kinect_joint_angles/kinect_ik_setup_trial2.xml at main · bs97/kinect_joint_angles · GitHub

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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40000">
	<InverseKinematicsTool>
		<!--The time range for the study.-->
		<time_range>-Inf Inf</time_range>
		<!--Name of the resulting inverse kinematics motion (.mot) file.-->
		<output_motion_file></output_motion_file>
		<!--Markers and coordinates to be considered (tasks) and their weightings. The sum of weighted-squared task errors composes the cost function.-->
		<IKTaskSet>
			<objects>
				<IKMarkerTask name="C7">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>false</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
				<IKMarkerTask name="T8">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>false</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
				<IKMarkerTask name="GH">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>true</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
				<IKMarkerTask name="Elbow_Midpoint">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>true</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
				<IKMarkerTask name="Wrist_Midpoint">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>true</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
				<IKMarkerTask name="C7_K">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>true</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
				<IKMarkerTask name="T8_K">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>true</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
				<IKMarkerTask name="K4ABT_JOINT_THUMB_RIGHT">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>false</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>0</weight>
				</IKMarkerTask>
				<IKMarkerTask name="K4ABT_JOINT_HANDTIP_RIGHT">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>false</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>0</weight>
				</IKMarkerTask>
				<IKMarkerTask name="K4ABT_JOINT_HAND_RIGHT">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>false</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>0</weight>
				</IKMarkerTask>
				<IKMarkerTask name="K4ABT_JOINT_CLAVICLE_RIGHT">
					<!--Whether or not this task will be used during inverse kinematics solve, default is true.-->
					<apply>true</apply>
					<!--Weight given to the task when solving inverse kinematics problems, default is 0.-->
					<weight>1</weight>
				</IKMarkerTask>
			</objects>
			<groups />
		</IKTaskSet>
	</InverseKinematicsTool>
</OpenSimDocument>