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Remove unused, legacy <defaults> blocks in .osim and .xml files #184

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119 changes: 0 additions & 119 deletions Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim
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Original file line number Diff line number Diff line change
@@ -1,125 +1,6 @@
<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40000">
<Model name="3DGaitModelwithSimpleArms">
<defaults>
<ControlLinear name="default">
<is_model_control>true</is_model_control>
<extrapolate>true</extrapolate>
<default_min>-1</default_min>
<default_max>1</default_max>
<filter_on>false</filter_on>
<use_steps>false</use_steps>
<x_nodes />
<min_nodes />
<max_nodes />
<kp>100</kp>
<kv>20</kv>
</ControlLinear>
<CoordinateActuator name="default">
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>Unassigned</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>300</optimal_force>
</CoordinateActuator>
<PointActuator name="default">
<!--Name of Body to which this actuator is applied.-->
<body></body>
<!--Location of application point; in body frame unless point_is_global=true-->
<point>0 0 0</point>
<!--Interpret point in Ground frame if true; otherwise, body frame.-->
<point_is_global>false</point_is_global>
<!--Force application direction; in body frame unless force_is_global=true.-->
<direction>-1 -0 -0</direction>
<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
<force_is_global>true</force_is_global>
<!--The maximum force produced by this actuator when fully activated.-->
<optimal_force>1000</optimal_force>
</PointActuator>
<TorqueActuator name="default">
<!--Name of Body to which the torque actuator is applied.-->
<bodyA>Unassigned</bodyA>
<!--Name of Body to which the equal and opposite torque is applied.-->
<bodyB>Unassigned</bodyB>
<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
<torque_is_global>true</torque_is_global>
<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
<axis>-1 -0 -0</axis>
<!--The maximum torque produced by this actuator when fully activated.-->
<optimal_force>1</optimal_force>
</TorqueActuator>
<Thelen2003Muscle name="default">
<!--The set of points defining the path of the actuator.-->
<GeometryPath>
<!--The set of points defining the path-->
<PathPointSet>
<objects />
<groups />
</PathPointSet>
<!--The wrap objects that are associated with this path-->
<PathWrapSet>
<objects />
<groups />
</PathWrapSet>
<!--Default appearance attributes for this GeometryPath-->
<Appearance>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
</Appearance>
</GeometryPath>
<!--Maximum isometric force that the fibers can generate-->
<max_isometric_force>546</max_isometric_force>
<!--Optimal length of the muscle fibers-->
<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
<!--Resting length of the tendon-->
<tendon_slack_length>0.078</tendon_slack_length>
<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
<!--tendon strain at maximum isometric muscle force-->
<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
<!--passive muscle strain at maximum isometric muscle force-->
<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
<!--shape factor for Gaussian active muscle force-length relationship-->
<KshapeActive>0.5</KshapeActive>
<!--exponential shape factor for passive force-length relationship-->
<KshapePassive>4</KshapePassive>
<!--force-velocity shape factor-->
<Af>0.29999999999999999</Af>
<!--maximum normalized lengthening force-->
<Flen>1.8</Flen>
<!--Activation time constant, in seconds-->
<activation_time_constant>0.01</activation_time_constant>
<!--Deactivation time constant, in seconds-->
<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
</Thelen2003Muscle>
<CMC_Joint name="default">
<!--Flag (true or false) indicating whether or not a task is enabled.-->
<on>false</on>
<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
<weight> 1 1 1</weight>
<!--Name of body frame with respect to which a tracking objective is specified. The special name 'center_of_mass' refers to the system center of mass. This property is not used for tracking joint angles.-->
<wrt_body>-1</wrt_body>
<!--Name of body frame in which the tracking objectives are expressed. This property is not used for tracking joint angles.-->
<express_body>-1</express_body>
<!--Array of 3 flags (each true or false) specifying whether a component of a task is active. For example, tracking the trajectory of a point in space could have three components (x,y,z). This allows each of those to be made active (true) or inactive (false). A task for tracking a joint coordinate only has one component.-->
<active>false false false </active>
<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
<kp> 1 1 1</kp>
<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
<kv> 1 1 1</kv>
<!--Feedforward acceleration gain. This is normally set to 1.0, so no gain.-->
<ka> 1 1 1</ka>
<!--Direction vector[3] for component 0 of a task. Joint tasks do not use this property.-->
<r0> 0 0 0</r0>
<!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->
<r1> 0 0 0</r1>
<!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->
<r2> 0 0 0</r2>
<!--Name of the coordinate to be tracked.-->
<coordinate />
<!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->
<limit>0</limit>
</CMC_Joint>
</defaults>
<!--The model's ground reference frame.-->
<Ground name="ground">
<!--The geometry used to display the axes of this Frame.-->
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251 changes: 0 additions & 251 deletions Pipelines/Gait2354_Simbody/forces_grf.xml
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@@ -1,257 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<OpenSimDocument Version="20302">
<ExternalLoads name="">
<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>
<!--Minimum allowed value for control signal. Used primarily when solving
for control values-->
<min_control> -infinity </min_control>
<!--Maximum allowed value for control signal. Used primarily when solving
for control values-->
<max_control> infinity </max_control>
<coordinate> </coordinate>
<optimal_force> 300.00000000 </optimal_force>
</CoordinateActuator>
<PointActuator name="default">
<isDisabled> false </isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving
for control values-->
<min_control> -infinity </min_control>
<!--Maximum allowed value for control signal. Used primarily when solving
for control values-->
<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>
<!--Minimum allowed value for control signal. Used primarily when solving
for control values-->
<min_control> -infinity </min_control>
<!--Maximum allowed value for control signal. Used primarily when solving
for control values-->
<max_control> infinity </max_control>
<bodyA> </bodyA>
<bodyB> </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>
<!--Minimum allowed value for control signal. Used primarily when solving
for control values-->
<min_control> 0.00000000 </min_control>
<!--Maximum allowed value for control signal. Used primarily when solving
for control values-->
<max_control> 1.00000000 </max_control>
<GeometryPath name="">
<PathPointSet name="">
<objects/>
<groups/>
</PathPointSet>
<VisibleObject name="">
<!--Set of geometry files and associated attributes, allow .vtp, .stl,
.obj-->
<GeometrySet name="">
<objects/>
<groups/>
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by
3 translations rX rY rZ tx ty tz-->
<transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform>
<!--Whether to show a coordinate frame-->
<show_axes> false </show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
individual geometries-->
<display_preference> 4 </display_preference>
</VisibleObject>
<PathWrapSet name="">
<objects/>
<groups/>
</PathWrapSet>
</GeometryPath>
<optimal_force> 1.00000000 </optimal_force>
<!--Maximum isometric force that the fibers can generate-->
<max_isometric_force> 546.00000000 </max_isometric_force>
<!--Optimal length of the muscle fibers-->
<optimal_fiber_length> 0.05350000 </optimal_fiber_length>
<!--Resting length of the tendon-->
<tendon_slack_length> 0.07800000 </tendon_slack_length>
<!--Angle between tendon and fibers at optimal fiber length-->
<pennation_angle_at_optimal> 0.00000000 </pennation_angle_at_optimal>
<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
per second-->
<max_contraction_velocity> 10.00000000 </max_contraction_velocity>
<!--time constant for ramping up of muscle activation-->
<activation_time_constant> 0.01000000 </activation_time_constant>
<!--time constant for ramping down of muscle activation-->
<deactivation_time_constant> 0.04000000 </deactivation_time_constant>
<!--maximum contraction velocity at full activation in fiber lengths per
second-->
<Vmax> 10.00000000 </Vmax>
<!--maximum contraction velocity at low activation in fiber lengths per
second-->
<Vmax0> 5.00000000 </Vmax0>
<!--tendon strain due to maximum isometric muscle force-->
<FmaxTendonStrain> 0.03300000 </FmaxTendonStrain>
<!--passive muscle strain due to maximum isometric muscle force-->
<FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain>
<!--shape factor for Gaussian active muscle force-length relationship-->
<KshapeActive> 0.50000000 </KshapeActive>
<!--exponential shape factor for passive force-length relationship-->
<KshapePassive> 4.00000000 </KshapePassive>
<!--passive damping in the force-velocity relationship-->
<damping> 0.05000000 </damping>
<!--force-velocity shape factor-->
<Af> 0.30000000 </Af>
<!--maximum normalized lengthening force-->
<Flen> 1.80000000 </Flen>
</Thelen2003Muscle>
<Schutte1993Muscle name="default">
<isDisabled> false </isDisabled>
<!--Minimum allowed value for control signal. Used primarily when solving
for control values-->
<min_control> 0.00000000 </min_control>
<!--Maximum allowed value for control signal. Used primarily when solving
for control values-->
<max_control> 1.00000000 </max_control>
<GeometryPath name="">
<PathPointSet name="">
<objects/>
<groups/>
</PathPointSet>
<VisibleObject name="">
<!--Set of geometry files and associated attributes, allow .vtp, .stl,
.obj-->
<GeometrySet name="">
<objects/>
<groups/>
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by
3 translations rX rY rZ tx ty tz-->
<transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform>
<!--Whether to show a coordinate frame-->
<show_axes> false </show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
individual geometries-->
<display_preference> 4 </display_preference>
</VisibleObject>
<PathWrapSet name="">
<objects/>
<groups/>
</PathWrapSet>
</GeometryPath>
<optimal_force> 1.00000000 </optimal_force>
<!--Maximum isometric force that the fibers can generate-->
<max_isometric_force> 0.00000000 </max_isometric_force>
<!--Optimal length of the muscle fibers-->
<optimal_fiber_length> 0.00000000 </optimal_fiber_length>
<!--Resting length of the tendon-->
<tendon_slack_length> 0.00000000 </tendon_slack_length>
<!--Angle between tendon and fibers at optimal fiber length-->
<pennation_angle_at_optimal> 0.00000000 </pennation_angle_at_optimal>
<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
per second-->
<max_contraction_velocity> 10.00000000 </max_contraction_velocity>
<!--Scale factor for normalizing time-->
<time_scale> 0.10000000 </time_scale>
<!--Parameter used in time constant of ramping up of muscle force-->
<activation1> 0.00000000 </activation1>
<!--Parameter used in time constant of ramping up and ramping down of
muscle force-->
<activation2> 0.00000000 </activation2>
<!--Damping factor related to maximum contraction velocity-->
<damping> 0.05000000 </damping>
<!--Function representing force-length behavior of tendon-->
<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>
<!--Function representing active force-length behavior of muscle fibers-->
<active_force_length_curve>
<NaturalCubicSpline name="">
<x> -5.30769200 -4.30769200 -1.92307700 -0.88461500 -0.26923100 0.23076900 0.46153800 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.50000000 1.61538500 2.00000000 2.96153800 3.69230800 5.46153800 9.90190200 </x>
<y> 0.01218800 0.02189900 0.03646600 0.05249300 0.07531200 0.11415800 0.15785900 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.19382100 0.13325200 0.07268300 0.04441700 0.03634100 0.02189900 0.00733200 </y>
</NaturalCubicSpline>
</active_force_length_curve>
<!--Function representing passive force-length behavior of muscle fibers-->
<passive_force_length_curve>
<NaturalCubicSpline name="">
<x> -5.00000000 0.99800000 0.99900000 1.00000000 1.10000000 1.20000000 1.30000000 1.40000000 1.50000000 1.60000000 1.60100000 1.60200000 5.00000000 </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>
<CMC_Joint name="default">
<!--Flag (true or false) indicating whether or not a task is enabled.-->
<on> false </on>
<!--Weight with which a task is tracked relative to other tasks. To track
a task more tightly, make the weight larger.-->
<weight> 1.00000000 1.00000000 1.00000000 </weight>
<!--Name of body frame with respect to which a tracking objective is
specified. The special name 'center_of_mass' refers to the system
center of mass. This property is not used for tracking joint angles.-->
<wrt_body> -1 </wrt_body>
<!--Name of body frame in which the tracking objectives are expressed.
This property is not used for tracking joint angles.-->
<express_body> -1 </express_body>
<!--Array of 3 flags (each true or false) specifying whether a component
of a task is active. For example, tracking the trajectory of a point
in space could have three components (x,y,z). This allows each of
those to be made active (true) or inactive (false). A task for
tracking a joint coordinate only has one component.-->
<active> false false false </active>
<!--Position error feedback gain (stiffness). To achieve critical damping
of errors, choose kv = 2*sqrt(kp).-->
<kp> 1.00000000 1.00000000 1.00000000 </kp>
<!--Velocity error feedback gain (damping). To achieve critical damping of
errors, choose kv = 2*sqrt(kp).-->
<kv> 1.00000000 1.00000000 1.00000000 </kv>
<!--Feedforward acceleration gain. This is normally set to 1.0, so no
gain.-->
<ka> 1.00000000 1.00000000 1.00000000 </ka>
<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
this propery.-->
<r0> 0.00000000 0.00000000 0.00000000 </r0>
<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
this property.-->
<r1> 0.00000000 0.00000000 0.00000000 </r1>
<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
this property.-->
<r2> 0.00000000 0.00000000 0.00000000 </r2>
<!--Name of the coordinate to be tracked.-->
<coordinate> </coordinate>
<!--Error limit on the tracking accuracy for this coordinate. If the
tracking errors approach this limit, the weighting for this coordinate
is increased.-->
<limit> 0.00000000 </limit>
</CMC_Joint>
</defaults>
<objects>
<ExternalForce name="Right">
<isDisabled> false </isDisabled>
Expand Down
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