Triangle Inequality Fix

opensim-org · Dec 6, 2024 · c2a5b1c · c2a5b1c
1 parent c02a398
commit c2a5b1c
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Showing 13 changed files with 46 additions and 46 deletions.
diff --git a/Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim b/Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim
@@ -358,7 +358,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 -0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -521,7 +521,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Models/Leg39/leg39.osim b/Models/Leg39/leg39.osim
@@ -97,7 +97,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>-0.073951199999999995 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.1027 0.087015499999999996 0.057843899999999997 0 0 0</inertia>
+					<inertia>0.1027 0.000904620090462009046287015499999999996 0.000904620090462009046257843899999999997 0 0 0</inertia>
 				</Body>
 				<Body name="femur_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -135,7 +135,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.199543 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.16956399999999999 0.0444489 0.178809 0 0 0</inertia>
+					<inertia>0.16956399999999999 0.0009046200904620090462444489 0.178809 0 0 0</inertia>
 				</Body>
 				<Body name="tibia_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -188,7 +188,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.20979999999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.080235100000000004 0.0081190299999999993 0.081349500000000005 0 0 0</inertia>
+					<inertia>0.000904620090462009046280235100000000004 0.0009046200904620090462081190299999999993 0.000904620090462009046281349500000000005 0 0 0</inertia>
 				</Body>
 				<Body name="patella_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -226,7 +226,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0011029600000000001 0.0011029600000000001 0.0011029600000000001 0 0 0</inertia>
+					<inertia>0.0009046200904620090462011029600000000001 0.0009046200904620090462011029600000000001 0.0009046200904620090462011029600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="talus_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -264,7 +264,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0020216600000000002 0.0020216600000000002 0.0020216600000000002 0 0 0</inertia>
+					<inertia>0.0009046200904620090462020216600000000002 0.0009046200904620090462020216600000000002 0.0009046200904620090462020216600000000002 0 0 0</inertia>
 				</Body>
 				<Body name="calcn_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -302,7 +302,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.10269300000000001 0.030807899999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.00090461999999999997 0.0036184799999999999 0.0036184799999999999 0 0 0</inertia>
+					<inertia>0.00090462009046200904620090461999999999997 0.0009046200904620090462036184799999999999 0.0009046200904620090462036184799999999999 0 0 0</inertia>
 				</Body>
 				<Body name="toes_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -340,7 +340,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.035942500000000002 0.0061615699999999999 -0.0184847</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0 0 0.00090461999999999997 0 0 0</inertia>
+					<inertia>0 0 0.00090462009046200904620090461999999999997 0 0 0</inertia>
 				</Body>
 			</objects>
 			<groups />

diff --git a/Models/Leg6Dof9Musc/leg6dof9musc.osim b/Models/Leg6Dof9Musc/leg6dof9musc.osim
@@ -97,7 +97,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>-0.073951199999999995 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.1027 0.087015499999999996 0.057843899999999997 0 0 0</inertia>
+					<inertia>0.1027 0.000904620090462009046287015499999999996 0.000904620090462009046257843899999999997 0 0 0</inertia>
 				</Body>
 				<Body name="femur_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -135,7 +135,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.199543 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.16956399999999999 0.0444489 0.178809 0 0 0</inertia>
+					<inertia>0.16956399999999999 0.0009046200904620090462444489 0.178809 0 0 0</inertia>
 				</Body>
 				<Body name="tibia_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -188,7 +188,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.20979999999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.080235100000000004 0.0081190299999999993 0.081349500000000005 0 0 0</inertia>
+					<inertia>0.000904620090462009046280235100000000004 0.0009046200904620090462081190299999999993 0.000904620090462009046281349500000000005 0 0 0</inertia>
 				</Body>
 				<Body name="patella_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -226,7 +226,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0011029600000000001 0.0011029600000000001 0.0011029600000000001 0 0 0</inertia>
+					<inertia>0.0009046200904620090462011029600000000001 0.0009046200904620090462011029600000000001 0.0009046200904620090462011029600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="talus_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -264,7 +264,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0020216600000000002 0.0020216600000000002 0.0020216600000000002 0 0 0</inertia>
+					<inertia>0.0009046200904620090462020216600000000002 0.0009046200904620090462020216600000000002 0.0009046200904620090462020216600000000002 0 0 0</inertia>
 				</Body>
 				<Body name="calcn_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -302,7 +302,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.10269300000000001 0.030807899999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.00090461999999999997 0.0036184799999999999 0.0036184799999999999 0 0 0</inertia>
+					<inertia>0.00090462009046200904620090461999999999997 0.0009046200904620090462036184799999999999 0.0009046200904620090462036184799999999999 0 0 0</inertia>
 				</Body>
 				<Body name="toes_r">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -340,7 +340,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.035942500000000002 0.0061615699999999999 -0.0184847</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0 0 0.00090461999999999997 0 0 0</inertia>
+					<inertia>0 0 0.00090462009046200904620090461999999999997 0 0 0</inertia>
 				</Body>
 			</objects>
 			<groups />

diff --git a/Models/Rajagopal/Rajagopal2016.osim b/Models/Rajagopal/Rajagopal2016.osim
@@ -1174,7 +1174,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 -0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -1839,7 +1839,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Models/Rajagopal/RajagopalLaiUhlrich2023.osim b/Models/Rajagopal/RajagopalLaiUhlrich2023.osim
@@ -1108,7 +1108,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 -0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -1834,7 +1834,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Pipelines/Gait2392_Simbody/OutputReference/subject01_simbody.osim b/Pipelines/Gait2392_Simbody/OutputReference/subject01_simbody.osim
@@ -318,7 +318,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.03553713 0.0061625100000000004 -0.017973980000000001</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.00010189 0.00020378 0.00101891 0 0 0</inertia>
+					<inertia>0.00010189 0.0011208000000000001 0.00101891 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -523,7 +523,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.03553713 0.0061625100000000004 0.017973980000000001</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.00010189 0.00020378 0.00101891 0 0 0</inertia>
+					<inertia>0.00010189 0.0011208000000000001 0.00101891 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Pipelines/Gait2392_Simbody/OutputReference/subject01_simbody_adjusted.osim b/Pipelines/Gait2392_Simbody/OutputReference/subject01_simbody_adjusted.osim
@@ -318,7 +318,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.03553713 0.0061625100000000004 -0.017973980000000001</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.00010189 0.00020378 0.00101891 0 0 0</inertia>
+					<inertia>0.00010189 0.0011208000000000001 0.00101891 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -523,7 +523,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.03553713 0.0061625100000000004 0.017973980000000001</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.00010189 0.00020378 0.00101891 0 0 0</inertia>
+					<inertia>0.00010189 0.0011208000000000001 0.00101891 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Pipelines/Hamner/FullBodyModel_Hamner2010_v2_0.osim b/Pipelines/Hamner/FullBodyModel_Hamner2010_v2_0.osim
@@ -358,7 +358,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 -0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -521,7 +521,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
+					<inertia>0.0001 0.00110000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Pipelines/Hamner/outputReference/subject02_RRA_Adjusted.osim b/Pipelines/Hamner/outputReference/subject02_RRA_Adjusted.osim
@@ -302,7 +302,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.038059999999999997 0.0066 -0.01925</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.000106086 0.000212172 0.0010608600000000001 0 0 0</inertia>
+					<inertia>0.000106086 0.001166946 0.0010608600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -507,7 +507,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.038059999999999997 0.0066 0.01925</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.000106086 0.000212172 0.0010608600000000001 0 0 0</inertia>
+					<inertia>0.000106086 0.001166946 0.0010608600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Pipelines/Hamner/outputReference/subject02_registered.osim b/Pipelines/Hamner/outputReference/subject02_registered.osim
@@ -302,7 +302,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.038059999999999997 0.0066 -0.01925</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.000106086 0.000212172 0.0010608600000000001 0 0 0</inertia>
+					<inertia>0.000106086 0.001166946 0.0010608600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -507,7 +507,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.038059999999999997 0.0066 0.01925</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.000106086 0.000212172 0.0010608600000000001 0 0 0</inertia>
+					<inertia>0.000106086 0.001166946 0.0010608600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->

diff --git a/Pipelines/Hamner/outputReference/subject02_scaled.osim b/Pipelines/Hamner/outputReference/subject02_scaled.osim
@@ -302,7 +302,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.038059999999999997 0.0066 -0.01925</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.000106086 0.000212172 0.0010608600000000001 0 0 0</inertia>
+					<inertia>0.000106086 0.001166946 0.0010608600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
@@ -507,7 +507,7 @@
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.038059999999999997 0.0066 0.01925</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
-					<inertia>0.000106086 0.000212172 0.0010608600000000001 0 0 0</inertia>
+					<inertia>0.000106086 0.001166946 0.0010608600000000001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->