The topics covered in this section include:
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<Body name="r_humerus"> <attached_geometry>...</attached_geometry> <WrapObjectSet>...</WrapObjectSet> <mass>1.8645719999999999</mass> <mass_center>0 -0.18049599999999999 0</mass_center> <inertia>0.01481 0.0045510000000000004 0.013193 0 0 0</inertia> </Body> |
Every model comes with a Ground body, which exists as a property of a Model, not in the BodySet.
Geometry
In version 4.0, OpenSim supports more types/shapes than in previous versions. You don't have to specify a mesh file to use most analytical shapes (Brick, Sphere, Cylinder, Cone, Ellipsoid). In addition you can specify Mesh to indicate geometry read from a mesh file. You can use .vtp, .stl, or .obj files to visualize geometry. All these types are kinds of Geometry. Check the units of your model and the units of the exported geometry (e.g., from Solidworks) if you are experiencing size/display issues.
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In addition to the set of rigid bodies, we also need to define the relationship between those bodies (i.e., joint definitions). In In the figure below, a joint (in red) defines the kinematic relationship between two frames (B and P) each affixed to a rigid-body (the parent, Po, and the body being added, Bo) parameterized by joint coordinates
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