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gait2392_simbody.osim
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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40000">
<Model name="3DGaitModel2392">
<!--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>
<Mesh name="ground_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 1 1</scale_factors>
<!--Default appearance attributes 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>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>treadmill.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>
</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>Delp S.L., Loan J.P., Hoy M.G., Zajac F.E., Topp E.L., Rosen J.M., Thelen D.G., Anderson F.C., Seth A. Notes: 3D, 23 DOF gait model created by D.G. Thelen, Univ. of Wisconsin-Madison, and Ajay Seth, Frank C. Anderson, and Scott L. Delp, Stanford University. Lower extremity joint defintions based on Delp et al. (1990). Low back joint and anthropometry based on Anderson and Pandy (1999, 2001). Planar knee model of Yamaguchi and Zajac (1989). Seth replaced tibia translation constraints with a CustomJoint for the knee and removed the patella to eliminate all kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame as defined by Delp 1990. License: Creative Commons (CCBY 3.0). You are free to distribute, remix, tweak, and build upon this work, even commercially, as long as you credit us for the original creation. http://creativecommons.org/licenses/by/3.0/ More Information: http://simtk-confluence.stanford.edu:8080/display/OpenSim/Gait+2392+and+2354+Models</credits>
<!--Publications and references associated with the model.-->
<publications>Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990. Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomecl7. vol. 21. pp. 1-10. 1989. Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999. Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123:381-390, 2001.</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 1 1</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>
<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 1 1</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>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 1 1</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>
</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>11.776999999999999</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>-0.070699999999999999 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>0.1028 0.087099999999999997 0.0579 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>1 1 1</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>femur_r.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>9.3013999999999992</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.17000000000000001 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>0.13389999999999999 0.035099999999999999 0.14119999999999999 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 1 1</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>tibia_r.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 1 1</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>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 />
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>3.7075</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.1867 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>0.0504 0.0051000000000000004 0.0511 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 1 1</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>talus.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>0.10000000000000001</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>0.001 0.001 0.001 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>
</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="calcn_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 1 1</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>foot.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>1.25</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.10000000000000001 0.029999999999999999 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>0.0014 0.0038999999999999998 0.0041000000000000003 0 0 0</inertia>
</Body>
<Body name="toes_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="toes_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 1 1</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>bofoot.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>0.21659999999999999</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.034599999999999999 0.0060000000000000001 -0.017500000000000002</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>0.0001 0.00020000000000000001 0.0001 0 0 0</inertia>
</Body>
<Body name="femur_l">
<!--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_l_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 1 1</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>femur_l.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>9.3013999999999992</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.17000000000000001 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>0.13389999999999999 0.035099999999999999 0.14119999999999999 0 0 0</inertia>
</Body>
<Body name="tibia_l">
<!--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_l_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 1 1</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>tibia_l.vtp</mesh_file>
</Mesh>
<Mesh name="tibia_l_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 1 1</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_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 />
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>3.7075</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.1867 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>0.0504 0.0051000000000000004 0.0511 0 0 0</inertia>
</Body>
<Body name="talus_l">
<!--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_l_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 1 1</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_talus.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>0.10000000000000001</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>0.001 0.001 0.001 0 0 0</inertia>
</Body>
<Body name="calcn_l">
<!--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="calcn_l_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 1 1</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_foot.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>1.25</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.10000000000000001 0.029999999999999999 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>0.0014 0.0038999999999999998 0.0041000000000000003 0 0 0</inertia>
</Body>
<Body name="toes_l">
<!--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="toes_l_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 1 1</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_bofoot.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>0.21659999999999999</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.034599999999999999 0.0060000000000000001 0.017500000000000002</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>0.0001 0.00020000000000000001 0.0001 0 0 0</inertia>
</Body>
<Body name="torso">
<!--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="torso_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 1 1</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>hat_spine.vtp</mesh_file>
</Mesh>
<Mesh name="torso_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 1 1</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>hat_jaw.vtp</mesh_file>
</Mesh>
<Mesh name="torso_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 1 1</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>hat_skull.vtp</mesh_file>
</Mesh>
<Mesh name="torso_geom_4">
<!--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 1 1</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>hat_ribs.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>34.236600000000003</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>-0.029999999999999999 0.32000000000000001 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>1.4744999999999999 0.75549999999999995 1.4314 0 0 0</inertia>
</Body>
</objects>
<groups />
</BodySet>
<!--List of joints that connect the bodies.-->
<JointSet name="jointset">
<objects>
<CustomJoint name="ground_pelvis">
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
<socket_parent_frame>ground_offset</socket_parent_frame>
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
<socket_child_frame>pelvis_offset</socket_child_frame>
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
<coordinates>
<Coordinate name="pelvis_tilt">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.5707963300000001 1.5707963300000001</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="pelvis_list">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.5707963300000001 1.5707963300000001</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="pelvis_rotation">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.5707963300000001 1.5707963300000001</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="pelvis_tx">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-5 5</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="pelvis_ty">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0.94999999999999996</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1 2</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="pelvis_tz">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-3 3</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</coordinates>
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
<frames>
<PhysicalOffsetFrame name="ground_offset">
<!--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>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>/ground</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>0 0 0</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 0 0</orientation>
</PhysicalOffsetFrame>
<PhysicalOffsetFrame name="pelvis_offset">
<!--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>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>/bodyset/pelvis</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>0 0 0</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 0 0</orientation>
</PhysicalOffsetFrame>
</frames>
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
<SpatialTransform>
<!--3 Axes for rotations are listed first.-->
<TransformAxis name="rotation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_tilt</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<TransformAxis name="rotation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_list</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<TransformAxis name="rotation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_rotation</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<!--3 Axes for translations are listed next.-->
<TransformAxis name="translation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_tx</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<TransformAxis name="translation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_ty</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<TransformAxis name="translation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>pelvis_tz</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
</SpatialTransform>
</CustomJoint>
<CustomJoint name="hip_r">
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
<socket_parent_frame>pelvis_offset</socket_parent_frame>
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
<socket_child_frame>femur_r_offset</socket_child_frame>
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
<coordinates>
<Coordinate name="hip_flexion_r">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-2.0943950999999998 2.0943950999999998</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="hip_adduction_r">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-2.0943950999999998 2.0943950999999998</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
<Coordinate name="hip_rotation_r">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-2.0943950999999998 2.0943950999999998</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</coordinates>
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
<frames>
<PhysicalOffsetFrame name="pelvis_offset">
<!--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>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>/bodyset/pelvis</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>-0.070699999999999999 -0.066100000000000006 0.083500000000000005</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 0 0</orientation>
</PhysicalOffsetFrame>
<PhysicalOffsetFrame name="femur_r_offset">
<!--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>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>/bodyset/femur_r</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>0 0 0</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 0 0</orientation>
</PhysicalOffsetFrame>
</frames>
<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
<SpatialTransform>
<!--3 Axes for rotations are listed first.-->
<TransformAxis name="rotation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>hip_flexion_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<TransformAxis name="rotation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>hip_adduction_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<TransformAxis name="rotation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates>hip_rotation_r</coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<LinearFunction name="function">
<coefficients> 1 0</coefficients>
</LinearFunction>
</TransformAxis>
<!--3 Axes for translations are listed next.-->
<TransformAxis name="translation1">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>1 0 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<Constant name="function">
<value>0</value>
</Constant>
</TransformAxis>
<TransformAxis name="translation2">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 1 0</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<Constant name="function">
<value>0</value>
</Constant>
</TransformAxis>
<TransformAxis name="translation3">
<!--Names of the coordinates that serve as the independent variables of the transform function.-->
<coordinates></coordinates>
<!--Rotation or translation axis for the transform.-->
<axis>0 0 1</axis>
<!--Transform function of the generalized coordinates used to represent the amount of displacement along a specified axis.-->
<Constant name="function">
<value>0</value>
</Constant>
</TransformAxis>
</SpatialTransform>
</CustomJoint>
<CustomJoint name="knee_r">
<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
<socket_parent_frame>femur_r_offset</socket_parent_frame>
<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
<socket_child_frame>tibia_r_offset</socket_child_frame>
<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
<coordinates>
<Coordinate name="knee_angle_r">
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>0</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-2.0943950999999998 0.17453293</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
</Coordinate>
</coordinates>
<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
<frames>
<PhysicalOffsetFrame name="femur_r_offset">
<!--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>
<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
<socket_parent>/bodyset/femur_r</socket_parent>
<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
<translation>0 0 0</translation>
<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
<orientation>0 0 0</orientation>
</PhysicalOffsetFrame>
<PhysicalOffsetFrame name="tibia_r_offset">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">