000000 1.00000000 </kp> <kv> 1.00000000 1.00000000 1.00000000 </kv> <ka> 1.00000000 1.00000000 1.00000000 </ka> <r0> 0.00000000 0.00000000 0.00000000 </r0> <r1> 0.00000000 0.00000000 0.00000000 </r1> <r2> 0.00000000 0.00000000 0.00000000 </r2> <coordinate> </coordinate> <limit> 0.00000000 </limit> </CMC_Joint> </defaults> <credits> Model authors names.. </credits> <publications> List of publications related to model... </publications> <ForceSet name="Muscles"> <objects> <Schutte1993Muscle name="DELT1"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="DELT1-P1"> <location> 0.00896000 -0.11883000 0.00585000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="DELT1-P2"> <location> 0.01623000 -0.11033000 0.00412000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="DELT1-P3"> <location> 0.04347000 -0.03252000 0.00099000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> scapula </body> </PathPoint> <PathPoint name="DELT1-P4"> <location> -0.01400000 0.01106000 0.08021000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> clavicle </body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>3427.8</max_isometric_force> <optimal_fiber_length> 0.09760000 </optimal_fiber_length> <tendon_slack_length> 0.09300000 </tendon_slack_length> <pennation_angle> 0.38397244 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> </Schutte1993Muscle> <Schutte1993Muscle name="DELT2"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="DELT2-P1"> <location> 0.00461000 -0.13611000 0.00560000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="DELT2-P2"> <location> 0.02431898 -0.05 0.04736455 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="DELT2-P3"> <location> 0.00005000 0.0294000 0.02233000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> scapula </body> </PathPoint> <PathPoint name="DELT2-P4"> <location> -0.01078000 -0.00034000 0.00620000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> scapula </body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>3427.8</max_isometric_force> <optimal_fiber_length> 0.10780000 </optimal_fiber_length> <tendon_slack_length> 0.10950000 </tendon_slack_length> <pennation_angle> 0.26179939 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> </Schutte1993Muscle> <Schutte1993Muscle name="DELT3"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="DELT3-P1"> <location> -0.05573 0.00122 -0.02512</location> <body>scapula</body> </PathPoint> <PathPoint name="DELT3-P2"> <location> -0.07247 -0.03285 0.01233</location> <body>scapula</body> </PathPoint> <ConditionalPathPoint name="default"> <location> -0.0102079 0.0222093 0.00130625</location> <body>humerus</body> <range> 1.74533 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> -0.0236443 -0.005806 0.0038</location> <body>humerus</body> <range> 0.872665 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <PathPoint name="DELT3-P2.9"> <location> -0.00206 -0.065 0.01045</location> <body>humerus</body> </PathPoint> <PathPoint name="DELT3-P3"> <location> 0.00206 -0.07602 0.01045</location> <body>humerus</body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>1559.28</max_isometric_force> <optimal_fiber_length> 0.13670000 </optimal_fiber_length> <tendon_slack_length> 0.03800000 </tendon_slack_length> <pennation_angle> 0.31415927 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> </Schutte1993Muscle> <Schutte1993Muscle name="PECM1"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="PECM1-P1"> <location> 0.01169000 -0.04191000 0.00780000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="PECM1-P2"> <location> 0.01700222 -0.0275000 -0.00100 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="PECM1-P3"> <location> 0.01058242 -0.01982146 0.09335063 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> clavicle </body> </PathPoint> <PathPoint name="PECM1-P4"> <location> 0.00321000 -0.00013000 0.05113000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> clavicle </body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>1093.23</max_isometric_force> <optimal_fiber_length> 0.14420000 </optimal_fiber_length> <tendon_slack_length> 0.00280000 </tendon_slack_length> <pennation_angle> 0.29670597 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline 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<max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="PECM2-P1"> <location> 0.01274000 -0.04289000 0.00785000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="PECM2-P2"> <location> 0.01538222 -0.0355000 -0.003000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="PECM2-P3"> <location> 0.02036778 -0.03541000 0.12362111 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> thorax </body> </PathPoint> <PathPoint name="PECM2-P4"> <location> 0.03091000 -0.03922000 0.09705000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> thorax </body> </PathPoint> <PathPoint name="PECM2-P5"> <location> 0.02769000 -0.04498000 0.02271000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> thorax </body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>1546.23</max_isometric_force> <optimal_fiber_length> 0.13850000 </optimal_fiber_length> <tendon_slack_length> 0.08900000 </tendon_slack_length> <pennation_angle> 0.43633231 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> </Schutte1993Muscle> <Schutte1993Muscle name="PECM3"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="PECM3-P1"> <location> 0.01269000 -0.04375000 0.00750000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="PECM3-P2"> <location> 0.01401702 -0.04730 -0.004 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="PECM3-P3"> <location> 0.02984000 -0.07002241 0.11510000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> thorax </body> </PathPoint> <PathPoint name="PECM3-P4"> <location> 0.05250000 -0.08417000 0.08935000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> thorax </body> </PathPoint> <PathPoint name="PECM3-P5"> <location> 0.05724000 -0.11654000 0.03787000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> thorax </body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>1171.65</max_isometric_force> <optimal_fiber_length> 0.13850000 </optimal_fiber_length> <tendon_slack_length> 0.13200000 </tendon_slack_length> <pennation_angle> 0.43633231 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> </Schutte1993Muscle> <Schutte1993Muscle name="TRIlong"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="TRIlong-P1"> <location> -0.04565000 -0.04073000 -0.01377000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> scapula </body> </PathPoint> <PathPoint name="TRIlong-P2"> <location> -0.02714000 -0.11441000 -0.00664000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="TRIlong-P3"> <location> -0.03184000 -0.22637000 -0.01217000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="TRIlong-P4"> <location> -0.01743000 -0.26757000 -0.01208000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <ConditionalPathPoint name="TRIlong-P4.5"> <location> -0.01251 -0.299402 -0.012256 </location> <body> humerus </body> <coordinate> elbow_flex </coordinate> <range> 1.2217305 3.2 </range> </ConditionalPathPoint> <PathPoint name="TRIlong-P5"> <location> -0.02190000 0.01046000 -0.00078000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> ulna </body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>798.52</max_isometric_force> <optimal_fiber_length> 0.13400000 </optimal_fiber_length> <tendon_slack_length> 0.14300000 </tendon_slack_length> <pennation_angle> 0.20943951 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> -10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000 </y> </NaturalCubicSpline> </tendon_force_length_curve> <active_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.00000000 0.40100000 0.40200000 0.40350000 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.61875000 1.62000000 1.62100000 2.20000000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 </y> </NaturalCubicSpline> </active_force_length_curve> <passive_force_length_curve> <NaturalCubicSpline name=""> <x> -35.00000000 0.99800000 0.99900000 1.15000000 1.25000000 1.35000000 1.45000000 1.55000000 1.65000000 1.75000000 1.75010000 1.75020000 35.00000000 </x> <y> 0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000 </y> </NaturalCubicSpline> </passive_force_length_curve> </Schutte1993Muscle> <Schutte1993Muscle name="TRIlat"> <isDisabled> false </isDisabled> <min_control> 0.00000000 </min_control> <max_control> 1.00000000 </max_control> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="TRIlat-P1"> <location> -0.00599000 -0.12646000 0.00428000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="TRIlat-P2"> <location> -0.02344000 -0.14528000 0.00928000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="TRIlat-P3"> <location> -0.03184000 -0.22637000 -0.01217000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <PathPoint name="TRIlat-P4"> <location> -0.01743000 -0.26757000 -0.01208000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> humerus </body> </PathPoint> <ConditionalPathPoint name="TRIlat-P4.5"> <location> -0.01251 -0.299402 -0.012256 </location> <body> humerus </body> <coordinate> elbow_flex </coordinate> <range> 1.2217305 3.2 </range> </ConditionalPathPoint> <PathPoint name="TRIlat-P5"> <location> -0.02190000 0.01046000 -0.00078000 </location> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <body> ulna </body> </PathPoint> </objects> <groups /> </PathPointSet> <VisibleObject name=""> <GeometrySet name=""> <objects /> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </GeometryPath> <time_scale> 0.00000000 </time_scale> <activation1> 0.00000000 </activation1> <activation2> 0.00000000 </activation2> <max_isometric_force>624.3</max_isometric_force> <optimal_fiber_length> 0.11380000 </optimal_fiber_length> <tendon_slack_length> 0.09800000 </tendon_slack_length> <pennation_angle> 0.15707963 </pennation_angle> <max_contraction_velocity> 0.00000000 </max_contraction_velocity> <damping>1.0</damping> <tendon_force_length_curve> <NaturalCubicSpline name=""> <x> 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name="default"> <location> 0.00474523 0.00914498 -0.0377025</location> <body>humerus</body> <range> 2.61799 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <PathPoint name="LAT1-P2"> <location> -0.08854 -0.06153 0.14488</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT1-P3"> <location> -0.11939 -0.07953 0.11232</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT1-P4"> <location> -0.11828 -0.10118 0.03316</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT1-P5"> <location> -0.09578 -0.11724 0.00882</location> <body>thorax</body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force>2334.6</max_isometric_force> <optimal_fiber_length> 0.25400000 </optimal_fiber_length> <tendon_slack_length> 0.12000000 </tendon_slack_length> <pennation_angle> 0.43633231 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="Latissimus_dorsi_2"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="LAT2-P1"> <location> 0.00968 -0.04071 -0.00611</location> <body>humerus</body> </PathPoint> <PathPoint name="Latissimus_dorsi_2-P2"> <location> 0.000600034 -0.0389901 -0.0137037</location> <body>humerus</body> </PathPoint> <ConditionalPathPoint name="default"> <location> -0.0148287 -0.0215159 -0.0269928</location> <body>humerus</body> <range> 0.349066 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> -0.0178592 -0.000397019 -0.0369596</location> <body>humerus</body> <range> 1.0472 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> 0.00234554 0.00643987 -0.0444347</location> <body>humerus</body> <range> 2.61799 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <PathPoint name="LAT2-P2"> <location> -0.0805 -0.06686 0.16486</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT2-P3"> <location> -0.10517 -0.1267 0.1194</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT2-P4"> <location> -0.10992 -0.16908 0.02878</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT2-P5"> <location> -0.07186 -0.18818 0.00815</location> <body>thorax</body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force>2334.6</max_isometric_force> <optimal_fiber_length> 0.23240000 </optimal_fiber_length> <tendon_slack_length> 0.17650000 </tendon_slack_length> <pennation_angle> 0.33161256 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="Latissimus_dorsi_3"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="LAT3-P1"> <location> 0.01208 -0.03922 -0.00416</location> <body>humerus</body> </PathPoint> <PathPoint name="Latissimus_dorsi_3-P2"> <location> 0.00439304 -0.0372487 -0.0152687</location> <body>humerus</body> </PathPoint> <ConditionalPathPoint name="default"> <location> -0.00913701 -0.0222411 -0.0347091</location> <body>humerus</body> <range> 0.349066 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> -0.0127151 -0.00432691 -0.0492893</location> <body>humerus</body> <range> 1.0472 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> 0.00281758 0.00261719 -0.0602245</location> <body>humerus</body> <range> 2.61799 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <PathPoint name="LAT3-P2"> <location> -0.06702 -0.09303 0.1686</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT3-P3"> <location> -0.08567 -0.14961 0.12246</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT3-P4"> <location> -0.11157 -0.19387 0.05532</location> <body>thorax</body> </PathPoint> <PathPoint name="LAT3-P5"> <location> -0.07117 -0.24858 0.00907</location> <body>thorax</body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force>844.98</max_isometric_force> <optimal_fiber_length> 0.27890000 </optimal_fiber_length> <tendon_slack_length> 0.14030000 </tendon_slack_length> <pennation_angle> 0.36651914 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="Coracobrachialis"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="CORB-P1"> <location> 0.01250000 -0.04127000 -0.02652000 </location> <body> scapula </body> </PathPoint> <PathPoint name="CORB-P2"> <location> 0.00483000 -0.06958000 -0.01563000 </location> <body> scapula </body> </PathPoint> <PathPoint name="CORB-P3"> <location> 0.00743000 -0.15048000 -0.00782000 </location> <body> humerus </body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force>727.38</max_isometric_force> <optimal_fiber_length> 0.09320000 </optimal_fiber_length> <tendon_slack_length> 0.09700000 </tendon_slack_length> <pennation_angle> 0.00000000 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="Teres_minor"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="TMIN-P1"> <location> -0.0011 -0.01264 0.02156</location> <body>humerus</body> </PathPoint> <ConditionalPathPoint name="default"> <location> -0.0150882 -0.00443819 0.0117292</location> <body>humerus</body> <range> -0.174533 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> -0.0190694 0.00936215 0.00168515</location> <body>humerus</body> <range> 0.698132 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> -0.00737528 0.0182568 -0.00476424</location> <body>humerus</body> <range> 1.74533 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <ConditionalPathPoint name="default"> <location> 0.00884634 0.0160229 -0.0108814</location> <body>humerus</body> <range> 2.61799 3.2</range> <coordinate>arm_flex</coordinate> </ConditionalPathPoint> <PathPoint name="TMIN-P2"> <location> -0.09473 -0.07991 -0.04737</location> <body>scapula</body> </PathPoint> <PathPoint name="TMIN-P3"> <location> -0.09643 -0.08121 -0.05298</location> <body>scapula</body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force>2125.5</max_isometric_force> <optimal_fiber_length> 0.07410000 </optimal_fiber_length> <tendon_slack_length> 0.07130000 </tendon_slack_length> <pennation_angle> 0.41887902 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="PronatorTeres"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="PT-P1"> <location> 0.00360000 -0.27590000 -0.03650000 </location> <body> humerus </body> </PathPoint> <PathPoint name="PT-P2"> <location> 0.00846000 -0.03373000 -0.01432000 </location> <body> ulna </body> </PathPoint> <PathPoint name="PT-P3"> <location> 0.01382 -0.06411 -0.00042 </location> <body> ulna </body> </PathPoint> <PathPoint name="PT-P4"> <location> 0.02360000 -0.09340000 0.00940000 </location> <body> radius </body> </PathPoint> <PathPoint name="PT-P5"> <location> 0.02540000 -0.10880000 0.01980000 </location> <body> radius </body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force> 566.22000000 </max_isometric_force> <optimal_fiber_length> 0.04920000 </optimal_fiber_length> <tendon_slack_length> 0.09800000 </tendon_slack_length> <pennation_angle> 0.17453293 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="ECRL"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="ECRL-P1"> <location> -0.00730000 -0.26090000 0.00910000 </location> <body> humerus </body> </PathPoint> <ConditionalPathPoint name="ECRL-P1.5"> <location> 0.01450 -0.00346 0.00680 </location> <body> radius </body> <coordinate> elbow_flex </coordinate> <range> -1.0 0.6981317 </range> </ConditionalPathPoint> <PathPoint name="ECRL-P2"> <location> 0.03195000 -0.13463000 0.02779000 </location> <body> radius </body> </PathPoint> <PathPoint name="ECRL-P3"> <location> 0.04243000 -0.23684000 0.03620000 </location> <body> radius </body> </PathPoint> <PathPoint name="ECRL-P4"> <location> -0.00816 -0.03627 0.02117 </location> <body> hand </body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force> 304.89000000 </max_isometric_force> <optimal_fiber_length> 0.08100000 </optimal_fiber_length> <tendon_slack_length> 0.22400000 </tendon_slack_length> <pennation_angle> 0.00000000 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="ANC"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="ANC-P1"> <location> -0.00744000 -0.28359000 0.00979000 </location> <body> humerus </body> </PathPoint> <ConditionalPathPoint name="ANC-P1.5"> <location> -0.013185 0.007605 0.01356 </location> <body> ulna </body> <coordinate> elbow_flex </coordinate> <range> 1.0472 3.2 </range> </ConditionalPathPoint> <PathPoint name="ANC-P2"> <location> -0.02532000 -0.00124000 0.00600000 </location> <body> ulna </body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force> 350.00000000 </max_isometric_force> <optimal_fiber_length> 0.02700000 </optimal_fiber_length> <tendon_slack_length> 0.01800000 </tendon_slack_length> <pennation_angle> 0.00000000 </pennation_angle> </Schutte1993Muscle> <Schutte1993Muscle name="BRD"> <GeometryPath name=""> <PathPointSet name=""> <objects> <PathPoint name="BRD-P1"> <location> -0.00980000 -0.19963000 0.00223000 </location> <body> humerus </body> </PathPoint> <ConditionalPathPoint name="BRD-P1.5"> <location> 0.0197017 0.0041987 0.0061355 </location> <body> radius </body> <coordinate> elbow_flex </coordinate> <range> -1.0 0.2617994 </range> </ConditionalPathPoint> <PathPoint name="BRD-P2"> <location> 0.03577000 -0.12742000 0.02315000 </location> <body> radius </body> </PathPoint> <PathPoint name="BRD-P3"> <location> 0.04190000 -0.22100000 0.02240000 </location> <body> radius </body> </PathPoint> </objects> </PathPointSet> </GeometryPath> <max_isometric_force>2421.68</max_isometric_force> <optimal_fiber_length> 0.17260000 </optimal_fiber_length> <tendon_slack_length> 0.13300000 </tendon_slack_length> <pennation_angle> 0.00000000 </pennation_angle> </Schutte1993Muscle> </objects> <groups> <ObjectGroup name="shoulder"> <members> DELT1 DELT2 DELT3 PECM1 PECM2 PECM3 Infraspinatus Latissimus_dorsi_1 Latissimus_dorsi_2 Latissimus_dorsi_3 Teres_minor Coracobrachialis </members> </ObjectGroup> <ObjectGroup name="elbow"> <members> BIClong BICshort TRIlat TRIlong TRImed BRA ANC BRD ECRL PronatorTeres</members> </ObjectGroup> </groups> <datafile> </datafile> </ForceSet> <length_units> meters </length_units> <force_units> N </force_units> <gravity> 0.00000000 0.000000 0.00000000 </gravity> <BodySet name=""> <objects> <Body name="ground"> <mass> 0.00000000 </mass> <mass_center> 0.00000000 0.00000000 0.00000000 </mass_center> <inertia_xx> 0.00000000 </inertia_xx> <inertia_yy> 0.00000000 </inertia_yy> <inertia_zz> 0.00000000 </inertia_zz> <inertia_xy> 0.00000000 </inertia_xy> <inertia_xz> 0.00000000 </inertia_xz> <inertia_yz> 0.00000000 </inertia_yz> <Joint /> <VisibleObject name=""> <GeometrySet name=""> <objects> <DisplayGeometry name=""> <geometry_file> sphere2.vtp </geometry_file> <color> 1.00000000 0.00000000 0.00000000 </color> <texture_file> </texture_file> <transform>0 0 0 -0.308836 -0.05 -0.290886</transform> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <display_preference> 4 </display_preference> <opacity> 1.00000000 </opacity> </DisplayGeometry> </objects> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 0 </display_preference> </VisibleObject> <WrapObjectSet name=""> <objects /> <groups /> </WrapObjectSet> </Body> <Body name="thorax"> <mass> 0.00000000 </mass> <mass_center> 0.00000000 0.00000000 0.00000000 </mass_center> <inertia_xx> 0.00000000 </inertia_xx> <inertia_yy> 0.00000000 </inertia_yy> <inertia_zz> 0.00000000 </inertia_zz> <inertia_xy> 0.00000000 </inertia_xy> <inertia_xz> 0.00000000 </inertia_xz> <inertia_yz> 0.00000000 </inertia_yz> <Joint> <WeldJoint name="ground_thorax"> <parent_body> ground </parent_body> <location_in_parent> 0.00000000 0.00000000 0.00000000 </location_in_parent> <orientation_in_parent> 0.00000000 0.00000000 0.00000000 </orientation_in_parent> <location> 0.00000000 0.00000000 0.00000000 </location> <orientation> 0.00000000 0.00000000 0.00000000 </orientation> <CoordinateSet name=""> <objects /> <groups /> </CoordinateSet> <reverse> false </reverse> </WeldJoint> </Joint> <VisibleObject name=""> <GeometrySet name=""> <objects> <DisplayGeometry name=""> <color> 1.00000000 1.00000000 1.00000000 </color> <texture_file> </texture_file> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <display_preference> 4 </display_preference> <opacity> 1.00000000 </opacity> </DisplayGeometry> </objects> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </Body> <Body name="clavicle"> <mass> 0.00000000 </mass> <mass_center> 0.00000000 0.00000000 0.00000000 </mass_center> <inertia_xx> 0.00000000 </inertia_xx> <inertia_yy> 0.00000000 </inertia_yy> <inertia_zz> 0.00000000 </inertia_zz> <inertia_xy> 0.00000000 </inertia_xy> <inertia_xz> 0.00000000 </inertia_xz> <inertia_yz> 0.00000000 </inertia_yz> <Joint> <WeldJoint name="sternoclavicular"> <parent_body> thorax </parent_body> <location_in_parent> 0.00632500 0.00693000 0.02546500 </location_in_parent> <orientation_in_parent> 0.00000000 0.00000000 0.00000000 </orientation_in_parent> <location> 0.00000000 0.00000000 0.00000000 </location> <orientation> 0.00000000 0.00000000 0.00000000 </orientation> <CoordinateSet name=""> <objects /> <groups /> </CoordinateSet> <reverse> false </reverse> </WeldJoint> </Joint> <VisibleObject name=""> <GeometrySet name=""> <objects> <DisplayGeometry name=""> <geometry_file> clavicle.vtp </geometry_file> <color> 1.00000000 1.00000000 1.00000000 </color> <texture_file> </texture_file> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <display_preference> 4 </display_preference> <opacity> 1.00000000 </opacity> </DisplayGeometry> </objects> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> <WrapObjectSet name=""> <objects /> <groups /> </WrapObjectSet> </Body> <Body name="scapula"> <mass> 0.00000000 </mass> <mass_center> 0.00000000 0.00000000 0.00000000 </mass_center> <inertia_xx> 0.00000000 </inertia_xx> <inertia_yy> 0.00000000 </inertia_yy> <inertia_zz> 0.00000000 </inertia_zz> <inertia_xy> 0.00000000 </inertia_xy> <inertia_xz> 0.00000000 </inertia_xz> <inertia_yz> 0.00000000 </inertia_yz> <Joint> <WeldJoint name="acromioclavicular"> <parent_body> thorax </parent_body> <location_in_parent> -0.01000000 0.03000000 0.16100000 </location_in_parent> <orientation_in_parent> 0.00000000 -0.00000000 -0.00000000 </orientation_in_parent> <location> 0.00000000 0.00000000 0.00000000 </location> <orientation> 0.00000000 0.00000000 0.00000000 </orientation> <CoordinateSet name=""> <objects /> <groups /> </CoordinateSet> <reverse> false </reverse> </WeldJoint> </Joint> <VisibleObject name=""> <GeometrySet name=""> <objects> <DisplayGeometry name=""> <geometry_file> scapula.vtp </geometry_file> <color> 1.00000000 1.00000000 1.00000000 </color> <texture_file> </texture_file> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <display_preference> 4 </display_preference> <opacity> 1.00000000 </opacity> </DisplayGeometry> </objects> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </Body> <Body name="humerus"> <mass> 2.03250000 </mass> <mass_center> 0.00000000 -0.16450200 0.00000000 </mass_center> <inertia_xx> 0.01194600 </inertia_xx> <inertia_yy> 0.00412100 </inertia_yy> <inertia_zz> 0.01340900 </inertia_zz> <inertia_xy> 0.00000000 </inertia_xy> <inertia_xz> 0.00000000 </inertia_xz> <inertia_yz> 0.00000000 </inertia_yz> <Joint> <CustomJoint name="shoulder"> <parent_body> thorax </parent_body> <location_in_parent> -0.01250000 0.00000000 0.17300000 </location_in_parent> <orientation_in_parent> -1.57079633 0 0.0 </orientation_in_parent> <location> 0.00000000 0.00000000 0.00000000 </location> <orientation> 0.00000000 0.00000000 0.00000000 </orientation> <CoordinateSet name=""> <objects> <Coordinate name="arm_flex"> <motion_type> rotational </motion_type> <default_value> 0.0 </default_value> <default_speed_value> 0.00000000 </default_speed_value> <initial_value>0.62</initial_value> <range> -0.175 1.75 </range> <clamped> true </clamped> <locked> false </locked> <prescribed_function /> </Coordinate> </objects> <groups /> </CoordinateSet> <reverse> false </reverse> <SpatialTransform name=""> <TransformAxis name="rotation1"> <function> <LinearFunction name=""> <coefficients> 1.00000000 0.00000000 </coefficients> </LinearFunction> </function> <coordinates> arm_flex </coordinates> <axis> 0.00000000 0.00000000 1.00000000 </axis> </TransformAxis> <TransformAxis name="rotation2"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <axis> 1.00000000 0.00000000 0.00000000 </axis> </TransformAxis> <TransformAxis name="rotation3"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <coordinates> </coordinates> <axis> 0.00000000 1.00000000 0.00000000 </axis> </TransformAxis> <TransformAxis name="translation1"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <coordinates> </coordinates> <axis> 1.00000000 0.00000000 0.00000000 </axis> </TransformAxis> <TransformAxis name="translation2"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <coordinates> </coordinates> <axis> 0.00000000 1.00000000 0.00000000 </axis> </TransformAxis> <TransformAxis name="translation3"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <coordinates> </coordinates> <axis> 0.00000000 0.00000000 1.00000000 </axis> </TransformAxis> </SpatialTransform> </CustomJoint> </Joint> <VisibleObject name=""> <GeometrySet name=""> <objects> <DisplayGeometry name=""> <geometry_file> humerus.vtp </geometry_file> <color> 1.00000000 1.00000000 1.00000000 </color> <texture_file> </texture_file> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <display_preference> 4 </display_preference> <opacity> 1.00000000 </opacity> </DisplayGeometry> </objects> <groups /> </GeometrySet> <scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors> <transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform> <show_axes> false </show_axes> <display_preference> 4 </display_preference> </VisibleObject> </Body> <Body name="ulna"> <mass> 0.60750000 </mass> <mass_center> 0.00000000 -0.12052500 0.00000000 </mass_center> <inertia_xx> 0.00296200 </inertia_xx> <inertia_yy> 0.00061800 </inertia_yy> <inertia_zz> 0.00321300 </inertia_zz> <inertia_xy> 0.00000000 </inertia_xy> <inertia_xz> 0.00000000 </inertia_xz> <inertia_yz> 0.00000000 </inertia_yz> <Joint> <CustomJoint name="elbow"> <parent_body> humerus </parent_body> <location_in_parent> 0.00610000 -0.29040000 -0.01230000 </location_in_parent> <orientation_in_parent> 0.00000000 0.00000000 0.00000000 </orientation_in_parent> <location> 0.00000000 0.00000000 0.00000000 </location> <orientation> 0.00000000 0.00000000 0.00000000 </orientation> <CoordinateSet name=""> <objects> <Coordinate name="elbow_flex"> <motion_type> rotational </motion_type> <default_value> 0.00000000 </default_value> <default_speed_value> 0.00000000 </default_speed_value> <initial_value>1.53</initial_value> <range> 0.00000000 2.26892803 </range> <clamped> true </clamped> <locked> false </locked> <prescribed_function /> </Coordinate> </objects> <groups /> </CoordinateSet> <reverse> false </reverse> <SpatialTransform name=""> <TransformAxis name="rotation1"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <coordinates> </coordinates> <axis> 1.00000000 0.00000000 0.00000000 </axis> </TransformAxis> <TransformAxis name="rotation2"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <coordinates> </coordinates> <axis> 0.00000000 1.00000000 0.00000000 </axis> </TransformAxis> <TransformAxis name="rotation3"> <function> <LinearFunction name=""> <coefficients> 1.00000000 0.00000000 </coefficients> </LinearFunction> </function> <coordinates> elbow_flex </coordinates> <axis> 0.04940001 0.03660001 0.99810825 </axis> </TransformAxis> <TransformAxis name="translation1"> <function> <Constant name=""> <value> 0.00000000 </value> </Constant> </function> <coordinates> </coordinates> <axis> 1.00000000 0.00000000 0.00000000 </axis> </TransformAxis> <TransformAxis name="translation2"> <function> <Constant 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