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robot_model_orientation_set.osim
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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40000">
<Model name="P_101">
<!--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>
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</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 ============ = May 2015 = ============ Luca Modenese modified the knee model in order to include two contact points in the frontal plane, moving with the tibia. The model can estimate: 1) knee moments acting in the sagittal plane (knee abduction moment in the medial compartment and adduction moment in the lateral compartment) 2) muscle moment arms with respect to the previously mentioned degrees of freedom The model CANNOT directly estimate: 1) joint reaction forces at the two knee compartments. The relationship published by Winby et al. J Biomech (2009) can be used, based on the joint moments and moment arms estimated by the model. NOTE: Accompaning documentation is provided with the model. For any inquire please contact: Luca Modenese at l.modenese@sheffield.ac.uk</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>
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</attached_geometry>
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<mass_center>0 0 0</mass_center>
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<inertia>7.2828576479000212e-05 7.2828576479000212e-05 7.2828576479000212e-05 0 0 0</inertia>
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<!--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_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>2.7724127272538768</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.17625209526284244 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>0.033588236448815895 0.0033988096406539895 0.03405473973282723 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>1.0871347236693669 1.0871347236693669 1.0871347236693669</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.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>0.07477849567778494</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>0.0008837785553482318 0.0008837785553482318 0.0008837785553482318 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>1.1152492271596193 1.2198051051323557 0.84581002930537852</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>0.93473119597231169</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.11152492271596193 0.036594153153970674 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>0.0010801101246364448 0.0035163129845375402 0.0035163129845375402 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>1.1152492271596193 1.2198051051323557 0.84581002930537852</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>0.16197022163808217</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.038587623259722828 0.0073188306307941349 -0.014801675512844125</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>7.7150723188317504e-05 0.0001780874516981893 0.0001780874516981893 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>0.9636436056088552 0.9636436056088552 0.9636436056088552</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>6.955446996973488</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.16381941295350538 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>0.092980138563236767 0.024373434380654299 0.098049257394540942 0 0 0</inertia>
</Body>
<Body name="sagittal_knee_body_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 />
<!--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>7.4778495677784945e-05</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>6.9439983990468083e-05 6.9439983990468083e-05 6.9439983990468083e-05 0 0 0</inertia>
</Body>
<Body name="aux_intercond_body_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 />
<!--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>7.4778495677784945e-05</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>6.9439983990468083e-05 6.9439983990468083e-05 6.9439983990468083e-05 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>0.98323022485427602 0.98323022485427602 0.98323022485427602</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>0.98323022485427602 0.98323022485427602 0.98323022485427602</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_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>2.7724127272538768</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.18356908298029334 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>0.036434910037947875 0.0036868658966971064 0.036940950455141591 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>1.0847591981912796 1.0847591981912796 1.0847591981912796</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>0.07477849567778494</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>0.00087992044160832322 0.00087992044160832322 0.00087992044160832322 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>1.0360273384697918 1.1901793960131 0.8983064974061884</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>0.93473119597231169</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.10360273384697918 0.035705381880392996 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>0.0011192876926604306 0.0031280821248549349 0.0031280821248549349 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>1.0360273384697918 1.1901793960131 0.8983064974061884</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>0.16197022163808217</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.035846545911054795 0.0071410763760786002 0.0157203637046083</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>7.9949120904316469e-05 0.00016037010475800445 0.00016037010475800445 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>1.2991945616637488 0.91549189946482712 1.2597978800948928</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>1.2991945616637488 0.91549189946482712 1.2597978800948928</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>1.2991945616637488 0.91549189946482712 1.2597978800948928</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>1.2991945616637488 0.91549189946482712 1.2597978800948928</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_scap.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>25.60161445122052</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>-0.03897583684991246 0.29295740782874469 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>1.1497088999489746 0.92466891934615147 1.1497088999489746 0 0 0</inertia>
</Body>
<Body name="humerus_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="humerus_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>0.87874281629191031 0.87874281629191031 0.87874281629191031</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>humerus_rv.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>1.519872924650979</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.14455495076565184 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>0.0068979939635684601 0.0023795942678608425 0.0077427759130662566 0 0 0</inertia>
</Body>
<Body name="ulna_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="ulna_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>0.90304448813893978 0.90304448813893978 0.90304448813893978</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>ulna_rv.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>0.45427936124254353</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.1088394369329457 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>0.0018062591942220067 0.00037686299190722487 0.00195932167151766 0 0 0</inertia>
</Body>
<Body name="radius_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="radius_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>0.90304448813893978 0.90304448813893978 0.90304448813893978</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>radius_rv.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>0.45427936124254353</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 -0.1088394369329457 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>0.0018062591942220067 0.00037686299190722487 0.00195932167151766 0 0 0</inertia>
</Body>
<Body name="hand_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="hand_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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>pisiform_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>lunate_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_r_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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>scaphoid_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_r_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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>triquetrum_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_r_geom_5">
<!--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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>hamate_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_r_geom_6">
<!--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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>capitate_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_r_geom_7">
<!--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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>trapezoid_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_r_geom_8">
<!--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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>trapezium_rvs.vtp</mesh_file>
</Mesh>
<Mesh name="hand_r_geom_9">
<!--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>0.7675878149180988 0.7675878149180988 0.7675878149180988</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>metacarpal2_rvs.vtp</mesh_file>