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Rajagopal2015_TorsFem_r_Prox40Dist0Deg.osim
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Rajagopal2015_TorsFem_r_Prox40Dist0Deg.osim
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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40000">
<Model name="FullBodyModel_MuscleActuatedLowerLimb_TorqueActuatedUpperBody_TorsFem_r_Prox40Dist0Deg">
<defaults>
<ControlLinear name="default">
<is_model_control>true</is_model_control>
<extrapolate>true</extrapolate>
<default_min>-1</default_min>
<default_max>1</default_max>
<filter_on>false</filter_on>
<use_steps>false</use_steps>
<x_nodes />
<min_nodes />
<max_nodes />
<kp>100</kp>
<kv>20</kv>
</ControlLinear>
<CoordinateActuator name="default">
<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
<appliesForce>true</appliesForce>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of the generalized coordinate to which the actuator applies.-->
<coordinate>Unassigned</coordinate>
<!--The maximum generalized force produced by this actuator.-->
<optimal_force>300</optimal_force>
</CoordinateActuator>
<PointActuator name="default">
<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
<appliesForce>true</appliesForce>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of Body to which this actuator is applied.-->
<body></body>
<!--Location of application point; in body frame unless point_is_global=true-->
<point>0 0 0</point>
<!--Interpret point in Ground frame if true; otherwise, body frame.-->
<point_is_global>false</point_is_global>
<!--Force application direction; in body frame unless force_is_global=true.-->
<direction>-1 -0 -0</direction>
<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
<force_is_global>true</force_is_global>
<!--The maximum force produced by this actuator when fully activated.-->
<optimal_force>1000</optimal_force>
</PointActuator>
<TorqueActuator name="default">
<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
<appliesForce>true</appliesForce>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>-Inf</min_control>
<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
<max_control>Inf</max_control>
<!--Name of Body to which the torque actuator is applied.-->
<bodyA>Unassigned</bodyA>
<!--Name of Body to which the equal and opposite torque is applied.-->
<bodyB>Unassigned</bodyB>
<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
<torque_is_global>true</torque_is_global>
<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
<axis>-1 -0 -0</axis>
<!--The maximum torque produced by this actuator when fully activated.-->
<optimal_force>1</optimal_force>
</TorqueActuator>
<Millard2012EquilibriumMuscle name="default">
<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
<appliesForce>true</appliesForce>
<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
<min_control>0.01</min_control>
<!--The set of points defining the path of the actuator.-->
<GeometryPath name="geometrypath">
<!--The set of points defining the path-->
<PathPointSet>
<objects />
<groups />
</PathPointSet>
<!--The wrap objects that are associated with this path-->
<PathWrapSet>
<objects />
<groups />
</PathWrapSet>
<!--Default appearance attributes for this GeometryPath-->
<Appearance>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
</Appearance>
</GeometryPath>
<!--The maximum force this actuator can produce.-->
<optimal_force>1</optimal_force>
<!--Maximum isometric force that the fibers can generate-->
<max_isometric_force>546</max_isometric_force>
<!--Optimal length of the muscle fibers-->
<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
<!--Resting length of the tendon-->
<tendon_slack_length>0.078</tendon_slack_length>
<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
<max_contraction_velocity>10</max_contraction_velocity>
</Millard2012EquilibriumMuscle>
<CMC_Joint name="default">
<!--Flag (true or false) indicating whether or not a task is enabled.-->
<on>false</on>
<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
<weight> 1 1 1</weight>
<!--Name of body frame with respect to which a tracking objective is specified. The special name 'center_of_mass' refers to the system center of mass. This property is not used for tracking joint angles.-->
<wrt_body>-1</wrt_body>
<!--Name of body frame in which the tracking objectives are expressed. This property is not used for tracking joint angles.-->
<express_body>-1</express_body>
<!--Array of 3 flags (each true or false) specifying whether a component of a task is active. For example, tracking the trajectory of a point in space could have three components (x,y,z). This allows each of those to be made active (true) or inactive (false). A task for tracking a joint coordinate only has one component.-->
<active>false false false </active>
<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
<kp> 1 1 1</kp>
<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
<kv> 1 1 1</kv>
<!--Feedforward acceleration gain. This is normally set to 1.0, so no gain.-->
<ka> 1 1 1</ka>
<!--Direction vector[3] for component 0 of a task. Joint tasks do not use this property.-->
<r0> 0 0 0</r0>
<!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->
<r1> 0 0 0</r1>
<!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->
<r2> 0 0 0</r2>
<!--Name of the coordinate to be tracked.-->
<coordinate />
<!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->
<limit>0</limit>
</CMC_Joint>
</defaults>
<!--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>Created by the MATLAB deformation tool developed by Luca Modenese (2021) See original model file for related information.</credits>
<!--Publications and references associated with the model.-->
<publications>Rajagopal, Apoorva, et al. "Full-Body Musculoskeletal Model for Muscle-Driven Simulation of Human Gait." IEEE Transactions on Biomedical Engineering 63.10 (2016): 2068-2079. (2016)</publications>
<!--Units for all lengths.-->
<length_units>meters</length_units>
<!--Units for all forces.-->
<force_units>N</force_units>
<!--List of bodies that make up this model.-->
<BodySet name="bodyset">
<objects>
<Body name="pelvis">
<!--The geometry used to display the axes of this Frame.-->
<FrameGeometry name="frame_geometry">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
</FrameGeometry>
<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
<attached_geometry>
<Mesh name="pelvis_geom_1">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1 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_pelvis.vtp</mesh_file>
</Mesh>
<Mesh name="pelvis_geom_2">
<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
<socket_frame>..</socket_frame>
<!--Scale factors in X, Y, Z directions respectively.-->
<scale_factors>1 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>
<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>sacrum.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="Gmax1_at_pelvis_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.59999999999999998 0.45000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.076999999999999999 -0.099000000000000005 0.060999999999999999</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-x</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.040000000000000001</radius>
<!--The length of the cylinder.-->
<length>0.14999999999999999</length>
</WrapCylinder>
<WrapCylinder name="Gmax2_at_pelvis_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.75 0.39000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.080000000000000002 -0.083000000000000004 0.068000000000000005</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>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="Gmax3_at_pelvis_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.10000000000000001 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.083000000000000004 -0.087999999999999995 0.068000000000000005</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>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="Gmax1_at_pelvis_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.59999999999999998 -0.45000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.076999999999999999 -0.099000000000000005 -0.060999999999999999</translation>
<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
<quadrant>-x</quadrant>
<!--Default appearance for this Geometry-->
<Appearance>
<!--Flag indicating whether the associated Geometry is visible or hidden.-->
<visible>false</visible>
<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
<opacity>0.5</opacity>
<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
<color>0 1 1</color>
<!--Visuals applied to surfaces associated with this Appearance.-->
<SurfaceProperties>
<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
<representation>3</representation>
</SurfaceProperties>
</Appearance>
<!--The radius of the cylinder.-->
<radius>0.040000000000000001</radius>
<!--The length of the cylinder.-->
<length>0.14999999999999999</length>
</WrapCylinder>
<WrapCylinder name="Gmax2_at_pelvis_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.75 -0.39000000000000001 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.080000000000000002 -0.083000000000000004 -0.068000000000000005</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>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="Gmax3_at_pelvis_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.10000000000000001 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.083000000000000004 -0.087999999999999995 -0.068000000000000005</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>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="PS_at_brim_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.25 -0.27000000000000002 0.10000000000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.073999999999999996 -0.059999999999999998 0.065600000000000006</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>0.050000000000000003</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="PS_at_brim_l">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0.25 0.27000000000000002 0.10000000000000001</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.073999999999999996 -0.059999999999999998 -0.065600000000000006</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>0.050000000000000003</radius>
<!--The length of the cylinder.-->
<length>0.10000000000000001</length>
</WrapCylinder>
<WrapCylinder name="IL_at_brim_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>-0.32000000000000001 -0.23999999999999999 0.90000000000000002</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>-0.070999999999999994 -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>
<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>
<!--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_TorsionYProx40Dist0Deg.vtp</mesh_file>
</Mesh>
</attached_geometry>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
<WrapObjectSet name="wrapobjectset">
<objects>
<WrapCylinder name="Gastroc_at_condyles_r">
<!--Whether or not the WrapObject is considered active in computing paths-->
<active>true</active>
<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
<xyz_body_rotation>0 0 0</xyz_body_rotation>
<!--Translation of the WrapObject.-->
<translation>0.0050000000000000001 -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="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>0.055</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>0.035200000000000002</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>-0.058000000000000003 -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.-->