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Character File
Neo-X edited this page Feb 13, 2018
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1 revision
The character file is used to define the configuration of the articulated figure that will be used in the simulation. This include the types of joints, length of links between joints, torque limits, pd gains, muscle insertion locations, pose difference wegiths (DiffWeight), ect.
{
"Skeleton":
{
"Joints":
[
{
"Name": "root",
"Type": "planar",
"Parent": -1,
"AttachX": 0,
"AttachY": 0,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": 1,
"LimHigh0": 0,
"TorqueLim": 0,
"IsEndEffector": 0,
"DiffWeight": 1
},
{
"Name": "right_hip",
"Type": "revolute",
"Parent": 0,
"AttachX": 0,
"AttachY": 0,
"AttachZ": 0.1,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -0.5,
"LimHigh0": 2.57,
"TorqueLim": 150,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "right_knee",
"Type": "revolute",
"Parent": 1,
"AttachX": 0,
"AttachY": -0.352,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -3.0,
"LimHigh0": 0,
"TorqueLim": 125,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "right_ankle",
"Type": "revolute",
"Parent": 2,
"AttachX": 0,
"AttachY": -0.391,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -1.57,
"LimHigh0": 1.57,
"TorqueLim": 100,
"IsEndEffector": 1,
"DiffWeight": 0.2
},
{
"Name": "left_hip",
"Type": "revolute",
"Parent": 0,
"AttachX": 0,
"AttachY": 0,
"AttachZ": -0.1,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -0.5,
"LimHigh0": 2.57,
"TorqueLim": 150,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "left_knee",
"Type": "revolute",
"Parent": 4,
"AttachX": 0,
"AttachY": -0.352,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -3.0,
"LimHigh0": 0,
"TorqueLim": 125,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "left_ankle",
"Type": "revolute",
"Parent": 5,
"AttachX": 0,
"AttachY": -0.391,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -1.57,
"LimHigh0": 1.57,
"TorqueLim": 100,
"IsEndEffector": 1,
"DiffWeight": 0.2
},
{
"Name": "right_shoulder",
"Type": "revolute",
"Parent": 0,
"AttachX": 0,
"AttachY": 0.41,
"AttachZ": 0.18,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -1.2,
"LimHigh0": 3.0,
"TorqueLim": 100,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "right_forearm",
"Type": "revolute",
"Parent": 7,
"AttachX": 0.0,
"AttachY": -0.31,
"AttachZ": 0.0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": 0.0,
"LimHigh0": 2.8,
"TorqueLim": 75,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "left_shoulder",
"Type": "revolute",
"Parent": 0,
"AttachX": 0,
"AttachY": 0.41,
"AttachZ": -0.18,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -1.2,
"LimHigh0": 3.0,
"TorqueLim": 100,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "left_forearm",
"Type": "revolute",
"Parent": 9,
"AttachX": 0.0,
"AttachY": -0.31,
"AttachZ": 0.0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": 0.0,
"LimHigh0": 2.8,
"TorqueLim": 75,
"IsEndEffector": 0,
"DiffWeight": 0.3
},
{
"Name": "neck",
"Type": "revolute",
"Parent": 0,
"AttachX": -0.02,
"AttachY": 0.42,
"AttachZ": 0.0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"LimLow0": -0.57,
"LimHigh0": 0.57,
"TorqueLim": 50,
"IsEndEffector": 0,
"DiffWeight": 0.3
}
]
},
"BodyDefs":
[
{
"Name": "root",
"Shape": "box",
"Mass": 25.0,
"ColGroup": 1,
"EnableFallContact": 1,
"AttachX": 0,
"AttachY": 0.19,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.1,
"Param1": 0.45,
"Param2": 0.278,
"ColorR": 0.4706,
"ColorG": 0.549,
"ColorB": 0.6863,
"ColorA": 1
},
{
"Name": "right_hip",
"Shape": "box",
"Mass": 5.0,
"ColGroup": 2,
"AttachX": 0,
"AttachY": -0.1745,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0846,
"Param1": 0.4,
"Param2": 0.08,
"ColorR": 0.6392,
"ColorG": 0.6941,
"ColorB": 0.7372,
"ColorA": 1
},
{
"Name": "right_knee",
"Shape": "box",
"Mass": 2.5,
"ColGroup": 2,
"AttachX": 0,
"AttachY": -0.183,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.065,
"Param1": 0.416,
"Param2": 0.06,
"ColorR": 0.6392,
"ColorG": 0.6941,
"ColorB": 0.7372,
"ColorA": 1
},
{
"Name": "right_ankle",
"Shape": "box",
"Mass": 0.5,
"ColGroup": 2,
"AttachX": 0.0518,
"AttachY": -0.0224,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.177,
"Param1": 0.05,
"Param2": 0.08,
"ColorR": 0.6392,
"ColorG": 0.6941,
"ColorB": 0.7372,
"ColorA": 1
},
{
"Name": "left_hip",
"Shape": "box",
"Mass": 5.0,
"ColGroup": 2,
"AttachX": 0,
"AttachY": -0.1745,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0846,
"Param1": 0.4,
"Param2": 0.08,
"ColorR": 0.3529,
"ColorG": 0.41176,
"ColorB": 0.47059,
"ColorA": 1
},
{
"Name": "left_knee",
"Shape": "box",
"Mass": 2.5,
"ColGroup": 2,
"AttachX": 0,
"AttachY": -0.183,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.065,
"Param1": 0.416,
"Param2": 0.06,
"ColorR": 0.3529,
"ColorG": 0.41176,
"ColorB": 0.47059,
"ColorA": 1
},
{
"Name": "left_ankle",
"Shape": "box",
"Mass": 0.5,
"ColGroup": 2,
"AttachX": 0.0518,
"AttachY": -0.0224,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.177,
"Param1": 0.05,
"Param2": 0.08,
"ColorR": 0.3529,
"ColorG": 0.41176,
"ColorB": 0.47059,
"ColorA": 1
},
{
"Name": "right_arm",
"Shape": "box",
"Mass": 1.5,
"ColGroup": 3,
"AttachX": 0,
"AttachY": -0.1545,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.07,
"Param1": 0.325,
"Param2": 0.08,
"ColorR": 0.6392,
"ColorG": 0.6941,
"ColorB": 0.7372,
"ColorA": 1
},
{
"Name": "right_forearm",
"Shape": "box",
"Mass": 0.75,
"ColGroup": 3,
"AttachX": 0,
"AttachY": -0.145,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0546,
"Param1": 0.3,
"Param2": 0.08,
"ColorR": 0.6392,
"ColorG": 0.6941,
"ColorB": 0.7372,
"ColorA": 1
},
{
"Name": "left_arm",
"Shape": "box",
"Mass": 1.5,
"ColGroup": 3,
"AttachX": 0,
"AttachY": -0.1545,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.07,
"Param1": 0.325,
"Param2": 0.08,
"ColorR": 0.3529,
"ColorG": 0.41176,
"ColorB": 0.47059,
"ColorA": 1
},
{
"Name": "left_forearm",
"Shape": "box",
"Mass": 0.75,
"ColGroup": 3,
"AttachX": 0,
"AttachY": -0.145,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0546,
"Param1": 0.3,
"Param2": 0.08,
"ColorR": 0.3529,
"ColorG": 0.41176,
"ColorB": 0.47059,
"ColorA": 1
},
{
"Name": "head",
"Shape": "box",
"Mass": 3.5,
"ColGroup": 3,
"AttachX": 0.02,
"AttachY": 0.1,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.10,
"Param1": 0.15,
"Param2": 0.15,
"ColorR": 0.3529,
"ColorG": 0.41176,
"ColorB": 0.47059,
"ColorA": 1
}
],
"DrawShapeDefs":
[
{
"Name": "root",
"Shape": "box",
"ParentJoint": 0,
"AttachX": 0,
"AttachY": 0.19,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.11,
"Param1": 0.45,
"Param2": 0.278,
"ColorR": 0.2253,
"ColorG": 0.2845,
"ColorB": 0.50315,
"ColorA": 1
},
{
"Name": "right_hip",
"Shape": "box",
"ParentJoint": 1,
"AttachX": 0,
"AttachY": -0.1745,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0846,
"Param1": 0.4,
"Param2": 0.08,
"ColorR": 0.4396,
"ColorG": 0.53705,
"ColorB": 0.5386,
"ColorA": 1
},
{
"Name": "right_knee",
"Shape": "box",
"ParentJoint": 2,
"AttachX": 0,
"AttachY": -0.183,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.065,
"Param1": 0.416,
"Param2": 0.06,
"ColorR": 0.4096,
"ColorG": 0.50705,
"ColorB": 0.5086,
"ColorA": 1
},
{
"Name": "right_ankle",
"Shape": "box",
"ParentJoint": 3,
"AttachX": 0.0518,
"AttachY": -0.0224,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.177,
"Param1": 0.05,
"Param2": 0.08,
"ColorR": 0.3896,
"ColorG": 0.48705,
"ColorB": 0.4886,
"ColorA": 1
},
{
"Name": "left_hip",
"Shape": "box",
"ParentJoint": 4,
"AttachX": 0,
"AttachY": -0.1745,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0846,
"Param1": 0.4,
"Param2": 0.08,
"ColorR": 0.35168,
"ColorG": 0.42964,
"ColorB": 0.44088,
"ColorA": 1
},
{
"Name": "left_knee",
"Shape": "box",
"ParentJoint": 5,
"AttachX": 0,
"AttachY": -0.183,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.065,
"Param1": 0.416,
"Param2": 0.06,
"ColorR": 0.32768,
"ColorG": 0.40564,
"ColorB": 0.41688,
"ColorA": 1
},
{
"Name": "left_ankle",
"Shape": "box",
"ParentJoint": 6,
"AttachX": 0.0518,
"AttachY": -0.0224,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.177,
"Param1": 0.05,
"Param2": 0.08,
"ColorR": 0.31168,
"ColorG": 0.38964,
"ColorB": 0.40088,
"ColorA": 1
},
{
"Name": "right_arm",
"Shape": "box",
"ParentJoint": 7,
"AttachX": 0,
"AttachY": -0.1545,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.07,
"Param1": 0.325,
"Param2": 0.08,
"ColorR": 0.4396,
"ColorG": 0.53705,
"ColorB": 0.5386,
"ColorA": 1
}
,
{
"Name": "right_forearm",
"Shape": "box",
"ParentJoint": 8,
"AttachX": 0,
"AttachY": -0.145,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0546,
"Param1": 0.3,
"Param2": 0.08,
"ColorR": 0.4396,
"ColorG": 0.53705,
"ColorB": 0.5386,
"ColorA": 1
},
{
"Name": "left_arm",
"Shape": "box",
"ParentJoint": 9,
"AttachX": 0,
"AttachY": -0.1545,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.07,
"Param1": 0.325,
"Param2": 0.08,
"ColorR": 0.31168,
"ColorG": 0.38964,
"ColorB": 0.40088,
"ColorA": 1
},
{
"Name": "left_forearm",
"Shape": "box",
"ParentJoint": 10,
"AttachX": 0,
"AttachY": -0.145,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.0546,
"Param1": 0.3,
"Param2": 0.08,
"ColorR": 0.31168,
"ColorG": 0.38964,
"ColorB": 0.40088,
"ColorA": 1
},
{
"Name": "head",
"Shape": "box",
"ParentJoint": 11,
"AttachX": 0.02,
"AttachY": 0.1,
"AttachZ": 0,
"AttachThetaX": 0,
"AttachThetaY": 0,
"AttachThetaZ": 0,
"Param0": 0.1,
"Param1": 0.15,
"Param2": 0.15,
"ColorR": 0.31168,
"ColorG": 0.38964,
"ColorB": 0.40088,
"ColorA": 1
}
],
"PDControllers":
[
{
"Name": "root",
"Kp": 0,
"Kd": 0,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "right_hip",
"Kp": 200,
"Kd": 20,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "right_knee",
"Kp": 200,
"Kd": 20,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "right_ankle",
"Kp": 100,
"Kd": 10,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "left_hip",
"Kp": 200,
"Kd": 20,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "left_knee",
"Kp": 200,
"Kd": 20,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "left_ankle",
"Kp": 100,
"Kd": 10,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "right_arm",
"Kp": 150,
"Kd": 15,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "right_forearm",
"Kp": 100,
"Kd": 10,
"TargetTheta0": 0,
"UseWorldCoord": 0
}
,
{
"Name": "left_arm",
"Kp": 150,
"Kd": 15,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "left_forearm",
"Kp": 100,
"Kd": 10,
"TargetTheta0": 0,
"UseWorldCoord": 0
},
{
"Name": "neck",
"Kp": 100,
"Kd": 10,
"TargetTheta0": 0,
"UseWorldCoord": 0
}
],
"MusculotendonUnits":
[
{
"ID": 0,
"Name": "right_GLU",
"OptCELength": 0.103,
"SlackLength": 0.122,
"ForceMax": -1500,
"Pennation": 0.5,
"AttachPts":
[
{"JointID": 0, "LocalPos": [-0.094, 0.125, 0.1, 0]},
{"JointID": 1, "LocalPos": [-0.05, -0.05, 0, 0], "Arm": -0.094, "FixedArm": true, "ThetaRest": 0.5216}
]
},
{
"ID": 1,
"Name": "right_HFL",
"OptCELength": 0.103,
"SlackLength": 0.094,
"ForceMax": -2000,
"Pennation": 0.5,
"AttachPts":
[
{"JointID": 0, "LocalPos": [0.094, 0.142, 0.1, 0]},
{"JointID": 1, "LocalPos": [0.05, -0.05, 0, 0], "Arm": 0.094, "FixedArm": true, "ThetaRest": 0}
]
},
{
"ID": 2,
"Name": "right_VAS",
"OptCELength": 0.075,
"SlackLength": 0.215,
"ForceMax": -6000,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 1, "LocalPos": [0.05, -0.2149, 0, 0]},
{"JointID": 1, "LocalPos": [0.05, -0.38, 0, 0]},
{"JointID": 2, "LocalPos": [0.05, -0.0145, 0, 0], "Arm": 0.056, "ThetaMax": -0.2616, "ThetaRest": -0.9616},
{"JointID": 2, "LocalPos": [0.04, -0.1, 0, 0]}
]
},
{
"ID": 3,
"Name": "right_SOL",
"OptCELength": 0.037,
"SlackLength": 0.243,
"ForceMax": -4000,
"Pennation": 0.5,
"AttachPts":
[
{"JointID": 2, "LocalPos": [-0.047, -0.1354, 0, 0]},
{"JointID": 2, "LocalPos": [-0.047, -0.2735, 0, 0]},
{"JointID": 3, "LocalPos": [-0.0377, -0.0137, 0, 0], "Arm": -0.047, "ThetaMax": -0.3492, "ThetaRest": 0.1708}
]
},
{
"ID": 4,
"Name": "right_TA",
"OptCELength": 0.056,
"SlackLength": 0.225,
"ForceMax": -800,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 2, "LocalPos": [0.037, -0.1465, 0, 0]},
{"JointID": 2, "LocalPos": [0.037, -0.3215, 0, 0]},
{"JointID": 3, "LocalPos": [0.0331, -0.0257, 0, 0], "Arm": 0.037, "ThetaMax": 0.1708, "ThetaRest": -0.3492}
]
},
{
"ID": 5,
"Name": "right_HAM",
"OptCELength": 0.094,
"SlackLength": 0.29,
"ForceMax": -3000,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 0, "LocalPos": [-0.075, 0.02, 0.1, 0]},
{"JointID": 1, "LocalPos": [-0.075, -0.02, 0, 0], "Arm": -0.075, "FixedArm": true, "ThetaRest": 0.4316},
{"JointID": 2, "LocalPos": [-0.047, -0.04, 0, 0], "Arm": -0.047, "ThetaMax": 0, "ThetaRest": 0}
]
},
{
"ID": 6,
"Name": "right_RF",
"OptCELength": 0.075,
"SlackLength": 0.281,
"ForceMax": -1000,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 0, "LocalPos": [0.094, 0.02, 0.1, 0]},
{"JointID": 1, "LocalPos": [0.056, -0.38, 0, 0], "Arm": 0.094, "FixedArm": true, "ThetaRest": 0},
{"JointID": 2, "LocalPos": [0.0541, -0.0145, 0, 0], "Arm": 0.056, "ThetaMax": -0.2616, "ThetaRest": -0.9616},
{"JointID": 2, "LocalPos": [0.04, -0.1, 0, 0]}
]
},
{
"ID": 7,
"Name": "right_GAS",
"OptCELength": 0.047,
"SlackLength": 0.374,
"ForceMax": -1500,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 1, "LocalPos": [-0.047, -0.2608, 0, 0]},
{"JointID": 1, "LocalPos": [-0.047, -0.3, 0, 0]},
{"JointID": 2, "LocalPos": [-0.047, -0.2735, 0, 0], "Arm": -0.047, "ThetaMax": -0.7016, "ThetaRest": -0.2616},
{"JointID": 3, "LocalPos": [-0.0377, -0.0337, 0, 0], "Arm": -0.047, "ThetaMax": -0.3492, "ThetaRest": 0.1708}
]
},
{
"ID": 8,
"Name": "left_GLU",
"OptCELength": 0.103,
"SlackLength": 0.122,
"ForceMax": -1500,
"Pennation": 0.5,
"AttachPts":
[
{"JointID": 0, "LocalPos": [-0.094, 0.125, -0.1, 0]},
{"JointID": 4, "LocalPos": [-0.05, -0.05, 0, 0], "Arm": -0.094, "FixedArm": true, "ThetaRest": 0.5216}
]
},
{
"ID": 9,
"Name": "left_HFL",
"OptCELength": 0.103,
"SlackLength": 0.094,
"ForceMax": -2000,
"Pennation": 0.5,
"AttachPts":
[
{"JointID": 0, "LocalPos": [0.094, 0.142, -0.1, 0]},
{"JointID": 4, "LocalPos": [0.05, -0.05, 0, 0], "Arm": 0.094, "FixedArm": true, "ThetaRest": 0}
]
},
{
"ID": 10,
"Name": "left_VAS",
"OptCELength": 0.075,
"SlackLength": 0.215,
"ForceMax": -6000,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 4, "LocalPos": [0.05, -0.2149, 0, 0]},
{"JointID": 4, "LocalPos": [0.05, -0.38, 0, 0]},
{"JointID": 5, "LocalPos": [0.05, -0.0145, 0, 0], "Arm": 0.056, "ThetaMax": -0.2616, "ThetaRest": -0.9616},
{"JointID": 5, "LocalPos": [0.04, -0.1, 0, 0]}
]
},
{
"ID": 11,
"Name": "left_SOL",
"OptCELength": 0.037,
"SlackLength": 0.243,
"ForceMax": -4000,
"Pennation": 0.5,
"AttachPts":
[
{"JointID": 5, "LocalPos": [-0.047, -0.1354, 0, 0]},
{"JointID": 5, "LocalPos": [-0.047, -0.2735, 0, 0]},
{"JointID": 6, "LocalPos": [-0.0377, -0.0137, 0, 0], "Arm": -0.047, "ThetaMax": -0.3492, "ThetaRest": 0.1708}
]
},
{
"ID": 12,
"Name": "left_TA",
"OptCELength": 0.056,
"SlackLength": 0.225,
"ForceMax": -800,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 5, "LocalPos": [0.037, -0.1465, 0, 0]},
{"JointID": 5, "LocalPos": [0.037, -0.3215, 0, 0]},
{"JointID": 6, "LocalPos": [0.0331, -0.0257, 0, 0], "Arm": 0.037, "ThetaMax": 0.1708, "ThetaRest": -0.3492}
]
},
{
"ID": 13,
"Name": "left_HAM",
"OptCELength": 0.094,
"SlackLength": 0.29,
"ForceMax": -3000,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 0, "LocalPos": [-0.075, 0.02, -0.1, 0]},
{"JointID": 4, "LocalPos": [-0.075, -0.02, 0, 0], "Arm": -0.075, "FixedArm": true, "ThetaRest": 0.4316},
{"JointID": 5, "LocalPos": [-0.047, -0.04, 0, 0], "Arm": -0.047, "ThetaMax": 0, "ThetaRest": 0}
]
},
{
"ID": 14,
"Name": "left_RF",
"OptCELength": 0.075,
"SlackLength": 0.281,
"ForceMax": -1000,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 0, "LocalPos": [0.094, 0.02, -0.1, 0]},
{"JointID": 4, "LocalPos": [0.056, -0.38, 0, 0], "Arm": 0.094, "FixedArm": true, "ThetaRest": 0},
{"JointID": 5, "LocalPos": [0.0541, -0.0145, 0, 0], "Arm": 0.056, "ThetaMax": -0.2616, "ThetaRest": -0.9616},
{"JointID": 5, "LocalPos": [0.04, -0.1, 0, 0]}
]
},
{
"ID": 15,
"Name": "left_GAS",
"OptCELength": 0.047,
"SlackLength": 0.374,
"ForceMax": -1500,
"Pennation": 0.7,
"AttachPts":
[
{"JointID": 4, "LocalPos": [-0.047, -0.2608, 0, 0]},
{"JointID": 4, "LocalPos": [-0.047, -0.3, 0, 0]},
{"JointID": 5, "LocalPos": [-0.047, -0.2735, 0, 0], "Arm": -0.047, "ThetaMax": -0.7016, "ThetaRest": -0.2616},
{"JointID": 6, "LocalPos": [-0.0377, -0.0337, 0, 0], "Arm": -0.047, "ThetaMax": -0.3492, "ThetaRest": 0.1708}
]
}
]
}