<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40600">
	<Model name="SoccerBallKickingModel">
		<!--The model's ground reference frame.-->
		<Ground name="ground">
			<!--List of components that this component owns and serializes.-->
			<components>
				<PhysicalOffsetFrame name="ground_geom_frame_1">
					<!--The geometry used to display the axes of this Frame.-->
					<FrameGeometry name="frame_geometry">
						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
						<socket_frame>..</socket_frame>
						<!--Scale factors in X, Y, Z directions respectively.-->
						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
					</FrameGeometry>
					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
					<attached_geometry>
						<Mesh name="ground_geom_1">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>0.90000000000000002 0.90000000000000002 0.90000000000000002</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>soccer_frame.obj</mesh_file>
						</Mesh>
					</attached_geometry>
					<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
					<socket_parent>..</socket_parent>
					<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
					<translation>10 0 -8</translation>
					<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
					<orientation>2.65359e-06 -1.5707899999999999 2.65359e-06</orientation>
				</PhysicalOffsetFrame>
				<PhysicalOffsetFrame name="ground_geom_frame_2">
					<!--The geometry used to display the axes of this Frame.-->
					<FrameGeometry name="frame_geometry">
						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
						<socket_frame>..</socket_frame>
						<!--Scale factors in X, Y, Z directions respectively.-->
						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
					</FrameGeometry>
					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
					<attached_geometry>
						<Mesh name="ground_geom_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>0.90000000000000002 0.90000000000000002 0.90000000000000002</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>0.39000000000000001</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>soccer_net.obj</mesh_file>
						</Mesh>
					</attached_geometry>
					<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
					<socket_parent>..</socket_parent>
					<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
					<translation>10 0 -8</translation>
					<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
					<orientation>2.65359e-06 -1.5707899999999999 2.65359e-06</orientation>
				</PhysicalOffsetFrame>
			</components>
			<!--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>Seth A., Reinbolt J.A, Delp D., Hamner S., Habib A., Delp S.L., Loan J.P.</credits>
		<!--Publications and references associated with the model.-->
		<publications>Notes: 2D, 6 DOF leg model created by Jeff Reinbolt, Ajay Seth, and Scott L. Delp, Stanford University. Lower extremity joint defintions based on Delp et al. (1990). Number of muscles was reduced by Reinbolt to improve simulation speed for demonstrations and is not intended to be used in research. Number of constraints reduced by A. Seth. Foot-ball-ground contact added by A. Seth. Soccer ball and goal added by Seth using OpenSim geometry created by Denny Delp. Graphics for ball and customized GUI by Ayman Habib Backstop of net and full body model contributed by Samuel Hamner and added by A. Seth Goalie is the "Freebie Man 3d model" from http://thefree3dmodels.com/stuff/characters/freebie_man/14-1-0-1166 and added by A. Seth</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="swivel">
					<!--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>
					<!--The mass of the body (kg)-->
					<mass>0</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 0 0 0 0 0</inertia>
				</Body>
				<Body name="pelvis">
					<!--The geometry used to display the axes of this Frame.-->
					<FrameGeometry name="frame_geometry">
						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
						<socket_frame>..</socket_frame>
						<!--Scale factors in X, Y, Z directions respectively.-->
						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
					</FrameGeometry>
					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
					<attached_geometry>
						<Mesh name="pelvis_geom_1">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1 1 1</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>sacrum.vtp</mesh_file>
						</Mesh>
						<Mesh name="pelvis_geom_2">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1 1 1</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>pelvis.vtp</mesh_file>
						</Mesh>
						<Mesh name="pelvis_geom_3">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1 1 1</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>l_pelvis.vtp</mesh_file>
						</Mesh>
					</attached_geometry>
					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
					<WrapObjectSet name="wrapobjectset">
						<objects />
						<groups />
					</WrapObjectSet>
					<!--The mass of the body (kg)-->
					<mass>10.434875659999999</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>-0.069981199999999993 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>0.089242199999999994 0.075612799999999994 0.050263799999999997 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>1.17378 1.17378 1.17378</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>femur_r.vtp</mesh_file>
						</Mesh>
					</attached_geometry>
					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
					<WrapObjectSet name="wrapobjectset">
						<objects />
						<groups />
					</WrapObjectSet>
					<!--The mass of the body (kg)-->
					<mass>8.5492663199999992</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.199543 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>0.16956399999999999 0.0444489 0.178809 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>1.1237299999999999 1.1237299999999999 1.1237299999999999</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>tibia_r.vtp</mesh_file>
						</Mesh>
						<Mesh name="tibia_r_geom_2">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1.1237299999999999 1.1237299999999999 1.1237299999999999</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_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>4.6740424300000001</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.20979999999999999 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>0.080235100000000004 0.0081190299999999993 0.081349500000000005 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>1.09544 1.09544 1.09544</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>pat.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>0.091913759999999997</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>0.0011029600000000001 0.0011029600000000001 0.0011029600000000001 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>1.26634 1.26634 1.26634</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>talus.vtp</mesh_file>
						</Mesh>
					</attached_geometry>
					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
					<WrapObjectSet name="wrapobjectset">
						<objects />
						<groups />
					</WrapObjectSet>
					<!--The mass of the body (kg)-->
					<mass>0.12606858000000001</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>0.0020216600000000002 0.0020216600000000002 0.0020216600000000002 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>1.0269299999999999 1.0269299999999999 1.0269299999999999</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>foot.vtp</mesh_file>
						</Mesh>
					</attached_geometry>
					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
					<WrapObjectSet name="wrapobjectset">
						<objects />
						<groups />
					</WrapObjectSet>
					<!--The mass of the body (kg)-->
					<mass>1.07224816</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0.10269300000000001 0.030807899999999999 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>0.00090461999999999997 0.0036184799999999999 0.0036184799999999999 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>1.0269299999999999 1.0269299999999999 1.0269299999999999</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>0.18614227999999999</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0.035942500000000002 0.0061615699999999999 -0.0184847</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 0 0.00090461999999999997 0 0 0</inertia>
				</Body>
				<Body name="femur_l">
					<!--The geometry used to display the axes of this Frame.-->
					<FrameGeometry name="frame_geometry">
						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
						<socket_frame>..</socket_frame>
						<!--Scale factors in X, Y, Z directions respectively.-->
						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
					</FrameGeometry>
					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
					<attached_geometry>
						<Mesh name="femur_l_geom_1">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1.17378 1.17378 1.17378</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>8.5492663199999992</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.199543 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>0.16956399999999999 0.0444489 0.178809 0 0 0</inertia>
				</Body>
				<Body name="tibia_l">
					<!--The geometry used to display the axes of this Frame.-->
					<FrameGeometry name="frame_geometry">
						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
						<socket_frame>..</socket_frame>
						<!--Scale factors in X, Y, Z directions respectively.-->
						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
					</FrameGeometry>
					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
					<attached_geometry>
						<Mesh name="tibia_l_geom_1">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1.1237299999999999 1.1237299999999999 1.1237299999999999</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>tibia_l.vtp</mesh_file>
						</Mesh>
						<Mesh name="tibia_l_geom_2">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1.1237299999999999 1.1237299999999999 1.1237299999999999</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>4.6740424300000001</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.20979999999999999 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>0.080235100000000004 0.0081190299999999993 0.081349500000000005 0 0 0</inertia>
				</Body>
				<Body name="patella_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="patella_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>1.09544 1.09544 1.09544</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_pat.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>0.091913759999999997</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>0.0011029600000000001 0.0011029600000000001 0.0011029600000000001 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>1.26634 1.26634 1.26634</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>0.12606858000000001</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>0.0020216600000000002 0.0020216600000000002 0.0020216600000000002 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>1.0269299999999999 1.0269299999999999 1.0269299999999999</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>l_foot.vtp</mesh_file>
						</Mesh>
					</attached_geometry>
					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
					<WrapObjectSet name="wrapobjectset">
						<objects />
						<groups />
					</WrapObjectSet>
					<!--The mass of the body (kg)-->
					<mass>1.07224816</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0.10269300000000001 0.030807899999999999 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>0.00090461999999999997 0.0036184799999999999 0.0036184799999999999 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>1.0269299999999999 1.0269299999999999 1.0269299999999999</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>0.18614227999999999</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0.035942500000000002 0.0061615699999999999 -0.0184847</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 0 0.00090461999999999997 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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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>23.76940098</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0.032400499999999999 0.37885400000000002 -0.00089512999999999995</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>1.45984 0.74798699999999996 1.41717 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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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>1.80087329</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.17502999999999999 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>0.0095526099999999996 0.0032953600000000002 0.010722499999999999 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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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>0.53826839999999998</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.14544699999999999 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>0.0030469099999999999 0.00063571999999999999 0.00330511 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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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>0.53826839999999998</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.14544699999999999 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>0.0030469099999999999 0.00063571999999999999 0.00330511 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>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>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>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>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>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>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>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>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>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>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>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>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>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>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>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>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>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>metacarpal2_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_10">
							<!--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>index_proximal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_11">
							<!--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>index_medial_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_12">
							<!--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>index_distal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_13">
							<!--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>metacarpal3_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_14">
							<!--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>middle_proximal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_15">
							<!--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>middle_medial_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_16">
							<!--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>middle_distal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_17">
							<!--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>metacarpal4_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_18">
							<!--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>ring_proximal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_19">
							<!--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>ring_medial_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_20">
							<!--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>ring_distal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_21">
							<!--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>metacarpal5_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_22">
							<!--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>little_proximal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_23">
							<!--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>little_medial_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_24">
							<!--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>little_distal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_25">
							<!--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>metacarpal1_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_26">
							<!--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>thumb_proximal_rvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_r_geom_27">
							<!--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>thumb_distal_rvs.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>0.40536262000000001</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.076266399999999998 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>0.00079034000000000005 0.00048466999999999998 0.0011872899999999999 0 0 0</inertia>
				</Body>
				<Body name="humerus_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="humerus_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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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_lv.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>1.80087329</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.17502999999999999 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>0.0095526099999999996 0.0032953600000000002 0.010722499999999999 0 0 0</inertia>
				</Body>
				<Body name="ulna_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="ulna_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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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_lv.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>0.53826839999999998</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.14544699999999999 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>0.0030469099999999999 0.00063571999999999999 0.00330511 0 0 0</inertia>
				</Body>
				<Body name="radius_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="radius_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>1.1200000000000001 1.1200000000000001 1.1200000000000001</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_lv.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>0.53826839999999998</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.14544699999999999 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>0.0030469099999999999 0.00063571999999999999 0.00330511 0 0 0</inertia>
				</Body>
				<Body name="hand_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="hand_l_geom_1">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1 1 1</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>pisiform_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_2">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1 1 1</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>lunate_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_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>scaphoid_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_4">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Scale factors in X, Y, Z directions respectively.-->
							<scale_factors>1 1 1</scale_factors>
							<!--Default appearance attributes for this Geometry-->
							<Appearance>
								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
								<opacity>1</opacity>
								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
								<color>1 1 1</color>
							</Appearance>
							<!--Name of geometry file.-->
							<mesh_file>triquetrum_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_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>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>hamate_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_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>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>capitate_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_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>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>trapezoid_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_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>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>trapezium_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_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>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>metacarpal2_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_10">
							<!--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>index_proximal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_11">
							<!--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>index_medial_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_12">
							<!--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>index_distal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_13">
							<!--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>metacarpal3_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_14">
							<!--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>middle_proximal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_15">
							<!--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>middle_medial_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_16">
							<!--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>middle_distal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_17">
							<!--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>metacarpal4_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_18">
							<!--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>ring_proximal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_19">
							<!--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>ring_medial_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_20">
							<!--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>ring_distal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_21">
							<!--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>metacarpal5_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_22">
							<!--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>little_proximal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_23">
							<!--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>little_medial_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_24">
							<!--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>little_distal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_25">
							<!--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>metacarpal1_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_26">
							<!--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>thumb_proximal_lvs.vtp</mesh_file>
						</Mesh>
						<Mesh name="hand_l_geom_27">
							<!--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>thumb_distal_lvs.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>0.40536262000000001</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 -0.076266399999999998 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>0.00079034000000000005 0.00048466999999999998 0.0011872899999999999 0 0 0</inertia>
				</Body>
				<Body name="goalie">
					<!--List of components that this component owns and serializes.-->
					<components>
						<PhysicalOffsetFrame name="goalie_geom_frame_1">
							<!--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="goalie_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>1.8 1.8 1.8</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>goalie_smooth.obj</mesh_file>
								</Mesh>
							</attached_geometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>..</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.40000000000000002 0.59999999999999998 0.050000000000000003</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-3.1415899999999999 1.5707899999999999 -3.1415899999999999</orientation>
						</PhysicalOffsetFrame>
					</components>
					<!--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>150</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0 1 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>1.1007899999999999 0.40048499999999998 1.00119 0 0 0</inertia>
				</Body>
				<Body name="ball">
					<!--List of components that this component owns and serializes.-->
					<components>
						<PhysicalOffsetFrame name="ball_geom_frame_1">
							<!--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="ball_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>0.002 0.002 0.002</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>soccer_ball_seg_Holes.obj</mesh_file>
								</Mesh>
							</attached_geometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>..</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.01 0.01 -0.0050000000000000001</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-0 0 -0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="ball_geom_frame_2">
							<!--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="ball_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>0.0019499999999999999 0.0019499999999999999 0.0019499999999999999</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>0 0 0</color>
									</Appearance>
									<!--Name of geometry file.-->
									<mesh_file>soccer_ball.obj</mesh_file>
								</Mesh>
							</attached_geometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>..</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.01 0.01 -0.0050000000000000001</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-0 0 -0</orientation>
						</PhysicalOffsetFrame>
					</components>
					<!--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>0.25</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>0.02 0.02 0.02 0 0 0</inertia>
				</Body>
			</objects>
			<groups />
		</BodySet>
		<!--List of joints that connect the bodies.-->
		<JointSet name="jointset">
			<objects>
				<PinJoint name="ground_pelvis">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>ground_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>swivel_offset</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="turn">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>0</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-0.52359999999999995 0.52359999999999995</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
					</coordinates>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="ground_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/ground</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.5 1.0600000000000001 -0.14999999999999999</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-1.5708 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="swivel_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/swivel</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-1.5708 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</PinJoint>
				<WeldJoint name="ground_swivel">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>swivel_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>pelvis_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="swivel_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/swivel</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-0.034906600000000003 0.139626 -0.087266399999999994</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="pelvis_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/pelvis</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<CustomJoint name="hip_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>pelvis_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>femur_r_offset</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="hip_flexion_r">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-0.69813168999999997</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-2.0943950999999998 2.0943950999999998</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
					</coordinates>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="pelvis_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/pelvis</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.073951199999999995 -0.069139699999999998 0.087339799999999995</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="femur_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/femur_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
					<SpatialTransform>
						<!--3 Axes for rotations are listed first.-->
						<TransformAxis name="rotation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>hip_flexion_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 0 1</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<LinearFunction name="function">
								<coefficients> 1 0</coefficients>
							</LinearFunction>
						</TransformAxis>
						<TransformAxis name="rotation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>1 0 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>-0.015556459999999999</value>
							</Constant>
						</TransformAxis>
						<TransformAxis name="rotation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>-0.074600139999999995</value>
							</Constant>
						</TransformAxis>
						<!--3 Axes for translations are listed next.-->
						<TransformAxis name="translation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>1 0 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 0 1</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
					</SpatialTransform>
				</CustomJoint>
				<CustomJoint name="knee_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>femur_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>tibia_r_offset</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="knee_angle_r">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-1.9198620900000001</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-2.0943950999999998 0.17453293</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
					</coordinates>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="femur_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/femur_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="tibia_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/tibia_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
					<SpatialTransform>
						<!--3 Axes for rotations are listed first.-->
						<TransformAxis name="rotation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>knee_angle_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 0 1</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<LinearFunction name="function">
								<coefficients> 1 0</coefficients>
							</LinearFunction>
						</TransformAxis>
						<TransformAxis name="rotation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>0</value>
							</Constant>
						</TransformAxis>
						<TransformAxis name="rotation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>1 0 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>0</value>
							</Constant>
						</TransformAxis>
						<!--3 Axes for translations are listed next.-->
						<TransformAxis name="translation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>knee_angle_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>1 0 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<SimmSpline>
										<x> -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944</x>
										<y> -0.0037561 0.00210107 0.00482424 0.00481249 0.00248841 -0.00117378 -0.00363871 -0.00613534 -0.00637949 -0.00654265 -0.00637949 -0.00616234</y>
									</SimmSpline>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>knee_angle_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<SimmSpline>
										<x> -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944</x>
										<y> -0.496039 -0.479137 -0.468338 -0.466695 -0.465521 -0.463953 -0.464817</y>
									</SimmSpline>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 0 1</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
					</SpatialTransform>
				</CustomJoint>
				<CustomJoint name="tib_pat_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>tibia_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>patella_r_offset</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="knee_angle_pat_r">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-1.9198620900000001</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-2.0939999999999999 10</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
					</coordinates>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="tibia_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/tibia_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="patella_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/patella_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
					<SpatialTransform>
						<!--3 Axes for rotations are listed first.-->
						<TransformAxis name="rotation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>knee_angle_pat_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 0 1</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<SimmSpline name="function">
								<x> -2.0944 -1.99997 -1.45752 -0.526391 0.0279253 0.174533</x>
								<y> 0.308051 0.308051 0.306305 0.270177 -0.037001 -0.279951</y>
							</SimmSpline>
						</TransformAxis>
						<TransformAxis name="rotation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>0</value>
							</Constant>
						</TransformAxis>
						<TransformAxis name="rotation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>1 0 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>0</value>
							</Constant>
						</TransformAxis>
						<!--3 Axes for translations are listed next.-->
						<TransformAxis name="translation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>knee_angle_pat_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>1 0 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<SimmSpline>
										<x> -2.0944 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0872665 2.0944</x>
										<y> 0.0194405 0.0364088 0.042814 0.0483203 0.0527029 0.0543884 0.0557369 0.0557369 0.0557369 0.0557369 0.0557369</y>
									</SimmSpline>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>knee_angle_pat_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<SimmSpline>
										<x> -2.0944 -1.5708 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0872665 2.0944</x>
										<y> -0.0246096 -0.0226993 -0.0224746 -0.0229241 -0.0237107 -0.0246096 -0.0250591 -0.0255086 -0.0255086 -0.0255086 -0.0255086 -0.0255086</y>
									</SimmSpline>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 0 1</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
					</SpatialTransform>
				</CustomJoint>
				<CustomJoint name="ankle_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>tibia_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>talus_r_offset</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="ankle_angle_r">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-0.17453299</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-1.571 1.571</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
					</coordinates>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="tibia_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/tibia_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 -0.48320299999999999 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="talus_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/talus_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
					<SpatialTransform>
						<!--3 Axes for rotations are listed first.-->
						<TransformAxis name="rotation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates>ankle_angle_r</coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>-0.105 -0.17399999999999999 0.97899999999999998</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<LinearFunction name="function">
								<coefficients> 1 0</coefficients>
							</LinearFunction>
						</TransformAxis>
						<TransformAxis name="rotation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>0</value>
							</Constant>
						</TransformAxis>
						<TransformAxis name="rotation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0.97899999999999998 -0 0.105</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<Constant name="function">
								<value>0</value>
							</Constant>
						</TransformAxis>
						<!--3 Axes for translations are listed next.-->
						<TransformAxis name="translation1">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>1 0 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation2">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 1 0</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
						<TransformAxis name="translation3">
							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
							<coordinates></coordinates>
							<!--Rotation or translation axis for the transform.-->
							<axis>0 0 1</axis>
							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
							<MultiplierFunction name="function">
								<function>
									<Constant>
										<value>0</value>
									</Constant>
								</function>
								<scale>1</scale>
							</MultiplierFunction>
						</TransformAxis>
					</SpatialTransform>
				</CustomJoint>
				<WeldJoint name="subtalar_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>talus_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>calcn_r_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="talus_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/talus_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.062050800000000003 -0.053186400000000002 0.010130699999999999</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="calcn_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/calcn_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="mtp_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>calcn_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>toes_r_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="calcn_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/calcn_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.18382000000000001 -0.0020538599999999998 0.00102692</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="toes_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/toes_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="hip_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>pelvis_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>femur_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="pelvis_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/pelvis</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.073951199999999995 -0.069139699999999998 -0.087339799999999995</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0.34906599999999999</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="femur_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/femur_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="knee_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>femur_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>tibia_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="femur_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/femur_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.0036387099999999999 -0.46552100000000002 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 -0.17453299999999999</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="tibia_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/tibia_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="tib_pat_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>tibia_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>patella_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="tibia_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/tibia_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.054388400000000003 -0.025059100000000001 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0.10000000000000001</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="patella_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/patella_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="ankle_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>tibia_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>talus_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="tibia_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/tibia_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 -0.48320299999999999 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 -0.032055899999999998</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="talus_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/talus_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="subtalar_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>talus_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>calcn_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="talus_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/talus_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.062050800000000003 -0.053186400000000002 0.010130699999999999</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="calcn_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/calcn_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="mtp_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>calcn_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>toes_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="calcn_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/calcn_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.18382000000000001 -0.0020538599999999998 0.00102692</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="toes_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/toes_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="back">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>pelvis_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>torso_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="pelvis_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/pelvis</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.099676200000000006 0.080671400000000004 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-0.17453299999999999 0.30060300000000001 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="torso_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/torso</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="acromial_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>torso_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>humerus_r_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="torso_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/torso</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.0037352599999999998 0.419825 0.19126599999999999</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-0.80000000000000004 0 -1</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="humerus_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/humerus_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="elbow_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>humerus_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>ulna_r_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="humerus_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/humerus_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.0139852 -0.30459399999999998 -0.0102091</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0.80000000000000004</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="ulna_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/ulna_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="radioulnar_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>ulna_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>radius_r_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="ulna_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/ulna_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.0081180200000000001 -0.015696600000000002 0.031476499999999998</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="radius_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/radius_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="radius_hand_r">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>radius_r_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>hand_r_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="radius_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/radius_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.0106161 -0.27060899999999999 0.016424299999999999</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="hand_r_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/hand_r</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="acromial_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>torso_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>humerus_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="torso_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/torso</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.0037352599999999998 0.419825 -0.19126599999999999</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0.80000000000000004 0 1</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="humerus_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/humerus_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="elbow_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>humerus_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>ulna_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="humerus_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/humerus_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0.0139852 -0.30459399999999998 0.0102091</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>-0.29999999999999999 0 1.2</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="ulna_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/ulna_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="radioulnar_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>ulna_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>radius_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="ulna_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/ulna_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.0081180200000000001 -0.015696600000000002 -0.031476499999999998</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 -1.7 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="radius_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/radius_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="radius_hand_l">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>radius_l_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>hand_l_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="radius_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/radius_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>-0.0106161 -0.27060899999999999 -0.016424299999999999</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="hand_l_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/hand_l</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<WeldJoint name="goalie_ground">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>ground_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>goalie_offset</socket_child_frame>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="ground_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/ground</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>6 0 -1</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 3.1415899999999999 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="goalie_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/goalie</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
				<FreeJoint name="free">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>ground_offset</socket_parent_frame>
					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
					<socket_child_frame>ball_offset</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="ball_rx">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-0</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-1.5707963300000001 1.5707963300000001</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
						<Coordinate name="ball_ry">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-0</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-1.5707963300000001 1.5707963300000001</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
						<Coordinate name="ball_rz">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>1e-08</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-1.5707963300000001 1.5707963300000001</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
						<Coordinate name="ball_tx">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>0.69999999999999996</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-1 10</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
						<Coordinate name="ball_ty">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>0.12</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-1 3</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
						<Coordinate name="ball_tz">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-0.050000000000000003</default_value>
							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
							<default_speed_value>0</default_speed_value>
							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
							<range>-1 3</range>
							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
							<clamped>false</clamped>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
							<prescribed_function />
							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
							<prescribed>false</prescribed>
						</Coordinate>
					</coordinates>
					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
					<frames>
						<PhysicalOffsetFrame name="ground_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/ground</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="ball_offset">
							<!--The geometry used to display the axes of this Frame.-->
							<FrameGeometry name="frame_geometry">
								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
								<socket_frame>..</socket_frame>
								<!--Scale factors in X, Y, Z directions respectively.-->
								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
							</FrameGeometry>
							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
							<socket_parent>/bodyset/ball</socket_parent>
							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
							<translation>0 0 0</translation>
							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
							<orientation>0 0 0</orientation>
						</PhysicalOffsetFrame>
					</frames>
				</FreeJoint>
			</objects>
		</JointSet>
		<!--Controllers that provide the control inputs for Actuators.-->
		<ControllerSet name="controllerset">
			<objects />
			<groups />
		</ControllerSet>
		<!--Constraints in the model.-->
		<ConstraintSet name="constraintset">
			<objects>
				<CoordinateCouplerConstraint name="pat_angle_r">
					<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
					<isEnforced>true</isEnforced>
					<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy the constraint.-->
					<coupled_coordinates_function>
						<LinearFunction>
							<coefficients> 1 0</coefficients>
						</LinearFunction>
					</coupled_coordinates_function>
					<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
					<independent_coordinate_names>knee_angle_r</independent_coordinate_names>
					<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
					<dependent_coordinate_name>knee_angle_pat_r</dependent_coordinate_name>
					<!--Scale factor for the coupling function.-->
					<scale_factor>1</scale_factor>
				</CoordinateCouplerConstraint>
			</objects>
			<groups />
		</ConstraintSet>
		<!--Forces in the model (includes Actuators).-->
		<ForceSet name="forceset">
			<objects>
				<Thelen2003Muscle name="bifemlh_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="bifemlh_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.13175200000000001 -0.10728699999999999 0.072633299999999998</location>
								</PathPoint>
								<PathPoint name="bifemlh_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.033824199999999999 -0.040454200000000003 0.033071299999999998</location>
								</PathPoint>
								<PathPoint name="bifemlh_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.026295200000000001 -0.0632659 0.038543899999999999</location>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2594</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.12823851</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.38353904</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>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemsh_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="bifemsh_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.0058688999999999998 -0.24778500000000001 0.027466500000000001</location>
								</PathPoint>
								<PathPoint name="bifemsh_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.033824199999999999 -0.040454200000000003 0.033071299999999998</location>
								</PathPoint>
								<PathPoint name="bifemsh_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.026295200000000001 -0.0632659 0.038543899999999999</location>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>960</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.20083733000000001</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.10332094</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.40142572999999998</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max2_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="glut_max2_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.14110300000000001 0.018409399999999999 0.058888999999999997</location>
								</PathPoint>
								<PathPoint name="glut_max2_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.143928 -0.054391299999999997 0.095603099999999996</location>
								</PathPoint>
								<PathPoint name="glut_max2_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.050002999999999999 -0.062210300000000003 0.034391699999999997</location>
								</PathPoint>
								<PathPoint name="glut_max2_r-P4">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.018311000000000001 -0.119256 0.0491814</location>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1944</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.16291391</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.14074875000000001</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>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="psoas_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="psoas_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.067675299999999994 0.092778899999999997 0.030228999999999999</location>
								</PathPoint>
								<PathPoint name="psoas_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.0248945 -0.059621199999999999 0.079390299999999997</location>
								</PathPoint>
								<ConditionalPathPoint name="psoas_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.030124399999999999 -0.084201899999999996 0.085352399999999995</location>
									<!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
									<socket_coordinate>/jointset/hip_r/hip_flexion_r</socket_coordinate>
									<!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
									<range>-1.5708 0.78539800000000004</range>
								</ConditionalPathPoint>
								<PathPoint name="psoas_r-P4">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.0018780400000000001 -0.059510599999999997 0.00446036</location>
								</PathPoint>
								<PathPoint name="psoas_r-P5">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.022067099999999999 -0.070074700000000004 0.012207300000000001</location>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2342</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.10742815999999999</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.17188505000000001</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962633999999999</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="rect_fem_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="rect_fem_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.030856600000000001 -0.032530200000000002 0.10125099999999999</location>
								</PathPoint>
								<ConditionalPathPoint name="rect_fem_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.039204299999999997 -0.47303299999999998 0.00223019</location>
									<!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
									<socket_coordinate>/jointset/knee_r/knee_angle_r</socket_coordinate>
									<!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
									<range>-2.6179899999999998 -1.45997</range>
								</ConditionalPathPoint>
								<MovingPathPoint name="rect_fem_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--Path to a Component that satisfies the Socket 'x_coordinate' of type Coordinate (description: The x_location function is a function of this coordinate's value.).-->
									<socket_x_coordinate>/jointset/knee_r/knee_angle_r</socket_x_coordinate>
									<!--Path to a Component that satisfies the Socket 'y_coordinate' of type Coordinate (description: The y_location function is a function of this coordinate's value.).-->
									<socket_y_coordinate>/jointset/knee_r/knee_angle_r</socket_y_coordinate>
									<!--Path to a Component that satisfies the Socket 'z_coordinate' of type Coordinate (description: The z_location function is a function of this coordinate's value.).-->
									<socket_z_coordinate>/jointset/knee_r/knee_angle_r</socket_z_coordinate>
									<!--Function defining the x component of the point's location expressed in the Frame of the Point.-->
									<x_location>
										<MultiplierFunction>
											<function>
												<SimmSpline>
													<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
													<y> 0.0175082 0.0202202 0.0309116 0.0333257 0.0345676 0.0410942 0.0474297 0.0506691 0.0543783 0.0600407 0.0693987 0.0694092 0.0694196 0.0711413 0.075283 0.0823732 0.0644437</y>
												</SimmSpline>
											</function>
											<scale>1</scale>
										</MultiplierFunction>
									</x_location>
									<!--Function defining the y component of the point's location expressed in the Frame of the Point.-->
									<y_location>
										<MultiplierFunction>
											<function>
												<SimmSpline>
													<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
													<y> 0.0263083 0.0267012 0.0282215 0.0284073 0.0284468 0.0280015 0.0272362 0.026795 0.0263174 0.025581 0.0235803 0.0235774 0.0235745 0.0230617 0.0215479 0.0179296 -0.0757138</y>
												</SimmSpline>
											</function>
											<scale>1</scale>
										</MultiplierFunction>
									</y_location>
									<!--Function defining the z component of the point's location expressed in the Frame of the Point.-->
									<z_location>
										<MultiplierFunction>
											<function>
												<SimmSpline>
													<x> -2.0944 0.1745</x>
													<y> 0.00157322 0.00157322</y>
												</SimmSpline>
											</function>
											<scale>1</scale>
										</MultiplierFunction>
									</z_location>
								</MovingPathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1169</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.13287389999999999</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.36132376999999999</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.087266460000000004</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="vas_int_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="vas_int_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.034039600000000003 -0.22583500000000001 0.036387200000000001</location>
								</PathPoint>
								<PathPoint name="vas_int_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.039321599999999998 -0.244616 0.033452700000000002</location>
								</PathPoint>
								<ConditionalPathPoint name="vas_int_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.040260700000000003 -0.47303299999999998 0.0064557900000000003</location>
									<!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
									<socket_coordinate>/jointset/knee_r/knee_angle_r</socket_coordinate>
									<!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
									<range>-2.6179899999999998 -1.4199999999999999</range>
								</ConditionalPathPoint>
								<MovingPathPoint name="vas_int_r-P4">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--Path to a Component that satisfies the Socket 'x_coordinate' of type Coordinate (description: The x_location function is a function of this coordinate's value.).-->
									<socket_x_coordinate>/jointset/knee_r/knee_angle_r</socket_x_coordinate>
									<!--Path to a Component that satisfies the Socket 'y_coordinate' of type Coordinate (description: The y_location function is a function of this coordinate's value.).-->
									<socket_y_coordinate>/jointset/knee_r/knee_angle_r</socket_y_coordinate>
									<!--Path to a Component that satisfies the Socket 'z_coordinate' of type Coordinate (description: The z_location function is a function of this coordinate's value.).-->
									<socket_z_coordinate>/jointset/knee_r/knee_angle_r</socket_z_coordinate>
									<!--Function defining the x component of the point's location expressed in the Frame of the Point.-->
									<x_location>
										<MultiplierFunction>
											<function>
												<SimmSpline>
													<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
													<y> 0.00929694 0.0120089 0.022704 0.0251187 0.0263607 0.0328932 0.0392704 0.0425567 0.0463615 0.0522856 0.0623256 0.0623371 0.0623486 0.0642454 0.0688531 0.0769044 0.0729095</y>
												</SimmSpline>
											</function>
											<scale>1</scale>
										</MultiplierFunction>
									</x_location>
									<!--Function defining the y component of the point's location expressed in the Frame of the Point.-->
									<y_location>
										<MultiplierFunction>
											<function>
												<SimmSpline>
													<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
													<y> 0.0287664 0.0291593 0.0306917 0.0308797 0.0309195 0.0304938 0.0298616 0.0295622 0.0293503 0.0292314 0.0284217 0.0284203 0.0284189 0.0281523 0.0272157 0.0245296 -0.0770547</y>
												</SimmSpline>
											</function>
											<scale>1</scale>
										</MultiplierFunction>
									</y_location>
									<!--Function defining the z component of the point's location expressed in the Frame of the Point.-->
									<z_location>
										<MultiplierFunction>
											<function>
												<SimmSpline>
													<x> -2.0944 2.0944</x>
													<y> 0.00202271 0.00202271</y>
												</SimmSpline>
											</function>
											<scale>1</scale>
										</MultiplierFunction>
									</z_location>
								</MovingPathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>4530</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.12617328</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.13678598</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.052359879999999998</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="med_gas_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="med_gas_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.0223018 -0.46117799999999998 -0.027583799999999999</location>
								</PathPoint>
								<ConditionalPathPoint name="med_gas_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.035213399999999999 -0.47209400000000001 -0.030283500000000001</location>
									<!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
									<socket_coordinate>/jointset/knee_r/knee_angle_r</socket_coordinate>
									<!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
									<range>-0.78539800000000004 0.17453299999999999</range>
								</ConditionalPathPoint>
								<PathPoint name="med_gas_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0 0.031834800000000003 -0.0054427199999999998</location>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2241</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.10311281</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.41245125999999999</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.29670596999999999</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="soleus_r">
					<!--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 path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="soleus_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>-0.00269695 -0.172268 0.0079784699999999997</location>
								</PathPoint>
								<PathPoint name="soleus_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0 0.031834800000000003 -0.0054427199999999998</location>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>5137</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.092646999999999993</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.25477925000000001</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_ant_r">
					<!--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>0.02</min_control>
					<!--The path of the actuator which defines length and lengthening speed.-->
					<GeometryPath name="path">
						<!--Default appearance attributes for this AbstractGeometryPath.-->
						<Appearance>
							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
						</Appearance>
						<!--The set of points defining the path-->
						<PathPointSet>
							<objects>
								<PathPoint name="tib_ant_r-P1">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.020114699999999999 -0.18249299999999999 0.012922899999999999</location>
								</PathPoint>
								<PathPoint name="tib_ant_r-P2">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.036970700000000002 -0.44398500000000002 -0.019890000000000001</location>
								</PathPoint>
								<PathPoint name="tib_ant_r-P3">
									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
									<!--The fixed location of the path point expressed in its parent frame.-->
									<location>0.11974 0.018279299999999998 -0.031321300000000003</location>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<!--The wrap objects that are associated with this path-->
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1759</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.11005276999999999</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.25042618999999999</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.087266460000000004</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.29999999999999999</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
					<!--Activation time constant, in seconds-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--Deactivation time constant, in seconds-->
					<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
				</Thelen2003Muscle>
				<CoordinateLimitForce name="knee_stop_r">
					<!--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>
					<!--Coordinate (name) to be limited.-->
					<coordinate>knee_angle_r</coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>200</upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in degrees).-->
					<upper_limit>0</upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>50</lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in degrees).-->
					<lower_limit>-120</lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is exceeded. For translational has units N/(m/s) and rotational has Nm/(degree/s)-->
					<damping>0.10000000000000001</damping>
					<!--Transition region width in the units of the coordinate (rotations in degrees). Dictates the transition from zero to constant stiffness as coordinate exceeds its limit.-->
					<transition>2</transition>
				</CoordinateLimitForce>
				<CoordinateLimitForce name="ankle_stop_r">
					<!--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>
					<!--Coordinate (name) to be limited.-->
					<coordinate>ankle_angle_r</coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>100</upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in degrees).-->
					<upper_limit>38</upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>100</lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in degrees).-->
					<lower_limit>-45</lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is exceeded. For translational has units N/(m/s) and rotational has Nm/(degree/s)-->
					<damping>0.050000000000000003</damping>
					<!--Transition region width in the units of the coordinate (rotations in degrees). Dictates the transition from zero to constant stiffness as coordinate exceeds its limit.-->
					<transition>2</transition>
				</CoordinateLimitForce>
				<HuntCrossleyForce name="foot_ground">
					<!--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>
					<!--Material properties.-->
					<HuntCrossleyForce::ContactParametersSet name="contact_parameters">
						<objects>
							<HuntCrossleyForce::ContactParameters>
								<!--Names of geometry objects affected by these parameters.-->
								<geometry>ground ball_big_toe_r tip_big_toe_r small_toe_r</geometry>
								<stiffness>10000000</stiffness>
								<dissipation>0.0050000000000000001</dissipation>
								<static_friction>0.20000000000000001</static_friction>
								<dynamic_friction>0.10000000000000001</dynamic_friction>
								<viscous_friction>0.050000000000000003</viscous_friction>
							</HuntCrossleyForce::ContactParameters>
						</objects>
						<groups />
					</HuntCrossleyForce::ContactParametersSet>
					<!--Slip velocity (creep) at which peak static friction occurs.-->
					<transition_velocity>0.01</transition_velocity>
				</HuntCrossleyForce>
				<HuntCrossleyForce name="foot_ball">
					<!--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>
					<!--Material properties.-->
					<HuntCrossleyForce::ContactParametersSet name="contact_parameters">
						<objects>
							<HuntCrossleyForce::ContactParameters>
								<!--Names of geometry objects affected by these parameters.-->
								<geometry>ball ball_big_toe_r tip_big_toe_r small_toe_r</geometry>
								<stiffness>1000000</stiffness>
								<dissipation>0.0050000000000000001</dissipation>
								<static_friction>0.69999999999999996</static_friction>
								<dynamic_friction>0.5</dynamic_friction>
								<viscous_friction>0.10000000000000001</viscous_friction>
							</HuntCrossleyForce::ContactParameters>
						</objects>
						<groups />
					</HuntCrossleyForce::ContactParametersSet>
					<!--Slip velocity (creep) at which peak static friction occurs.-->
					<transition_velocity>0.01</transition_velocity>
				</HuntCrossleyForce>
				<HuntCrossleyForce name="ball_ground">
					<!--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>
					<!--Material properties.-->
					<HuntCrossleyForce::ContactParametersSet name="contact_parameters">
						<objects>
							<HuntCrossleyForce::ContactParameters>
								<!--Names of geometry objects affected by these parameters.-->
								<geometry>ground ball</geometry>
								<stiffness>1000000</stiffness>
								<dissipation>0.10000000000000001</dissipation>
								<static_friction>0.69999999999999996</static_friction>
								<dynamic_friction>0.40000000000000002</dynamic_friction>
								<viscous_friction>0.10000000000000001</viscous_friction>
							</HuntCrossleyForce::ContactParameters>
						</objects>
						<groups />
					</HuntCrossleyForce::ContactParametersSet>
					<!--Slip velocity (creep) at which peak static friction occurs.-->
					<transition_velocity>0.01</transition_velocity>
				</HuntCrossleyForce>
				<HuntCrossleyForce name="ball_net">
					<!--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>
					<!--Material properties.-->
					<HuntCrossleyForce::ContactParametersSet name="contact_parameters">
						<objects>
							<HuntCrossleyForce::ContactParameters>
								<!--Names of geometry objects affected by these parameters.-->
								<geometry>back_stop ball</geometry>
								<stiffness>50000</stiffness>
								<dissipation>0.20000000000000001</dissipation>
								<static_friction>0.69999999999999996</static_friction>
								<dynamic_friction>0.40000000000000002</dynamic_friction>
								<viscous_friction>0.29999999999999999</viscous_friction>
							</HuntCrossleyForce::ContactParameters>
						</objects>
						<groups />
					</HuntCrossleyForce::ContactParametersSet>
					<!--Slip velocity (creep) at which peak static friction occurs.-->
					<transition_velocity>0.10000000000000001</transition_velocity>
				</HuntCrossleyForce>
				<HuntCrossleyForce name="goalie_ball">
					<!--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>
					<!--Material properties.-->
					<HuntCrossleyForce::ContactParametersSet name="contact_parameters">
						<objects>
							<HuntCrossleyForce::ContactParameters>
								<!--Names of geometry objects affected by these parameters.-->
								<geometry>ball goalie_head goalie_hand_r goalie_hand_l goalie_torso goalie_foot_r goalie_foot_l goalie_knee_r goalie_knee_l goalie_elbow_r goalie_elbow_l</geometry>
								<stiffness>500000</stiffness>
								<dissipation>0.20000000000000001</dissipation>
								<static_friction>0.69999999999999996</static_friction>
								<dynamic_friction>0.40000000000000002</dynamic_friction>
								<viscous_friction>0.29999999999999999</viscous_friction>
							</HuntCrossleyForce::ContactParameters>
						</objects>
						<groups />
					</HuntCrossleyForce::ContactParametersSet>
					<!--Slip velocity (creep) at which peak static friction occurs.-->
					<transition_velocity>0.10000000000000001</transition_velocity>
				</HuntCrossleyForce>
			</objects>
			<groups />
		</ForceSet>
		<!--Markers in the model.-->
		<MarkerSet name="markerset">
			<objects />
			<groups />
		</MarkerSet>
		<!--Geometry to be used in contact forces.-->
		<ContactGeometrySet name="contactgeometryset">
			<objects>
				<ContactHalfSpace name="ground">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/ground</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0 0 0</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 -1.5707963300000001</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
				</ContactHalfSpace>
				<ContactSphere name="ball">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/ball</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.01 0.01 -0.0050000000000000001</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.13</radius>
				</ContactSphere>
				<ContactSphere name="ball_big_toe_r">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/toes_r</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>-0.0050000000000000001 0.0060000000000000001 -0.029999999999999999</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.040000000000000001</radius>
				</ContactSphere>
				<ContactSphere name="tip_big_toe_r">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/toes_r</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.070000000000000007 0 0</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.040000000000000001</radius>
				</ContactSphere>
				<ContactSphere name="small_toe_r">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/toes_r</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>-0.044999999999999998 0.0060000000000000001 0.044999999999999998</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.040000000000000001</radius>
				</ContactSphere>
				<ContactHalfSpace name="back_stop">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/ground</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>8.1500000000000004 0 0</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
				</ContactHalfSpace>
				<ContactSphere name="goalie_head">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.050000000000000003 1.675 0</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.20000000000000001</radius>
				</ContactSphere>
				<ContactSphere name="goalie_hand_r">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.17499999999999999 1.3500000000000001 0.75</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.14999999999999999</radius>
				</ContactSphere>
				<ContactSphere name="goalie_hand_l">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.17499999999999999 1.3500000000000001 -0.75</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.14999999999999999</radius>
				</ContactSphere>
				<ContactSphere name="goalie_torso">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0 1.1000000000000001 0</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.29999999999999999</radius>
				</ContactSphere>
				<ContactSphere name="goalie_foot_r">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.10000000000000001 0.050000000000000003 0.20000000000000001</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.14999999999999999</radius>
				</ContactSphere>
				<ContactSphere name="goalie_foot_l">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.10000000000000001 0.050000000000000003 -0.20000000000000001</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.14999999999999999</radius>
				</ContactSphere>
				<ContactSphere name="goalie_knee_r">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0 0.5 0.17499999999999999</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.10000000000000001</radius>
				</ContactSphere>
				<ContactSphere name="goalie_knee_l">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0 0.5 -0.17499999999999999</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.10000000000000001</radius>
				</ContactSphere>
				<ContactSphere name="goalie_elbow_r">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.050000000000000003 1.45 0.40000000000000002</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.10000000000000001</radius>
				</ContactSphere>
				<ContactSphere name="goalie_elbow_l">
					<!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
					<socket_frame>/bodyset/goalie</socket_frame>
					<!--Location of geometry center in the PhysicalFrame.-->
					<location>0.050000000000000003 1.45 -0.40000000000000002</location>
					<!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
					<orientation>0 0 0</orientation>
					<!--Default appearance for this Geometry-->
					<Appearance>
						<!--Flag indicating whether the associated Geometry is visible or hidden.-->
						<visible>false</visible>
						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
						<color>0 1 1</color>
					</Appearance>
					<!--Radius of the sphere (default: 0).-->
					<radius>0.10000000000000001</radius>
				</ContactSphere>
			</objects>
			<groups />
		</ContactGeometrySet>
	</Model>
</OpenSimDocument>
