<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40500">
	<Model name="model">
		<!--List of components that this component owns and serializes.-->
		<components>
			<Station name="a">
				<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
				<socket_parent_frame>/bodyset/new_body</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>0.10000000149011612 0.10000000149011612 0.10000000149011612</location>
			</Station>
			<Station name="b">
				<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
				<socket_parent_frame>/bodyset/new_body</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>0.10000000149011612 -0.10000000149011612 0.10000000149011612</location>
			</Station>
			<Station name="c">
				<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
				<socket_parent_frame>/bodyset/new_body</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>0.10000000149011612 0 -0.10000000149011612</location>
			</Station>
			<Station name="origin">
				<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
				<socket_parent_frame>/bodyset/new_body</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>0.10000000149011612 0 0</location>
			</Station>
			<StationDefinedFrame name="StationDefinedFrame">
				<!--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 'point_a' of type OpenSim::Station (description: Point `a` of a triangle that defines the frame's orientation. Must form a triangle with `point_b` and `point_c`. Note: `point_a`, `point_b`, `point_c`, and `frame_origin` must all share the same base frame.).-->
				<socket_point_a>/a</socket_point_a>
				<!--Path to a Component that satisfies the Socket 'point_b' of type OpenSim::Station (description: Point `b` of a triangle that defines the frame's orientation. Must form a triangle with `point_a` and `point_c`. Note: `point_a`, `point_b`, `point_c`, and `frame_origin` must all share the same base frame.).-->
				<socket_point_b>/b</socket_point_b>
				<!--Path to a Component that satisfies the Socket 'point_c' of type OpenSim::Station (description: Point `c` of a triangle that defines the frame's orientation. Must form a triangle with `point_a` and `point_b`. Note: `point_a`, `point_b`, `point_c`, and `frame_origin` must all share the same base frame.).-->
				<socket_point_c>/c</socket_point_c>
				<!--Path to a Component that satisfies the Socket 'origin_point' of type OpenSim::Station (description: Point that defines the frame's origin point. Can be one of the triangle points. Note: `point_a`, `point_b`, `point_c`, and `frame_origin` must all share the same base frame.).-->
				<socket_origin_point>/origin</socket_origin_point>
			</StationDefinedFrame>
		</components>
		<!--The model's ground reference frame.-->
		<Ground name="ground">
			<!--The geometry used to display the axes of this Frame.-->
			<FrameGeometry name="frame_geometry">
				<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
				<socket_frame>..</socket_frame>
				<!--Scale factors in X, Y, Z directions respectively.-->
				<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
			</FrameGeometry>
		</Ground>
		<!--List of bodies that make up this model.-->
		<BodySet name="bodyset">
			<objects>
				<Body name="new_body">
					<!--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>
						<Brick name="new_body_geom_1">
							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
							<socket_frame>..</socket_frame>
							<!--Half lengths in X, Y, Z respectively.-->
							<half_lengths>0.10000000000000001 0.10000000000000001 0.10000000000000001</half_lengths>
						</Brick>
					</attached_geometry>
					<!--The mass of the body (kg)-->
					<mass>1</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>1 1 1 0 0 0</inertia>
				</Body>
			</objects>
			<groups />
		</BodySet>
		<!--List of joints that connect the bodies.-->
		<JointSet name="jointset">
			<objects>
				<WeldJoint name="weldjoint">
					<!--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>new_body_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>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="new_body_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/new_body</socket_parent>
						</PhysicalOffsetFrame>
					</frames>
				</WeldJoint>
			</objects>
			<groups />
		</JointSet>
		<!--Controllers that provide the control inputs for Actuators.-->
		<ControllerSet name="controllerset">
			<objects />
			<groups />
		</ControllerSet>
		<!--Forces in the model (includes Actuators).-->
		<ForceSet name="forceset">
			<objects />
			<groups />
		</ForceSet>
		<!--Visual preferences for this model.-->
		<ModelVisualPreferences name="modelvisualpreferences">
			<!--Model display preferences-->
			<ModelDisplayHints>
				<!--Flag to indicate whether or not to show frames, default to false.-->
				<show_frames>true</show_frames>
			</ModelDisplayHints>
		</ModelVisualPreferences>
	</Model>
</OpenSimDocument>
