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Remove unused, legacy <defaults> blocks in .osim and .xml files
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‎Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<OpenSimDocument Version="40000">
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<Model name="3DGaitModelwithSimpleArms">
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<defaults>
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<ControlLinear name="default">
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<is_model_control>true</is_model_control>
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<extrapolate>true</extrapolate>
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<default_min>-1</default_min>
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<default_max>1</default_max>
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<filter_on>false</filter_on>
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<use_steps>false</use_steps>
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<x_nodes />
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<min_nodes />
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<max_nodes />
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<kp>100</kp>
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<kv>20</kv>
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</ControlLinear>
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<CoordinateActuator name="default">
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<!--Name of the generalized coordinate to which the actuator applies.-->
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<coordinate>Unassigned</coordinate>
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<!--The maximum generalized force produced by this actuator.-->
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<optimal_force>300</optimal_force>
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</CoordinateActuator>
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<PointActuator name="default">
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<!--Name of Body to which this actuator is applied.-->
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<body></body>
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<!--Location of application point; in body frame unless point_is_global=true-->
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<point>0 0 0</point>
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<!--Interpret point in Ground frame if true; otherwise, body frame.-->
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<point_is_global>false</point_is_global>
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<!--Force application direction; in body frame unless force_is_global=true.-->
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<direction>-1 -0 -0</direction>
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<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
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<force_is_global>true</force_is_global>
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<!--The maximum force produced by this actuator when fully activated.-->
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<optimal_force>1000</optimal_force>
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</PointActuator>
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<TorqueActuator name="default">
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<!--Name of Body to which the torque actuator is applied.-->
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<bodyA>Unassigned</bodyA>
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<!--Name of Body to which the equal and opposite torque is applied.-->
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<bodyB>Unassigned</bodyB>
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<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
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<torque_is_global>true</torque_is_global>
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<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
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<axis>-1 -0 -0</axis>
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<!--The maximum torque produced by this actuator when fully activated.-->
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<optimal_force>1</optimal_force>
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</TorqueActuator>
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<Thelen2003Muscle name="default">
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<!--The set of points defining the path of the actuator.-->
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<GeometryPath>
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<!--The set of points defining the path-->
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<PathPointSet>
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<objects />
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<groups />
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</PathPointSet>
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<!--The wrap objects that are associated with this path-->
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<PathWrapSet>
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<objects />
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<groups />
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</PathWrapSet>
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<!--Default appearance attributes for this GeometryPath-->
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<Appearance>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
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</Appearance>
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</GeometryPath>
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<!--Maximum isometric force that the fibers can generate-->
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<max_isometric_force>546</max_isometric_force>
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<!--Optimal length of the muscle fibers-->
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<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
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<!--Resting length of the tendon-->
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<tendon_slack_length>0.078</tendon_slack_length>
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<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
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<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
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<!--tendon strain at maximum isometric muscle force-->
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<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
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<!--passive muscle strain at maximum isometric muscle force-->
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<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
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<!--shape factor for Gaussian active muscle force-length relationship-->
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<KshapeActive>0.5</KshapeActive>
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<!--exponential shape factor for passive force-length relationship-->
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<KshapePassive>4</KshapePassive>
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<!--force-velocity shape factor-->
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<Af>0.29999999999999999</Af>
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<!--maximum normalized lengthening force-->
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<Flen>1.8</Flen>
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<!--Activation time constant, in seconds-->
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<activation_time_constant>0.01</activation_time_constant>
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<!--Deactivation time constant, in seconds-->
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<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
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</Thelen2003Muscle>
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<CMC_Joint name="default">
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<!--Flag (true or false) indicating whether or not a task is enabled.-->
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<on>false</on>
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<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
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<weight> 1 1 1</weight>
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<!--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.-->
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<wrt_body>-1</wrt_body>
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<!--Name of body frame in which the tracking objectives are expressed. This property is not used for tracking joint angles.-->
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<express_body>-1</express_body>
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<!--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.-->
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<active>false false false </active>
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<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
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<kp> 1 1 1</kp>
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<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
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<kv> 1 1 1</kv>
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<!--Feedforward acceleration gain. This is normally set to 1.0, so no gain.-->
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<ka> 1 1 1</ka>
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<!--Direction vector[3] for component 0 of a task. Joint tasks do not use this property.-->
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<r0> 0 0 0</r0>
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<!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->
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<r1> 0 0 0</r1>
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<!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->
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<r2> 0 0 0</r2>
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<!--Name of the coordinate to be tracked.-->
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<coordinate />
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<!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->
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<limit>0</limit>
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</CMC_Joint>
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</defaults>
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<!--The model's ground reference frame.-->
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<Ground name="ground">
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<!--The geometry used to display the axes of this Frame.-->

‎Pipelines/Gait2354_Simbody/forces_grf.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<OpenSimDocument Version="20302">
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<ExternalLoads name="">
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<defaults>
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<ControlLinear name="default">
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<is_model_control> true </is_model_control>
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<extrapolate> true </extrapolate>
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<default_min> -1.00000000 </default_min>
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<default_max> 1.00000000 </default_max>
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<filter_on> false </filter_on>
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<use_steps> false </use_steps>
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<x_nodes/>
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<min_nodes/>
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<max_nodes/>
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<kp> 100.00000000 </kp>
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<kv> 20.00000000 </kv>
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</ControlLinear>
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<CoordinateActuator name="default">
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<isDisabled> false </isDisabled>
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<!--Minimum allowed value for control signal. Used primarily when solving
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for control values-->
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<min_control> -infinity </min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving
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for control values-->
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<max_control> infinity </max_control>
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<coordinate> </coordinate>
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<optimal_force> 300.00000000 </optimal_force>
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</CoordinateActuator>
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<PointActuator name="default">
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<isDisabled> false </isDisabled>
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<!--Minimum allowed value for control signal. Used primarily when solving
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for control values-->
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<min_control> -infinity </min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving
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for control values-->
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<max_control> infinity </max_control>
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<body> </body>
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<point> 0.00000000 0.00000000 0.00000000 </point>
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<point_is_global> false </point_is_global>
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<direction> -1.00000000 -0.00000000 -0.00000000 </direction>
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<force_is_global> true </force_is_global>
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<optimal_force> 1000.00000000 </optimal_force>
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</PointActuator>
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<TorqueActuator name="default">
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<isDisabled> false </isDisabled>
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<!--Minimum allowed value for control signal. Used primarily when solving
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for control values-->
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<min_control> -infinity </min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving
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for control values-->
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<max_control> infinity </max_control>
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<bodyA> </bodyA>
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<bodyB> </bodyB>
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<torque_is_global> true </torque_is_global>
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<axis> -1.00000000 -0.00000000 -0.00000000 </axis>
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<optimal_force> 300.00000000 </optimal_force>
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</TorqueActuator>
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<Thelen2003Muscle name="default">
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<isDisabled> false </isDisabled>
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<!--Minimum allowed value for control signal. Used primarily when solving
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for control values-->
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<min_control> 0.00000000 </min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving
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for control values-->
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<max_control> 1.00000000 </max_control>
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<GeometryPath name="">
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<PathPointSet name="">
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<objects/>
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<groups/>
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</PathPointSet>
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<VisibleObject name="">
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<!--Set of geometry files and associated attributes, allow .vtp, .stl,
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.obj-->
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<GeometrySet name="">
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<objects/>
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<groups/>
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</GeometrySet>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors>
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<!--transform relative to owner specified as 3 rotations (rad) followed by
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3 translations rX rY rZ tx ty tz-->
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<transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform>
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<!--Whether to show a coordinate frame-->
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<show_axes> false </show_axes>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
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individual geometries-->
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<display_preference> 4 </display_preference>
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</VisibleObject>
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<PathWrapSet name="">
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<objects/>
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<groups/>
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</PathWrapSet>
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</GeometryPath>
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<optimal_force> 1.00000000 </optimal_force>
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<!--Maximum isometric force that the fibers can generate-->
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<max_isometric_force> 546.00000000 </max_isometric_force>
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<!--Optimal length of the muscle fibers-->
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<optimal_fiber_length> 0.05350000 </optimal_fiber_length>
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<!--Resting length of the tendon-->
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<tendon_slack_length> 0.07800000 </tendon_slack_length>
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<!--Angle between tendon and fibers at optimal fiber length-->
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<pennation_angle_at_optimal> 0.00000000 </pennation_angle_at_optimal>
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<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
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per second-->
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<max_contraction_velocity> 10.00000000 </max_contraction_velocity>
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<!--time constant for ramping up of muscle activation-->
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<activation_time_constant> 0.01000000 </activation_time_constant>
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<!--time constant for ramping down of muscle activation-->
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<deactivation_time_constant> 0.04000000 </deactivation_time_constant>
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<!--maximum contraction velocity at full activation in fiber lengths per
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second-->
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<Vmax> 10.00000000 </Vmax>
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<!--maximum contraction velocity at low activation in fiber lengths per
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second-->
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<Vmax0> 5.00000000 </Vmax0>
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<!--tendon strain due to maximum isometric muscle force-->
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<FmaxTendonStrain> 0.03300000 </FmaxTendonStrain>
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<!--passive muscle strain due to maximum isometric muscle force-->
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<FmaxMuscleStrain> 0.60000000 </FmaxMuscleStrain>
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<!--shape factor for Gaussian active muscle force-length relationship-->
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<KshapeActive> 0.50000000 </KshapeActive>
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<!--exponential shape factor for passive force-length relationship-->
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<KshapePassive> 4.00000000 </KshapePassive>
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<!--passive damping in the force-velocity relationship-->
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<damping> 0.05000000 </damping>
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<!--force-velocity shape factor-->
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<Af> 0.30000000 </Af>
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<!--maximum normalized lengthening force-->
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<Flen> 1.80000000 </Flen>
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</Thelen2003Muscle>
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<Schutte1993Muscle name="default">
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<isDisabled> false </isDisabled>
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<!--Minimum allowed value for control signal. Used primarily when solving
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for control values-->
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<min_control> 0.00000000 </min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving
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for control values-->
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<max_control> 1.00000000 </max_control>
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<GeometryPath name="">
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<PathPointSet name="">
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<objects/>
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<groups/>
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</PathPointSet>
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<VisibleObject name="">
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<!--Set of geometry files and associated attributes, allow .vtp, .stl,
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.obj-->
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<GeometrySet name="">
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<objects/>
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<groups/>
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</GeometrySet>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 1.00000000 1.00000000 1.00000000 </scale_factors>
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<!--transform relative to owner specified as 3 rotations (rad) followed by
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3 translations rX rY rZ tx ty tz-->
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<transform> -0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000 </transform>
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<!--Whether to show a coordinate frame-->
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<show_axes> false </show_axes>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
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individual geometries-->
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<display_preference> 4 </display_preference>
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</VisibleObject>
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<PathWrapSet name="">
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<objects/>
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<groups/>
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</PathWrapSet>
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</GeometryPath>
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<optimal_force> 1.00000000 </optimal_force>
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<!--Maximum isometric force that the fibers can generate-->
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<max_isometric_force> 0.00000000 </max_isometric_force>
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<!--Optimal length of the muscle fibers-->
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<optimal_fiber_length> 0.00000000 </optimal_fiber_length>
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<!--Resting length of the tendon-->
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<tendon_slack_length> 0.00000000 </tendon_slack_length>
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<!--Angle between tendon and fibers at optimal fiber length-->
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<pennation_angle_at_optimal> 0.00000000 </pennation_angle_at_optimal>
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<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
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per second-->
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<max_contraction_velocity> 10.00000000 </max_contraction_velocity>
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<!--Scale factor for normalizing time-->
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<time_scale> 0.10000000 </time_scale>
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<!--Parameter used in time constant of ramping up of muscle force-->
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<activation1> 0.00000000 </activation1>
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<!--Parameter used in time constant of ramping up and ramping down of
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muscle force-->
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<activation2> 0.00000000 </activation2>
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<!--Damping factor related to maximum contraction velocity-->
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<damping> 0.05000000 </damping>
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<!--Function representing force-length behavior of tendon-->
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<tendon_force_length_curve>
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<NaturalCubicSpline name="">
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<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>
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<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>
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</NaturalCubicSpline>
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</tendon_force_length_curve>
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<!--Function representing active force-length behavior of muscle fibers-->
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<active_force_length_curve>
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<NaturalCubicSpline name="">
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<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>
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<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>
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</NaturalCubicSpline>
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</active_force_length_curve>
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<!--Function representing passive force-length behavior of muscle fibers-->
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<passive_force_length_curve>
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<NaturalCubicSpline name="">
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<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>
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<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>
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</NaturalCubicSpline>
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</passive_force_length_curve>
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</Schutte1993Muscle>
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<CMC_Joint name="default">
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<!--Flag (true or false) indicating whether or not a task is enabled.-->
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<on> false </on>
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<!--Weight with which a task is tracked relative to other tasks. To track
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a task more tightly, make the weight larger.-->
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<weight> 1.00000000 1.00000000 1.00000000 </weight>
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<!--Name of body frame with respect to which a tracking objective is
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specified. The special name 'center_of_mass' refers to the system
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center of mass. This property is not used for tracking joint angles.-->
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<wrt_body> -1 </wrt_body>
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<!--Name of body frame in which the tracking objectives are expressed.
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This property is not used for tracking joint angles.-->
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<express_body> -1 </express_body>
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<!--Array of 3 flags (each true or false) specifying whether a component
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of a task is active. For example, tracking the trajectory of a point
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in space could have three components (x,y,z). This allows each of
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those to be made active (true) or inactive (false). A task for
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tracking a joint coordinate only has one component.-->
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<active> false false false </active>
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<!--Position error feedback gain (stiffness). To achieve critical damping
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of errors, choose kv = 2*sqrt(kp).-->
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<kp> 1.00000000 1.00000000 1.00000000 </kp>
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<!--Velocity error feedback gain (damping). To achieve critical damping of
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errors, choose kv = 2*sqrt(kp).-->
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<kv> 1.00000000 1.00000000 1.00000000 </kv>
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<!--Feedforward acceleration gain. This is normally set to 1.0, so no
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gain.-->
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<ka> 1.00000000 1.00000000 1.00000000 </ka>
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<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
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this propery.-->
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<r0> 0.00000000 0.00000000 0.00000000 </r0>
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<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
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this property.-->
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<r1> 0.00000000 0.00000000 0.00000000 </r1>
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<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
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this property.-->
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<r2> 0.00000000 0.00000000 0.00000000 </r2>
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<!--Name of the coordinate to be tracked.-->
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<coordinate> </coordinate>
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<!--Error limit on the tracking accuracy for this coordinate. If the
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tracking errors approach this limit, the weighting for this coordinate
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is increased.-->
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<limit> 0.00000000 </limit>
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</CMC_Joint>
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</defaults>
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<objects>
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<ExternalForce name="Right">
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<isDisabled> false </isDisabled>

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