############################################ 
#
# This is the parameter definition script for skeleton and neck muscle model in
# Sung-Hee Lee and Demetri Terzopoulos, "Heads Up! Biomechanical Modeling 
# and Neuromuscular Control of the Neck," SIGGRAPH 2006. 
#
############################################ 

############################################ 
# -link id
# -link name
# -position of the origin of local coordinate in default pose w.r.t. parent link: xyz
# -d.o.f 
# for each DOF,  
#    -screw parameters (blank if base link. Z rotation = 0 0 1 0 0 0, Y rotation = 0 1 0 0 0 0, X rotation = 1 0 0 0 0 0), 
#    -spring/damping coefficients ( ks,kd (N.m/rad) )
# -mass
# -Inertia at center of mass
# -position of conter of mass w.r.t. the origin of local coordinate (in centimeter)
#
#example:
#1 : link ID
#C7: link name
#0 -0.1651 1.0541: position of the origin w.r.t. the parent link
#3 : d.o.f.
#0 0 1 0 0 0 70.0 7.0 : Z rotation, ks = 70.0, kd = 7.0
#0 1 0 0 0 0 35.0 3.5 : Y rotation, ks = 35.0, kd = 3.5
#1 0 0 0 0 0 70.0 7.0 : Z rotation, ks = 70.0, kd = 7.0
#0.21 : mass
#3.54 0 0 0 3.54 0 0 0 6.85 : rotational inertia at the center of mass
#0 0 0 : position of the center of mass w.r.t. the origin of local coordinate
############################################
LINK_DEFINITION
0	
BASE
0 0 0
0 -8 0
0
0.001
1 0 0 0 1 0 0 0 1 
0 0 0

1 
C7	
0 -0.1651 1.0541 
3
0 0 1 0 0 0 70.0 7.0
0 1 0 0 0 0 35.0 3.5 
1 0 0 0 0 0 70.0 7.0 
0.21
3.54 0 0 0 3.54 0 0 0 6.85     
0 0 0

2 
C6	
0 1.46812 0.37338 
3 
0 0 1 0 0 0  67.0 6.7 
0 1 0 0 0 0  33.5 3.35 
1 0 0 0 0 0  67.0 6.7 
0.21
3.54 0 0 0 3.54 0 0 0 6.85     
0 0 0

3 
C5	
0 1.9177 0.29972
3 
0 0 1 0 0 0  64.0 6.4 
0 1 0 0 0 0  32.0 3.2 
1 0 0 0 0 0  64.0 6.4 
0.21
3.54 0 0 0 3.54 0 0 0 6.85     
0 0 0

4 
C4	
0 1.524 -0.04572
3 
0 0 1 0 0 0  61.0 6.1 
0 1 0 0 0 0  30.5 3.05 
1 0 0 0 0 0  61.0 6.1 
0.21
3.54 0 0 0 3.54 0 0 0 6.85      
0 0 0

5 
C3	
0 1.68656 -0.06604
3 
0 0 1 0 0 0  58.0 5.8 
0 1 0 0 0 0  29.0 2.9 
1 0 0 0 0 0  58.0 5.8 
0.21
3.54 0 0 0 3.54 0 0 0 6.85     
0 0 0

6 
C2	
0 1.57988 -0.09144 
3 
0 0 1 0 0 0  55.0 5.5 
0 1 0 0 0 0  27.5 2.75 
1 0 0 0 0 0  55.0 5.5 
0.21
3.54 0 0 0 3.54 0 0 0 6.85    
0 0 0

7 
C1	
0 2.48412 -0.6604 
3 
0 0 1 0 0 0  3.00	52.0 5.2 
0 1 0 0 0 0  10.00	26.0 2.6 
1 0 0 0 0 0  5.00	52.0 5.2 
0.21
3.54 0 0 0 3.54 0 0 0 6.85  
0 0 0

8
skull
0 3.99288 -0.14478 
3
0 0 1 0 0 0  4.00	 49.0 4.9 
0 1 0 0 0 0  13.50	  24.5 2.45 
1 0 0 0 0 0  6.50	   49.0 4.9 
3.5
140 0 0 0 140 0 0 0 140   
0 4 2

###########################################
# number of Muscle
###########################################
NUM_MUSCLE
72

###########################################
# muscle data
# - id
# - name
# - stiffness weight factor 
# - leftLinkId (origin)  rigtLinkId (insertion)
# - left attachment position (XYZ in world coordinate)
# - right attachment position (XYZ in world coordinate)
#
# example:
# 0: muscle id
# longus_colli_r1:muscle name
# 1.0 :stiffness weight factor
# 0 1 : left and right muscle attachment link ID
# -2.43078   -0.91186  2.53238 : left attachment position
# -2.25552   0.72644   3.44932 : right attachment position
###########################################
MUSCLE_DEFINITION

0 
longus_colli_r1 
1.0 
0 1
-2.43078	-0.91186	2.53238
-2.25552	0.72644		3.44932

1 
longus_colli_r2 
1.0 
1 2
-2.25552	0.72644		3.44932
-2.05486	2.44856		3.91922

2 
longus_colli_r3 
1.0 
2 3
-2.05486	2.44856	3.91922
-1.90246	4082	4.2291

3 
longus_colli_r4 
1.0 
3 4
-1.90246	4082	4.2291
-1.82626	5.65658	4.50596

4 
longus_colli_r5 
1.0 
4 5
-1.82626	5.65658	4.50596
-1.69926	7.41426	4.62788

5 
longus_colli_r6 
1.0 
5 6
-1.69926	7.41426	4.62788
-1.62306	9.04748 4.69138

6 
longus_colli_r7 
1.0 
6 7
-1.62306	9.04748	4.69138
-1.6764		10.32256	4.3926

7 
longus_colli_r8 
1.0 
7 8
-1.6764	10.32256	4.3926
-1.6764	11.63828	4.0926

8 
longus_colli_l1 
1.0 
0 1
2.43078	-0.91186	2.53238
2.25552	0.72644		3.44932

9 
longus_colli_l2 
1.0 
1 2
2.25552	0.72644	3.44932
2.05486	2.44856	3.91922

10 
longus_colli_l3 
1.0 
2 3
2.05486	2.44856	3.91922
1.90246	4082	4.2291

11
 longus_colli_l4 
 1.0 
3 4
1.90246	4082	4.2291
1.82626	5.65658	4.50596

12
 longus_colli_l5 
 1.0 
4 5
1.82626	5.65658	4.50596
1.69926	7.41426	4.62788

13
 longus_colli_l6 
 1.0 
5 6
1.69926	7.41426	4.62788
1.62306	9.04748	4.69138

14 
longus_colli_l7 
1.0 
6 7
1.62306	9.04748	4.69138
1.6764	10.32256	4.3926

15
 longus_colli_l8
 1.0 
7 8
1.6764	10.32256	4.3926
1.6764	11.63828	4.0926

16
 erector_r1 
 1.0
0 1
-1.94818	0.72644	-2.54508
-1.72974	2.44856	-1.63576
 
17 
erector_r2
1.0
1 2
-1.72974	2.44856 -1.63576
-1.57988	4082 -1.0033

18 
erector_r3 
1.0
2 3
-1.57988	4082	-1.0033
-1.50114	5.334	-0.5334

19 
erector_r4 
1.0
3 4
-1.50114	5.334	-0.5334
-1.37668	6.54304	-0.24384

20 
erector_r5 
1.0
4 5
-1.37668	6.54304	-0.24384
-1.30048	7.67842	-0.18034

21 
erector_r6 
1.0
5 6
-1.30048	7.67842	-0.18034
-1.35382	9.05256	-0.26416

22 
erector_r7 
1.0
6 7
-1.35382	9.05256	-0.26416
-1.35382	10.32256	-0.40386

23 
erector_r8 
1.0
7 8
-1.35382	10.32256	-0.40386
-1.35382	11.50112	-0.32004

24 
erector_l1 
1.0
0 1
1.94818	0.72644	-2.54508
1.72974	2.44856	-1.63576

25 
erector_l2 
1.0
1 2
1.72974	2.44856	-1.63576
1.57988	4082	-1.0033

26 
erector_l3 
1.0
2 3
1.57988	4082	-1.0033
1.50114	5.334	-0.5334

27 
erector_l4 
1.0
3 4
1.50114	5.334	-0.5334
1.37668	6.54304	-0.24384

28 
erector_l5 
1.0
4 5
1.37668	6.54304	-0.24384
1.30048	7.67842	-0.18034

29 
erector_l6 
1.0
5 6
1.30048	7.67842	-0.18034
1.35382	9.05256	-0.26416

30 
erector_l7 
1.0
6 7
1.35382	9.05256	-0.26416
1.35382	10.32256	-0.40386

31 
erector_l8 
1.0
7 8
1.35382	10.32256	-0.40386
1.35382	11.50112	-0.32004

32 
rotator0_r 
1.0
0 1
-2.61176	1.37398 -2.041
-0.31176	1.27398  -3.1

33 
rotator1_r 
1.0
1 2
-2.11176	3.27398 -1.6
-0.31176	3.57398  -2.7

34 
rotator2_r 
1.0
2 3
-2.11176	3.77398 0.50
-0.31176	5.07398  -2.2

35
 rotator3_r 
 1.0
3 4
-2.11176	4.77398 0.50
-0.31176	6.07398 -1.2

36 
rotator4_r 
1.0
4 5
-2.11176	6.27398 1.0
-0.31176	7.07398 -1.2

37 
rotator5_r 
1.0
5 6
-1.81176	7.47398 1.0
-0.31176	8.07398  -1.2

38 
rotator6_r 
1.0
6 7
-1.81176	8.87398 1.0
-0.31176	9.87398 -1.0

39
 rotator7_r 
 1.0
7 8
-3.27152  10.16508  1.5748
-2.2352  11.37158   -0.92456

40 
rotator0_l 
1.0
0 1
2.61176	1.37398 -2.041
0.31176	1.27398 -3.1

41 
rotator1_l 
1.0
1 2
2.11176	3.27398 -1.6
0.31176		3.57398 -2.7

42 
rotator2_l 
1.0
2 3
2.11176	3.77398 0.50
0.31176	5.07398  -2.2

43 
rotator3_l 
1.0
3 4
2.11176	4.77398 0.50
0.31176	6.07398  -1.2

44 
rotator4_l 
1.0
4 5
2.11176	6.27398 1.0
0.31176	7.07398  -1.2

45 
rotator5_l 
1.0
5 6
1.81176	7.47398 1.0
0.31176	8.07398 -1.2

46 
rotator6_l 
1.0
6 7
1.81176	8.87398 1.0
0.31176	9.87398  -1.0

47 
rotator7_l 
1.0
7 8
3.27152  10.16508  1.5748
2.2352  11.37158  -0.92456

48
scalenus_anterior_r1 
2.0
0 3
-5.1086		-2.53924	3.82448
-2.36258	5.0484		2.01168

49
scalenus_anterior_l1 
2.0
0 3
5.1086		-2.53924	3.82448
2.36258		5.0484		2.01168

50
scalenus_anterior_r2 
2.0
0 5
-5.1086		-2.53924	3.82448
-2.36258	7.4484		2.01168

51
scalenus_anterior_l2 
2.0
0 5
5.1086		-2.53924	3.82448
2.36258		7.4484		2.01168

52 
scalenus_posterior_r1 
2.0
0 4
-8.1086		-1.53924	0.82448
-2.36258	6.0484		2.01168

53
scalenus_posterior_l1 
2.0
0 4
8.1086	-1.53924	0.82448
2.36258			6.0484	2.01168

54
scalenus_posterior_r2 
2.0
0 2
-8.1086		-1.53924	0.82448
-2.66258	3.3484		1.61168

55
scalenus_posterior_l2 
2.0
0 2
8.1086	-1.53924	0.82448
2.66258			3.3484	1.61168

56
splenius_capitis_r1 
2.0
3 8
-0.31176 5.57398 -2.5
-3.714	 11.582	 0.876

57
splenius_capitis_r2 
2.0
1 8
-0.31176	1.57398 -3.5
-4.04368	10.950	1.948

58
splenius_capitis_r1 
2.0
3 8
0.31176 5.57398 -2.5
3.714	11.582	0.876

59
splenius_capitis_r2 
2.0
1 8
0.31176		1.57398 -3.5
4.04368		10.950	1.948

60
sternomastoid_r	
3.0
0 8
-0.532	-2.586	7.62
-4.59382	10.78916	3.68902

61
sternomastoid_l	
3.0
0 8
0.532	-2.586	7.62
4.59382	10.78916	3.68902

62
cleidooccipital_r	
3.0
0 8
-52	-3.586	6.2
-3.89382	10.78916 1.58902

63
cleidooccipital_l 
3.0
0 8
52	-3.586	6.2
3.89382	10.78916	1.58902

64
trapezius0_r 
3.0
0 8
-9.858	-2.0	0.08
-1.15722	11.64996	-2.23012

65
trapezius0_l 
3.0
0 8
9.858	-2.0	0.08
1.15722	11.64996	-2.23012

66
trapezius1_r 
3.0
0 6
-8.558	0	-3.28
0	7.9121	-2.41732

67
trapezius1_l 
3.0
0 6
8.558	0	-3.28
0	7.9121	-2.41732

68
trapezius3_r 
3.0
0 4
-7.958	0	-3.68
0	6.11886	-3.0193

69
trapezius3_l 
3.0
0 4
7.958	0	-3.68
0	6.11886	-3.0193

70
trapezius5_r 
3.0
0 2
-7.358	0	-4.08
0	3.73634	-3.9718

71
trapezius5_l 
3.0
0 2
7.358	0	-4.08
0	3.73634	-3.9718