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LaiUhlrich2022_shoulder.osim
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LaiUhlrich2022_shoulder.osim
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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40000">
<Model name="LaiUhlrich2022_shoulder">
<!--The model's ground reference frame.-->
<Ground name="ground">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry />
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects />
<groups />
</WrapObjectSet>
</Ground>
<!--Acceleration due to gravity, expressed in ground.-->
<gravity>0 -9.8066499999999994 0</gravity>
<!--Credits (e.g., model author names) associated with the model.-->
<credits>Rajagopal et al. (2016), Lai et al. (2017), Uhlrich et al. (2022)</credits>
<!--Publications and references associated with the model.-->
<publications>Rajagopal, A., Dembia, C.L., DeMers, M.S., Delp, D.D., Hicks, J.L., Delp, S.L. (2016)
Full-body musculoskeletal model for muscle-driven simulation of human gait. IEEE Transactions on Biomedical Engineering.</publications>
<publications>Lai, A.K.M., Arnold, A.S., Wakeling, J.M. (2017)
Why are antagonist muscles co-activated in my simulation? A musculoskeletal model for analysing human locomotor tasks. Annals of Biomedical Engineering</publications>
<publications>Uhlrich, S.D., Jackson, R.W., Seth, A., Kolesar, J.A., Delp, S.L. (2022)
Muscle coordination retraining inspired by musculoskeletal simulations reduces knee contact force. Scientific Reports</publications>
<!--Units for all lengths.-->
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<objects>
<Body name="pelvis">
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<FrameGeometry name="frame_geometry">
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<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
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</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">
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<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
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<!--Default appearance attributes for this Geometry-->
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
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<!--Name of geometry file.-->
<mesh_file>r_pelvis.vtp</mesh_file>
</Mesh>
<Mesh name="pelvis_geom_2">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
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<!--Default appearance attributes for this Geometry-->
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<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>1 1 1</color>
</Appearance>
<!--Name of geometry file.-->
<mesh_file>l_pelvis.vtp</mesh_file>
</Mesh>
<Mesh name="pelvis_geom_3">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
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<!--Scale factors in X, Y, Z directions respectively.-->
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<!--Default appearance attributes for this Geometry-->
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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</Mesh>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.054899999999999997</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="IL_at_brim_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.32000000000000001 0.23999999999999999 0.90000000000000002</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.070999999999999994 -0.065000000000000002 -0.075600000000000001</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.054899999999999997</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
</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>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>true</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>r_femur.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="GasLat_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0050000000000000001 -0.40999999999999998 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.025999999999999999</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="GasMed_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0050000000000000001 -0.40999999999999998 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.025000000000000001</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="KnExt_at_fem_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.062336599999999999 0.050760100000000002 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0035882800000000001 -0.40273199999999998 0.0020911100000000002</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.025000000000000001</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="KnExtVL_at_fem_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.062336599999999999 0.050760100000000002 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.00188828 -0.40273199999999998 0.0020911100000000002</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.025000000000000001</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="AB_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.66157 0.186644 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.014643400000000001 -0.112595 0.023365</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.016500000000000001</radius>
<!--The length of the cylinder.-->
<length>0.070000000000000007</length>
</WrapCylinder>
<WrapCylinder name="AL_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.77711 0.136489 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.030732700000000002 -0.231909 0.015113700000000001</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.0201</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="AMprox_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.6112599999999999 0.18656 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0051829900000000002 -0.072894799999999996 0.025402999999999998</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.021100000000000001</radius>
<!--The length of the cylinder.-->
<length>0.070000000000000007</length>
</WrapCylinder>
<WrapCylinder name="AMmid_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.6113900000000001 0.13655999999999999 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.023012500000000002 -0.16071099999999999 0.0205842</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.021399999999999999</radius>
<!--The length of the cylinder.-->
<length>0.12</length>
</WrapCylinder>
<WrapCylinder name="AMdist_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.7118800000000001 0.186636 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.031606500000000003 -0.26073600000000002 0.0093646000000000007</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.0218</radius>
<!--The length of the cylinder.-->
<length>0.20000000000000001</length>
</WrapCylinder>
<WrapCylinder name="AMisch_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.7111499999999999 -0.46336300000000002 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0226511 -0.37683100000000003 -0.0031543700000000001</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.040000000000000001</radius>
<!--The length of the cylinder.-->
<length>0.23999999999999999</length>
</WrapCylinder>
<WrapCylinder name="PECT_at_femshaft_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>1.8129500000000001 0.27634399999999998 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0060857300000000001 -0.084502900000000006 0.030440499999999999</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.014999999999999999</radius>
<!--The length of the cylinder.-->
<length>0.050000000000000003</length>
</WrapCylinder>
</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>r_tibia.vtp</mesh_file>
</Mesh>
<Mesh name="tibia_r_geom_2">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1 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>r_fibula.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="GasLat_at_shank_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>2.9672299999999998 -0.279725 -1.4781200000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0074000000000000003 -0.073999999999999996 -0.0033</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.055</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="GasMed_at_shank_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>2.9672299999999998 0.027972500000000001 -1.4781200000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0074000000000000003 -0.073999999999999996 -0.0033</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.058999999999999997</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="GR_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 -0.40000000000000002 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.0030000000000000001 -0.02 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.035999999999999997</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="SM_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 -0.10000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.001 -0.02 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.034500000000000003</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="ST_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 -0.20000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.002 -0.020500000000000001 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>all</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.042500000000000003</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="BF_at_gastroc_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.039 -0.059999999999999998 0</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>y</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.029000000000000001</radius>
<!--The length of the cylinder.-->
<length>0.14999999999999999</length>
</WrapCylinder>
</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="patella_r">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="patella_r_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>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>r_patella.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects />
<groups />
</WrapObjectSet>
<!--The mass of the body (kg)-->
<mass>0.086199999999999999</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0.0018 0.0264 0</mass_center>
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
<inertia>2.8700000000000001e-06 1.311e-05 1.311e-05 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.-->