<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="40600">
	<Model name="model">
		<!--List of components that this component owns and serializes.-->
		<components>
			<Station name="p1_in_pof1">
				<!--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/root_body/pof1</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>0.059999998658895493 0 0</location>
			</Station>
			<Station name="p2_in_pof2">
				<!--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/root_body/pof2</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>0.059999998658895493 0 0</location>
			</Station>
			<Station name="p3_in_pof3">
				<!--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/root_body/pof3</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>0.059999998658895493 0 0</location>
			</Station>
			<StationDefinedFrame name="parent_sdf">
				<!--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 Station (description: Point `a` of a triangle that defines the frame's orientation. Must not coincide 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>/p1_in_pof1</socket_point_a>
				<!--Path to a Component that satisfies the Socket 'point_b' of type Station (description: Point `b` of a triangle that defines the frame's orientation. Must not coincide 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>/p2_in_pof2</socket_point_b>
				<!--Path to a Component that satisfies the Socket 'point_c' of type Station (description: Point `c` of a triangle that defines the frame's orientation. Must not coincide 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>/p3_in_pof3</socket_point_c>
				<!--Path to a Component that satisfies the Socket 'origin_point' of type Station (description: Point that defines the frame's origin point. Also permitted to be `point_a`, `point_b`, or `point_c`. Note: `point_a`, `point_b`, `point_c`, and `frame_origin` must all share the same base frame.).-->
				<socket_origin_point>/p2_in_pof2</socket_origin_point>
				<!--The frame axis that points in the direction of `point_b - point_a`. Can be `-x`, `+x`, `-y`, `+y`, `-z`, or `+z`. Must be orthogonal to `ab_x_ac_axis`.-->
				<ab_axis>z</ab_axis>
				<!--The frame axis that points in the direction of `(point_b - point_a) x (point_c - point_a)`. Can be `-x`, `+x`, `-y`, `+y`, `-z`, or `+z`. Must be orthogonal to `ab_axis`.-->
				<ab_x_ac_axis>x</ab_x_ac_axis>
			</StationDefinedFrame>
			<Station name="p3_in_child_body">
				<!--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/child_body</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>-0.05000000074505806 0 0.05000000074505806</location>
			</Station>
			<Station name="p1_in_child_pof1">
				<!--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/child_body/child_pof1</socket_parent_frame>
			</Station>
			<Station name="p2_in_child_pof2">
				<!--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/child_body/child_pof2</socket_parent_frame>
			</Station>
			<Station name="porigin_in_child_body">
				<!--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/child_body</socket_parent_frame>
				<!--The fixed location of the station expressed in its parent frame.-->
				<location>-0.0027325136818987517 0.10994692768899483 -0.039090562611818314</location>
			</Station>
			<StationDefinedFrame name="child_sdf">
				<!--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 Station (description: Point `a` of a triangle that defines the frame's orientation. Must not coincide 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>/p1_in_child_pof1</socket_point_a>
				<!--Path to a Component that satisfies the Socket 'point_b' of type Station (description: Point `b` of a triangle that defines the frame's orientation. Must not coincide 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>/p2_in_child_pof2</socket_point_b>
				<!--Path to a Component that satisfies the Socket 'point_c' of type Station (description: Point `c` of a triangle that defines the frame's orientation. Must not coincide 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>/p3_in_child_body</socket_point_c>
				<!--Path to a Component that satisfies the Socket 'origin_point' of type Station (description: Point that defines the frame's origin point. Also permitted to be `point_a`, `point_b`, or `point_c`. Note: `point_a`, `point_b`, `point_c`, and `frame_origin` must all share the same base frame.).-->
				<socket_origin_point>/porigin_in_child_body</socket_origin_point>
			</StationDefinedFrame>
			<PhysicalOffsetFrame name="ground_offset2">
				<!--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>/jointset/freejoint/ground_offset</socket_parent>
				<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
				<translation>0 0.13184848427772522 0.18320448696613312</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 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="root_body">
					<!--List of components that this component owns and serializes.-->
					<components>
						<PhysicalOffsetFrame name="pof1">
							<!--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>
								<Sphere name="pof1_geom_1">
									<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
									<socket_frame>..</socket_frame>
									<!--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 0 0</color>
									</Appearance>
									<!--Radius of sphere, defaults to 1.0-->
									<radius>0.059999998658895493</radius>
								</Sphere>
							</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 0 0.25</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="pof2">
							<!--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>
								<Sphere name="pof2_geom_1">
									<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
									<socket_frame>..</socket_frame>
									<!--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 1 0</color>
									</Appearance>
									<!--Radius of sphere, defaults to 1.0-->
									<radius>0.059999998658895493</radius>
								</Sphere>
							</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 -0.25 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="pof3">
							<!--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>
								<Sphere name="pof3_geom_1">
									<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
									<socket_frame>..</socket_frame>
									<!--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 1</color>
									</Appearance>
									<!--Radius of sphere, defaults to 1.0-->
									<radius>0.059999998658895493</radius>
								</Sphere>
							</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>-0.25 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>
					</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>
					<!--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>
				<Body name="child_body">
					<!--List of components that this component owns and serializes.-->
					<components>
						<PhysicalOffsetFrame name="child_pof1">
							<!--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="child_pof1_geom_1">
									<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
									<socket_frame>..</socket_frame>
									<!--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 0 0</color>
									</Appearance>
									<!--Half lengths in X, Y, Z respectively.-->
									<half_lengths>0.02500000037252903 0.02500000037252903 0.02500000037252903</half_lengths>
								</Brick>
							</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>0.10000000149011612 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="child_pof2">
							<!--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="child_pof2_geom_1">
									<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
									<socket_frame>..</socket_frame>
									<!--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 1 0</color>
									</Appearance>
									<!--Half lengths in X, Y, Z respectively.-->
									<half_lengths>0.02500000037252903 0.02500000037252903 0.02500000037252903</half_lengths>
								</Brick>
							</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 0 -0.10000000149011612</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="geom_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>
							<!--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>
								<Cylinder name="geom_offset_geom_1">
									<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
									<socket_frame>..</socket_frame>
									<!--Radius of cylinder.-->
									<radius>0.10000000000000001</radius>
									<!--Half-Height of cylinder.-->
									<half_height>0.10000000000000001</half_height>
								</Cylinder>
							</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 -0.10000000149011612 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>
					</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>
					<!--The mass of the body (kg)-->
					<mass>1</mass>
					<!--The location (Vec3) of the mass center in the body frame.-->
					<mass_center>0.10000000149011612 0.10000000149011612 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>
				<FreeJoint name="freejoint">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>/ground_offset2</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>root_body_offset</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="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>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="ry1">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>6.521754264831543</default_value>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>false</locked>
						</Coordinate>
						<Coordinate name="rz">
							<!--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>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="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</default_value>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="ty">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>1</default_value>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="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</default_value>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</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>
						</PhysicalOffsetFrame>
						<PhysicalOffsetFrame name="root_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/root_body</socket_parent>
						</PhysicalOffsetFrame>
					</frames>
				</FreeJoint>
				<FreeJoint name="freejoint_2">
					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
					<socket_parent_frame>/parent_sdf</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>/child_sdf</socket_child_frame>
					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
					<coordinates>
						<Coordinate name="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>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="ry2">
							<!--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>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="rz">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-0.3519631028175354</default_value>
						</Coordinate>
						<Coordinate name="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</default_value>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="ty">
							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
							<default_value>-0.43500000238418579</default_value>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
						<Coordinate name="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</default_value>
							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
							<locked>true</locked>
						</Coordinate>
					</coordinates>
				</FreeJoint>
			</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>
