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RightLegAndPelvis.osim
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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40000">
<Model name="RightLegAndPelvis">
<!--The model's ground reference frame.-->
<Ground name="ground">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry />
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects />
<groups />
</WrapObjectSet>
</Ground>
<!--Acceleration due to gravity, expressed in ground.-->
<gravity>0 -9.8066499999999994 0</gravity>
<!--Credits (e.g., model author names) associated with the model.-->
<credits>Rice Computational Neuromechanics Lab (RCNL): B.J. Fregly, Marleny M. Vega, Claire V. Hammond, Mohammad S. Shourijeh, Di Ao, Spencer T. Williams, Geng Li, and Ayman W. Habib. This model was created for use in the RCNL Neuromusculoskeletal Modeling Pipeline software.</credits>
<!--Publications and references associated with the model.-->
<publications>This full-body model is a modified version of the one provided with the following publication: Rajagopal, Apoorva, et al. "Full-Body Musculoskeletal Model for Muscle-Driven Simulation of Human Gait." IEEE Transactions on Biomedical Engineering 63.10 (2016): 2068-2079. (2016)</publications>
<!--Units for all lengths.-->
<length_units>meters</length_units>
<!--Units for all forces.-->
<force_units>N</force_units>
<!--List of bodies that make up this model.-->
<BodySet name="bodyset">
<objects>
<Body name="pelvis">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="pelvis_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1.122625521357514 1.122625521357514 1.122625521357514</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>r_pelvis.vtp</mesh_file>
</Mesh>
<Mesh name="pelvis_geom_2">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1.122625521357514 1.122625521357514 1.122625521357514</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>l_pelvis.vtp</mesh_file>
</Mesh>
<Mesh name="pelvis_geom_3">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1.122625521357514 1.122625521357514 1.122625521357514</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>sacrum.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="Gmax1_at_pelvis_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.59999999999999998 0.45000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.086442165144528571 -0.1111399266143939 0.068480156802808362</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-x</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.044905020854300558</radius>
<!--The length of the cylinder.-->
<length>0.16839382820362711</length>
</WrapCylinder>
<WrapCylinder name="Gmax2_at_pelvis_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.75 0.39000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.089810041708601115 -0.09317791827267366 0.076338535452310952</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.044905020854300558</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575141</length>
</WrapCylinder>
<WrapCylinder name="Gmax3_at_pelvis_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.10000000000000001 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.09317791827267366 -0.098791045879461234 0.076338535452310952</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.044905020854300558</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575143</length>
</WrapCylinder>
<WrapCylinder name="Gmax1_at_pelvis_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.59999999999999998 -0.45000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.086442165144528571 -0.1111399266143939 -0.068480156802808362</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-x</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.044905020854300558</radius>
<!--The length of the cylinder.-->
<length>0.16839382820362711</length>
</WrapCylinder>
<WrapCylinder name="Gmax2_at_pelvis_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.75 -0.39000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.089810041708601115 -0.09317791827267366 -0.076338535452310952</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.044905020854300558</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575141</length>
</WrapCylinder>
<WrapCylinder name="Gmax3_at_pelvis_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.10000000000000001 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.09317791827267366 -0.098791045879461234 -0.076338535452310952</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.044905020854300558</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575143</length>
</WrapCylinder>
<WrapCylinder name="PS_at_brim_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.25 -0.27000000000000002 0.10000000000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.08307428858045604 -0.067357531281450847 0.073644234201052913</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.056131276067875706</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575138</length>
</WrapCylinder>
<WrapCylinder name="PS_at_brim_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.25 0.27000000000000002 0.10000000000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.08307428858045604 -0.067357531281450847 -0.073644234201052913</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.056131276067875706</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575138</length>
</WrapCylinder>
<WrapCylinder name="IL_at_brim_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.32000000000000001 -0.23999999999999999 0.90000000000000002</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.079706412016383482 -0.072970658888238407 0.084870489414628061</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.061632141122527517</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575138</length>
</WrapCylinder>
<WrapCylinder name="IL_at_brim_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.32000000000000001 0.23999999999999999 0.90000000000000002</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.079706412016383482 -0.072970658888238407 -0.084870489414628061</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.061632141122527517</radius>
<!--The length of the cylinder.-->
<length>0.11226255213575138</length>
</WrapCylinder>
</objects>
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>10.656624099537646</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>-0.079369624359976229 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>0.1172324681743101 0.099328287723564293 0.066028792872495662 0 0 0</inertia>
</Body>
<Body name="femur_r">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="femur_r_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.99125036458674654 0.99125036458674654 0.99125036458674654</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>r_femur.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="Gastroc_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0049562518229337325 -0.40641264948056605 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.024781259114668663</radius>
<!--The length of the cylinder.-->
<length>0.099125036458674654</length>
</WrapCylinder>
<WrapCylinder name="KnExt_at_fem_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.062336599999999999 0.050760100000000002 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.003556883858239331 -0.3992082418307496 0.0020728135498909919</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.024781259114668663</radius>
<!--The length of the cylinder.-->
<length>0.099125036458674667</length>
</WrapCylinder>
<WrapCylinder name="AB_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.66157 0.186644 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.014515275588789565 -0.11160983480064472 0.023160564768569335</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.01635563101568132</radius>
<!--The length of the cylinder.-->
<length>0.06938752552107226</length>
</WrapCylinder>
<WrapCylinder name="AL_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.77711 0.136489 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.030463800079735107 -0.22987988080094782 0.014981460635254712</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.019924132328193605</radius>
<!--The length of the cylinder.-->
<length>0.099125036458674654</length>
</WrapCylinder>
<WrapCylinder name="AMprox_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.6112599999999999 0.18656 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0051376407271494619 -0.072256997076477966 0.025180733011597119</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.020915382692780354</radius>
<!--The length of the cylinder.-->
<length>0.06938752552107226</length>
</WrapCylinder>
<WrapCylinder name="AMmid_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.6113900000000001 0.13655999999999999 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.022811149015052507 -0.15930483734310061 0.020404095754726508</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.021212757802156371</radius>
<!--The length of the cylinder.-->
<length>0.11895004375040957</length>
</WrapCylinder>
<WrapCylinder name="AMdist_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.7118800000000001 0.186636 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.031329954648311009 -0.25845465506088999 0.0092826631642090474</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.021609257947991074</radius>
<!--The length of the cylinder.-->
<length>0.19825007291734931</length>
</WrapCylinder>
<WrapCylinder name="AMisch_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.7111499999999999 -0.46336300000000002 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.022452911133290857 -0.37353386613758832 -0.0031267704125414958</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.03965001458346986</radius>
<!--The length of the cylinder.-->
<length>0.23790008750081917</length>
</WrapCylinder>
<WrapCylinder name="PECT_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.8129500000000001 0.27634399999999998 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0060324820812765008 -0.083763530433637393 0.030174156723202856</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.014868755468801197</radius>
<!--The length of the cylinder.-->
<length>0.049562518229337334</length>
</WrapCylinder>
</objects>
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>8.4165342107021708</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.16851256197974693 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>0.11905078649823066 0.031207487722837164 0.12554123266280931 0 0 0</inertia>
</Body>
<Body name="patella_r">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="patella_r_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.99125036458674654 0.99125036458674654 0.99125036458674654</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>r_patella.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects />
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>0.07799957522120618</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.0017842506562561436 0.026169009625090108 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>2.5517233551151751e-06 1.1656130029811828e-05 1.1656130029811828e-05 0 0 0</inertia>
</Body>
<Body name="tibia_r">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="tibia_r_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1.0283929017223827 1.0283929017223827 1.0283929017223827</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>r_tibia.vtp</mesh_file>
</Mesh>
<Mesh name="tibia_r_geom_2">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1.0283929017223827 1.0283929017223827 1.0283929017223827</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>r_fibula.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="GasLat_at_shank_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>2.9672299999999998 -0.279725 -1.4781200000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0076101074727456322 -0.076101074727456322 -0.0033936965756838629</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.056561609594731048</radius>
<!--The length of the cylinder.-->
<length>0.10283929017223828</length>
</WrapCylinder>
<WrapCylinder name="GasMed_at_shank_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>2.9672299999999998 0.027972500000000001 -1.4781200000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0076101074727456322 -0.076101074727456322 -0.0033936965756838629</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.056561609594731062</radius>
<!--The length of the cylinder.-->
<length>0.10283929017223828</length>
</WrapCylinder>
<WrapCylinder name="GR_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 -0.40000000000000002 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0030851787051671483 -0.020567858034447654 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.037022144462005774</radius>
<!--The length of the cylinder.-->
<length>0.10283929017223828</length>
</WrapCylinder>
<WrapCylinder name="SM_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 -0.10000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0010283929017223827 -0.020567858034447654 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.036199430140627875</radius>
<!--The length of the cylinder.-->
<length>0.10283929017223828</length>
</WrapCylinder>
<WrapCylinder name="ST_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 -0.20000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0020567858034447654 -0.021082054485308848 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.043706698323201267</radius>
<!--The length of the cylinder.-->
<length>0.10283929017223828</length>
</WrapCylinder>
<WrapCylinder name="BF_at_gastroc_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.059646788299898203 -0.061703574103342963 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.030851787051671482</radius>
<!--The length of the cylinder.-->
<length>0.1542589352583574</length>
</WrapCylinder>
</objects>
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>3.3547961152276327</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.19200095475156886 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>0.04823181986720973 0.0048806008198962235 0.048901706254254308 0 0 0</inertia>
</Body>
<Body name="pretalus_r">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry />
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects />
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>9.0486746196294883e-09</mass>
<!--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>9.0486746196294883e-09 9.0486746196294883e-09 9.0486746196294883e-09 0 0 0</inertia>
</Body>
<Body name="talus_r">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="talus_r_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1.0501191293468577 1.0501191293468577 1.0501191293468577</scale_factors>
<!--Default appearance attributes for this Geometry-->
<Appearance>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>1</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>r_talus.stl</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects />
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>0.090486746196294876</mass>
<!--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>0.00099784276182229674 0.00099784276182229674 0.00099784276182229674 0 0 0</inertia>
</Body>
<Body name="calcn_r">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>