From aefc8ce6af79cca01e50465a16d2a79508ec8d2e Mon Sep 17 00:00:00 2001
From: Luca Fiorio <luca.fiorio@iit.it>
Date: Mon, 16 Jul 2018 18:01:36 +0200
Subject: [PATCH] Add soles skin frames.

---
 .../data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml    | 2214 +++++++++++------
 .../ICUB_2-5_BB_simmechanics_options.yaml.in  |  150 ++
 2 files changed, 1582 insertions(+), 782 deletions(-)

diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml b/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml
index eeb24e62..9a76a6a5 100644
--- a/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml
+++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml
@@ -7,9 +7,9 @@
 
   <createdUsing>"Simscape Multibody Link Version 4.8"</createdUsing>
 
-  <createdFrom>"Pro/E Wildfire Creo 3.0 - 2017020"</createdFrom>
+  <createdFrom>"Pro/E Wildfire Creo 4.0 - 2018020"</createdFrom>
 
-  <createdOn>"06/18/18||13:31:20"</createdOn>
+  <createdOn>"07/16/18||17:34:27"</createdOn>
 
   <createdBy>"iCub"</createdBy>
 
@@ -119,14 +119,14 @@
         </primitives>
       </SimpleJoint>
       <SimpleJoint>
-        <name>"SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1"</name>
-        <nodeID>"60:60/132:-:61:61/59"</nodeID>
+        <name>"SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB"</name>
+        <nodeID>"59:59/125:-:60:60/132"</nodeID>
         <status>""</status>
         <base>
           <JointSide>
             <name>""</name>
             <connection>
-              <Frame ref="21"></Frame>
+              <Frame ref="25"></Frame>
             </connection>
           </JointSide>
         </base>
@@ -134,7 +134,7 @@
           <JointSide>
             <name>""</name>
             <connection>
-              <Frame ref="22"></Frame>
+              <Frame ref="26"></Frame>
             </connection>
           </JointSide>
         </follower>
@@ -143,19 +143,19 @@
             <name>"revolute"</name>
             <nodeID>""</nodeID>
             <referenceFrame>"WORLD"</referenceFrame>
-            <axis>-1,0,0</axis>
+            <axis>0,-1,0</axis>
           </Primitive>
         </primitives>
       </SimpleJoint>
       <SimpleJoint>
-        <name>"SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB"</name>
-        <nodeID>"59:59/125:-:60:60/132"</nodeID>
+        <name>"SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1"</name>
+        <nodeID>"60:60/132:-:61:61/59"</nodeID>
         <status>""</status>
         <base>
           <JointSide>
             <name>""</name>
             <connection>
-              <Frame ref="55"></Frame>
+              <Frame ref="37"></Frame>
             </connection>
           </JointSide>
         </base>
@@ -163,7 +163,7 @@
           <JointSide>
             <name>""</name>
             <connection>
-              <Frame ref="56"></Frame>
+              <Frame ref="38"></Frame>
             </connection>
           </JointSide>
         </follower>
@@ -172,7 +172,7 @@
             <name>"revolute"</name>
             <nodeID>""</nodeID>
             <referenceFrame>"WORLD"</referenceFrame>
-            <axis>0,-1,0</axis>
+            <axis>-1,0,0</axis>
           </Primitive>
         </primitives>
       </SimpleJoint>
@@ -338,11 +338,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="37">
+              <Frame ref="19">
                 <name>"CS7"</name>
                 <displayName>""</displayName>
-                <nodeID>"59/120:59/120/99:-:59/126::59/126(AUTOGEN)"</nodeID>
-                <position>26.5046,-151.913,-42.8515</position>
+                <nodeID>"59/119:59/119/7819:-:59/126::59/126(AUTOGEN)"</nodeID>
+                <position>-27.6118,-151.913,-42.8515</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -351,11 +351,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="87">
+              <Frame ref="27">
                 <name>"CS8"</name>
                 <displayName>""</displayName>
-                <nodeID>"59/119:59/119/7819:-:59/126::59/126(AUTOGEN)"</nodeID>
-                <position>-27.6118,-151.913,-42.8515</position>
+                <nodeID>"59/124:-:59/126::59/126(AUTOGEN)"</nodeID>
+                <position>-27.0463,-32,-36.4</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -364,11 +364,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="91">
+              <Frame ref="29">
                 <name>"CS9"</name>
                 <displayName>""</displayName>
-                <nodeID>"59/124:-:59/126::59/126(AUTOGEN)"</nodeID>
-                <position>-27.0463,-32,-36.4</position>
+                <nodeID>"59/120:59/120/99:-:59/126::59/126(AUTOGEN)"</nodeID>
+                <position>26.5046,-151.913,-42.8515</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -487,7 +487,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="89">
+              <Frame ref="23">
                 <name>"CS2"</name>
                 <displayName>""</displayName>
                 <nodeID>"59/124:-:59/125::59/124(AUTOGEN)"</nodeID>
@@ -500,7 +500,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="92">
+              <Frame ref="28">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"59/124:-:59/126::59/124(AUTOGEN)"</nodeID>
@@ -555,11 +555,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="55">
+              <Frame ref="24">
                 <name>"CS2"</name>
                 <displayName>""</displayName>
-                <nodeID>"59:59/125:-:60:60/132::59/125(AUTOGEN)"</nodeID>
-                <position>-1.90735e-007,50,-30.9025</position>
+                <nodeID>"59/124:-:59/125::59/125(AUTOGEN)"</nodeID>
+                <position>-1.90735e-007,0,-93.7446</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -568,11 +568,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="90">
+              <Frame ref="25">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
-                <nodeID>"59/124:-:59/125::59/125(AUTOGEN)"</nodeID>
-                <position>-1.90735e-007,0,-93.7446</position>
+                <nodeID>"59:59/125:-:60:60/132::59/125(AUTOGEN)"</nodeID>
+                <position>-1.90735e-007,50,-30.9025</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -616,14 +616,14 @@
             </primitives>
           </SimpleJoint>
           <SimpleJoint>
-            <name>"SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1"</name>
-            <nodeID>"59/120:59/120/99:-:59/126"</nodeID>
+            <name>"SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1"</name>
+            <nodeID>"59/119:59/119/7819:-:59/126"</nodeID>
             <status>""</status>
             <base>
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="37"></Frame>
+                  <Frame ref="19"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -631,7 +631,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="38"></Frame>
+                  <Frame ref="20"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -640,19 +640,19 @@
                 <name>"revolute"</name>
                 <nodeID>""</nodeID>
                 <referenceFrame>"WORLD"</referenceFrame>
-                <axis>-1,0,0</axis>
+                <axis>1,0,0</axis>
               </Primitive>
             </primitives>
           </SimpleJoint>
           <SimpleJoint>
-            <name>"SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1"</name>
-            <nodeID>"59/119:59/119/7819:-:59/126"</nodeID>
+            <name>"SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2"</name>
+            <nodeID>"59/124:-:59/125"</nodeID>
             <status>""</status>
             <base>
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="87"></Frame>
+                  <Frame ref="23"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -660,7 +660,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="88"></Frame>
+                  <Frame ref="24"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -669,19 +669,19 @@
                 <name>"revolute"</name>
                 <nodeID>""</nodeID>
                 <referenceFrame>"WORLD"</referenceFrame>
-                <axis>1,0,0</axis>
+                <axis>0,0,-1</axis>
               </Primitive>
             </primitives>
           </SimpleJoint>
           <SimpleJoint>
-            <name>"SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2"</name>
-            <nodeID>"59/124:-:59/125"</nodeID>
+            <name>"SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1"</name>
+            <nodeID>"59/124:-:59/126"</nodeID>
             <status>""</status>
             <base>
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="89"></Frame>
+                  <Frame ref="27"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -689,7 +689,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="90"></Frame>
+                  <Frame ref="28"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -698,19 +698,19 @@
                 <name>"revolute"</name>
                 <nodeID>""</nodeID>
                 <referenceFrame>"WORLD"</referenceFrame>
-                <axis>0,0,-1</axis>
+                <axis>-1,0,0</axis>
               </Primitive>
             </primitives>
           </SimpleJoint>
           <SimpleJoint>
-            <name>"SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1"</name>
-            <nodeID>"59/124:-:59/126"</nodeID>
+            <name>"SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1"</name>
+            <nodeID>"59/120:59/120/99:-:59/126"</nodeID>
             <status>""</status>
             <base>
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="91"></Frame>
+                  <Frame ref="29"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -718,7 +718,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="92"></Frame>
+                  <Frame ref="30"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -804,7 +804,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="85">
+                  <Frame ref="17">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
                     <nodeID>"59/119/7819:-:59/119/7829::59/119/7819(AUTOGEN)"</nodeID>
@@ -817,7 +817,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="88">
+                  <Frame ref="20">
                     <name>"CS5"</name>
                     <displayName>""</displayName>
                     <nodeID>"59/119:59/119/7819:-:59/126::59/119/7819(AUTOGEN)"</nodeID>
@@ -940,11 +940,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="83">
+                  <Frame ref="18">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7823:-:59/119/7829::59/119/7829(AUTOGEN)"</nodeID>
-                    <position>-70.1,-209.113,-43.709</position>
+                    <nodeID>"59/119/7819:-:59/119/7829::59/119/7829(AUTOGEN)"</nodeID>
+                    <position>-70.1,-151.913,-68.8396</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -953,11 +953,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="86">
+                  <Frame ref="21">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7819:-:59/119/7829::59/119/7829(AUTOGEN)"</nodeID>
-                    <position>-70.1,-151.913,-68.8396</position>
+                    <nodeID>"59/119/7823:-:59/119/7829::59/119/7829(AUTOGEN)"</nodeID>
+                    <position>-70.1,-209.113,-43.709</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -1021,11 +1021,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="27">
+                  <Frame ref="22">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7823:-:59/119/7830::59/119/7823(AUTOGEN)"</nodeID>
-                    <position>-70.1,-240.813,-43.709</position>
+                    <nodeID>"59/119/7823:-:59/119/7829::59/119/7823(AUTOGEN)"</nodeID>
+                    <position>-70.1,-209.113,-43.709</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -1034,11 +1034,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="84">
+                  <Frame ref="41">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7823:-:59/119/7829::59/119/7823(AUTOGEN)"</nodeID>
-                    <position>-70.1,-209.113,-43.709</position>
+                    <nodeID>"59/119/7823:-:59/119/7830::59/119/7823(AUTOGEN)"</nodeID>
+                    <position>-70.1,-240.813,-43.709</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -1271,11 +1271,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="25">
+                  <Frame ref="42">
                     <name>"CS16"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7824:-:59/119/7830::59/119/7830(AUTOGEN)"</nodeID>
-                    <position>-56.5149,-386.438,-43.709</position>
+                    <nodeID>"59/119/7823:-:59/119/7830::59/119/7830(AUTOGEN)"</nodeID>
+                    <position>-70.1,-240.813,-43.709</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -1284,11 +1284,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="28">
+                  <Frame ref="43">
                     <name>"CS17"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7823:-:59/119/7830::59/119/7830(AUTOGEN)"</nodeID>
-                    <position>-70.1,-240.813,-43.709</position>
+                    <nodeID>"59/119/7824:-:59/119/7830::59/119/7830(AUTOGEN)"</nodeID>
+                    <position>-56.5149,-386.438,-43.709</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -1937,7 +1937,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="26">
+                  <Frame ref="44">
                     <name>"CS48"</name>
                     <displayName>""</displayName>
                     <nodeID>"59/119/7824:-:59/119/7830::59/119/7824(AUTOGEN)"</nodeID>
@@ -1950,7 +1950,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="29">
+                  <Frame ref="45">
                     <name>"CS49"</name>
                     <displayName>""</displayName>
                     <nodeID>"59/119/7824:-:59/119/7825::59/119/7824(AUTOGEN)"</nodeID>
@@ -2018,7 +2018,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="30">
+                  <Frame ref="46">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"59/119/7824:-:59/119/7825::59/119/7825(AUTOGEN)"</nodeID>
@@ -2031,7 +2031,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="31">
+                  <Frame ref="47">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
                     <nodeID>"59/119/7825:-:59/119/7827::59/119/7825(AUTOGEN)"</nodeID>
@@ -2099,7 +2099,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="32">
+                  <Frame ref="48">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"59/119/7825:-:59/119/7827::59/119/7827(AUTOGEN)"</nodeID>
@@ -2112,10 +2112,10 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="33">
+                  <Frame ref="49">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7827:-:59/119/7828::59/119/7827(AUTOGEN)"</nodeID>
+                    <nodeID>"59/119/7827:-:59/119/7833::59/119/7827(AUTOGEN)"</nodeID>
                     <position>-70.1,-639.438,-47.209</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
@@ -2130,7 +2130,7 @@
               </Body>
               <Body>
                 <name>"SIM_SEA_2-5_R_SOLE"</name>
-                <nodeID>"59/119/7828"</nodeID>
+                <nodeID>"59/119/7833"</nodeID>
                 <status>""</status>
                 <mass>0.382866</mass>
                 <massUnits>"kg"</massUnits>
@@ -2144,7 +2144,7 @@
                   <Frame>
                     <name>"CG"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7828::CG(AUTOGEN)"</nodeID>
+                    <nodeID>"59/119/7833::CG(AUTOGEN)"</nodeID>
                     <position>-75.4719,-646.291,-13.6089</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
@@ -2157,8 +2157,8 @@
                   <Frame>
                     <name>"CS1"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/119/7828::CS1(AUTOGEN)"</nodeID>
-                    <position>1.90739e-007,2.86069e-007,-3.81351e-007</position>
+                    <nodeID>"59/119/7833::CS1(AUTOGEN)"</nodeID>
+                    <position>1.90739e-007,2.86067e-007,-3.81341e-007</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2170,7 +2170,7 @@
                   <Frame>
                     <name>"CS2"</name>
                     <displayName>"SCSYS_R_FOOT_FT45"</displayName>
-                    <nodeID>"6373(USERADDED)"</nodeID>
+                    <nodeID>"23496(USERADDED)"</nodeID>
                     <position>-70.1,-647.438,-47.209</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
@@ -2183,7 +2183,7 @@
                   <Frame>
                     <name>"CS3"</name>
                     <displayName>"SCSYS_R_SOLE"</displayName>
-                    <nodeID>"6374(USERADDED)"</nodeID>
+                    <nodeID>"23497(USERADDED)"</nodeID>
                     <position>-70.1,-651.438,-43.709</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
@@ -2196,7 +2196,7 @@
                   <Frame>
                     <name>"CS4"</name>
                     <displayName>"SCSYS_R_FOOT_MTB_ACC_11B12"</displayName>
-                    <nodeID>"6376(USERADDED)"</nodeID>
+                    <nodeID>"23499(USERADDED)"</nodeID>
                     <position>-69.2878,-646.223,56.2704</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
@@ -2209,7 +2209,7 @@
                   <Frame>
                     <name>"CS5"</name>
                     <displayName>"SCSYS_R_FOOT_MTB_ACC_11B13"</displayName>
-                    <nodeID>"6377(USERADDED)"</nodeID>
+                    <nodeID>"23500(USERADDED)"</nodeID>
                     <position>-58.2878,-646.223,31.2704</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
@@ -2219,178 +2219,416 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="34">
+                  <Frame>
                     <name>"CS6"</name>
-                    <displayName>""</displayName>
-                    <nodeID>"59/119/7827:-:59/119/7828::59/119/7828(AUTOGEN)"</nodeID>
-                    <position>-70.1,-639.438,-47.209</position>
+                    <displayName>"SCSYS_R_FOOT_SKIN_0"</displayName>
+                    <nodeID>"23501(USERADDED)"</nodeID>
+                    <position>-44.6894,-654.938,13.2677</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
-                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
                     <orientationType>"3x3 Transform"</orientationType>
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                </frames>
-                <geometryFileName>"SIM_SEA_2-5_R_SOLE_prt.stl"</geometryFileName>
-              </Body>
-            </bodies>
-            <joints>
-              <SimpleJoint>
-                <name>"RootPart--SIM_SEA_2-5_R_HIP_1"</name>
-                <nodeID>"59/119/7819:-:59/119/RootPart"</nodeID>
-                <status>""</status>
-                <base>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="3"></Frame>
-                    </connection>
-                  </JointSide>
-                </base>
-                <follower>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="4"></Frame>
-                    </connection>
-                  </JointSide>
-                </follower>
-                <primitives>
-                  <Primitive>
-                    <name>"weld"</name>
-                    <nodeID>""</nodeID>
-                    <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>0.57735,0.57735,0.57735</axis>
-                  </Primitive>
-                </primitives>
-              </SimpleJoint>
-              <SimpleJoint>
-                <name>"SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK"</name>
-                <nodeID>"59/119/7824:-:59/119/7830"</nodeID>
-                <status>""</status>
-                <base>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="25"></Frame>
-                    </connection>
-                  </JointSide>
-                </base>
-                <follower>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="26"></Frame>
-                    </connection>
-                  </JointSide>
-                </follower>
-                <primitives>
-                  <Primitive>
-                    <name>"revolute"</name>
-                    <nodeID>""</nodeID>
-                    <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>-1,0,0</axis>
-                  </Primitive>
-                </primitives>
-              </SimpleJoint>
-              <SimpleJoint>
-                <name>"SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH"</name>
-                <nodeID>"59/119/7823:-:59/119/7830"</nodeID>
-                <status>""</status>
-                <base>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="27"></Frame>
-                    </connection>
-                  </JointSide>
-                </base>
-                <follower>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="28"></Frame>
-                    </connection>
-                  </JointSide>
-                </follower>
-                <primitives>
-                  <Primitive>
-                    <name>"revolute"</name>
-                    <nodeID>""</nodeID>
-                    <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>0,-1,0</axis>
-                  </Primitive>
-                </primitives>
-              </SimpleJoint>
-              <SimpleJoint>
-                <name>"SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE"</name>
-                <nodeID>"59/119/7824:-:59/119/7825"</nodeID>
-                <status>""</status>
-                <base>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="29"></Frame>
-                    </connection>
-                  </JointSide>
-                </base>
-                <follower>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="30"></Frame>
-                    </connection>
-                  </JointSide>
-                </follower>
-                <primitives>
-                  <Primitive>
-                    <name>"revolute"</name>
-                    <nodeID>""</nodeID>
-                    <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>1,0,0</axis>
-                  </Primitive>
-                </primitives>
-              </SimpleJoint>
-              <SimpleJoint>
-                <name>"SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT"</name>
-                <nodeID>"59/119/7825:-:59/119/7827"</nodeID>
-                <status>""</status>
-                <base>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="31"></Frame>
-                    </connection>
-                  </JointSide>
-                </base>
-                <follower>
-                  <JointSide>
-                    <name>""</name>
-                    <connection>
-                      <Frame ref="32"></Frame>
-                    </connection>
-                  </JointSide>
-                </follower>
-                <primitives>
-                  <Primitive>
-                    <name>"revolute"</name>
-                    <nodeID>""</nodeID>
-                    <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>0,0,1</axis>
-                  </Primitive>
-                </primitives>
+                  <Frame>
+                    <name>"CS7"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_1"</displayName>
+                    <nodeID>"23502(USERADDED)"</nodeID>
+                    <position>-50.6596,-654.938,31.6421</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS8"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_2"</displayName>
+                    <nodeID>"23503(USERADDED)"</nodeID>
+                    <position>-37.732,-654.938,45.9997</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS9"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_3"</displayName>
+                    <nodeID>"23504(USERADDED)"</nodeID>
+                    <position>-43.7022,-654.938,64.3741</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS10"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_4"</displayName>
+                    <nodeID>"23505(USERADDED)"</nodeID>
+                    <position>-62.6,-654.938,68.391</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS11"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_8"</displayName>
+                    <nodeID>"23506(USERADDED)"</nodeID>
+                    <position>-94.4254,-654.938,58.0503</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS12"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_9"</displayName>
+                    <nodeID>"23507(USERADDED)"</nodeID>
+                    <position>-107.353,-654.938,43.6927</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS13"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_10"</displayName>
+                    <nodeID>"23508(USERADDED)"</nodeID>
+                    <position>-101.383,-654.938,25.3183</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS14"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_11"</displayName>
+                    <nodeID>"23509(USERADDED)"</nodeID>
+                    <position>-82.485,-654.938,21.3014</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS15"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_12"</displayName>
+                    <nodeID>"23510(USERADDED)"</nodeID>
+                    <position>-69.5574,-654.938,35.659</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS16"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_13"</displayName>
+                    <nodeID>"23511(USERADDED)"</nodeID>
+                    <position>-75.5276,-654.938,54.0334</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS17"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_14"</displayName>
+                    <nodeID>"23512(USERADDED)"</nodeID>
+                    <position>-76.5148,-654.938,2.92703</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS18"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_15"</displayName>
+                    <nodeID>"23513(USERADDED)"</nodeID>
+                    <position>-57.617,-654.938,-1.08983</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS19"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_17"</displayName>
+                    <nodeID>"23514(USERADDED)"</nodeID>
+                    <position>-103.357,-654.938,-76.8945</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS20"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_18"</displayName>
+                    <nodeID>"23515(USERADDED)"</nodeID>
+                    <position>-97.387,-654.938,-95.2689</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS21"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_19"</displayName>
+                    <nodeID>"23516(USERADDED)"</nodeID>
+                    <position>-78.4892,-654.938,-99.2857</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS22"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_20"</displayName>
+                    <nodeID>"23517(USERADDED)"</nodeID>
+                    <position>-65.5616,-654.938,-84.9282</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS23"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_21"</displayName>
+                    <nodeID>"23518(USERADDED)"</nodeID>
+                    <position>-89.4424,-654.938,-11.4305</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS24"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_22"</displayName>
+                    <nodeID>"23519(USERADDED)"</nodeID>
+                    <position>-51.6468,-654.938,-19.4642</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS25"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_24"</displayName>
+                    <nodeID>"23520(USERADDED)"</nodeID>
+                    <position>-58.6042,-654.938,-52.1962</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS26"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_25"</displayName>
+                    <nodeID>"23521(USERADDED)"</nodeID>
+                    <position>-64.5744,-654.938,-33.8218</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS27"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_26"</displayName>
+                    <nodeID>"23522(USERADDED)"</nodeID>
+                    <position>-83.4722,-654.938,-29.8049</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS28"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_27"</displayName>
+                    <nodeID>"23523(USERADDED)"</nodeID>
+                    <position>-96.3998,-654.938,-44.1625</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS29"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_28"</displayName>
+                    <nodeID>"23524(USERADDED)"</nodeID>
+                    <position>-90.4296,-654.938,-62.5369</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS30"</name>
+                    <displayName>"SCSYS_R_FOOT_SKIN_29"</displayName>
+                    <nodeID>"23525(USERADDED)"</nodeID>
+                    <position>-71.5318,-654.938,-66.5538</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame ref="50">
+                    <name>"CS31"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/119/7827:-:59/119/7833::59/119/7833(AUTOGEN)"</nodeID>
+                    <position>-70.1,-639.438,-47.209</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                </frames>
+                <geometryFileName>"SIM_SEA_2-5_R_SOLE_prt.stl"</geometryFileName>
+              </Body>
+            </bodies>
+            <joints>
+              <SimpleJoint>
+                <name>"RootPart--SIM_SEA_2-5_R_HIP_1"</name>
+                <nodeID>"59/119/7819:-:59/119/RootPart"</nodeID>
+                <status>""</status>
+                <base>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="3"></Frame>
+                    </connection>
+                  </JointSide>
+                </base>
+                <follower>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="4"></Frame>
+                    </connection>
+                  </JointSide>
+                </follower>
+                <primitives>
+                  <Primitive>
+                    <name>"weld"</name>
+                    <nodeID>""</nodeID>
+                    <referenceFrame>"WORLD"</referenceFrame>
+                    <axis>0.57735,0.57735,0.57735</axis>
+                  </Primitive>
+                </primitives>
+              </SimpleJoint>
+              <SimpleJoint>
+                <name>"SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2"</name>
+                <nodeID>"59/119/7819:-:59/119/7829"</nodeID>
+                <status>""</status>
+                <base>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="17"></Frame>
+                    </connection>
+                  </JointSide>
+                </base>
+                <follower>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="18"></Frame>
+                    </connection>
+                  </JointSide>
+                </follower>
+                <primitives>
+                  <Primitive>
+                    <name>"revolute"</name>
+                    <nodeID>""</nodeID>
+                    <referenceFrame>"WORLD"</referenceFrame>
+                    <axis>0,0,-1</axis>
+                  </Primitive>
+                </primitives>
               </SimpleJoint>
               <SimpleJoint>
-                <name>"SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE"</name>
-                <nodeID>"59/119/7827:-:59/119/7828"</nodeID>
+                <name>"SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH"</name>
+                <nodeID>"59/119/7823:-:59/119/7829"</nodeID>
                 <status>""</status>
                 <base>
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="33"></Frame>
+                      <Frame ref="21"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -2398,7 +2636,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="34"></Frame>
+                      <Frame ref="22"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -2412,14 +2650,14 @@
                 </primitives>
               </SimpleJoint>
               <SimpleJoint>
-                <name>"SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH"</name>
-                <nodeID>"59/119/7823:-:59/119/7829"</nodeID>
+                <name>"SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH"</name>
+                <nodeID>"59/119/7823:-:59/119/7830"</nodeID>
                 <status>""</status>
                 <base>
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="83"></Frame>
+                      <Frame ref="41"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -2427,28 +2665,28 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="84"></Frame>
+                      <Frame ref="42"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
                 <primitives>
                   <Primitive>
-                    <name>"weld"</name>
+                    <name>"revolute"</name>
                     <nodeID>""</nodeID>
                     <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>0.57735,0.57735,0.57735</axis>
+                    <axis>0,-1,0</axis>
                   </Primitive>
                 </primitives>
               </SimpleJoint>
               <SimpleJoint>
-                <name>"SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2"</name>
-                <nodeID>"59/119/7819:-:59/119/7829"</nodeID>
+                <name>"SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK"</name>
+                <nodeID>"59/119/7824:-:59/119/7830"</nodeID>
                 <status>""</status>
                 <base>
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="85"></Frame>
+                      <Frame ref="43"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -2456,7 +2694,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="86"></Frame>
+                      <Frame ref="44"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -2465,7 +2703,94 @@
                     <name>"revolute"</name>
                     <nodeID>""</nodeID>
                     <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>0,0,-1</axis>
+                    <axis>-1,0,0</axis>
+                  </Primitive>
+                </primitives>
+              </SimpleJoint>
+              <SimpleJoint>
+                <name>"SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE"</name>
+                <nodeID>"59/119/7824:-:59/119/7825"</nodeID>
+                <status>""</status>
+                <base>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="45"></Frame>
+                    </connection>
+                  </JointSide>
+                </base>
+                <follower>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="46"></Frame>
+                    </connection>
+                  </JointSide>
+                </follower>
+                <primitives>
+                  <Primitive>
+                    <name>"revolute"</name>
+                    <nodeID>""</nodeID>
+                    <referenceFrame>"WORLD"</referenceFrame>
+                    <axis>1,0,0</axis>
+                  </Primitive>
+                </primitives>
+              </SimpleJoint>
+              <SimpleJoint>
+                <name>"SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT"</name>
+                <nodeID>"59/119/7825:-:59/119/7827"</nodeID>
+                <status>""</status>
+                <base>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="47"></Frame>
+                    </connection>
+                  </JointSide>
+                </base>
+                <follower>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="48"></Frame>
+                    </connection>
+                  </JointSide>
+                </follower>
+                <primitives>
+                  <Primitive>
+                    <name>"revolute"</name>
+                    <nodeID>""</nodeID>
+                    <referenceFrame>"WORLD"</referenceFrame>
+                    <axis>0,0,1</axis>
+                  </Primitive>
+                </primitives>
+              </SimpleJoint>
+              <SimpleJoint>
+                <name>"SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE"</name>
+                <nodeID>"59/119/7827:-:59/119/7833"</nodeID>
+                <status>""</status>
+                <base>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="49"></Frame>
+                    </connection>
+                  </JointSide>
+                </base>
+                <follower>
+                  <JointSide>
+                    <name>""</name>
+                    <connection>
+                      <Frame ref="50"></Frame>
+                    </connection>
+                  </JointSide>
+                </follower>
+                <primitives>
+                  <Primitive>
+                    <name>"weld"</name>
+                    <nodeID>""</nodeID>
+                    <referenceFrame>"WORLD"</referenceFrame>
+                    <axis>0.57735,0.57735,0.57735</axis>
                   </Primitive>
                 </primitives>
               </SimpleJoint>
@@ -2481,23 +2806,172 @@
             <status>""</status>
             <bodies>
               <Body>
-                <name>"SIM_SEA_2-5_L_HIP_1"</name>
-                <nodeID>"59/120/99"</nodeID>
+                <name>"SIM_SEA_2-5_L_HIP_1"</name>
+                <nodeID>"59/120/99"</nodeID>
+                <status>""</status>
+                <mass>0.919725</mass>
+                <massUnits>"kg"</massUnits>
+                <inertia>0.000404539,1.18502e-006,-9.64514e-007,1.18502e-006,0.000573315,-1.06028e-006,-9.64514e-007,-1.06028e-006,0.000578982</inertia>
+                <inertiaUnits>"kg*m^2"</inertiaUnits>
+                <volume>186623</volume>
+                <volumeUnits>"mm^3"</volumeUnits>
+                <surfaceArea>104725</surfaceArea>
+                <surfaceAreaUnits>"mm^2"</surfaceAreaUnits>
+                <frames>
+                  <Frame>
+                    <name>"CG"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/99::CG(AUTOGEN)"</nodeID>
+                    <position>64.0923,-151.996,-43.3623</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS1"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/99::CS1(AUTOGEN)"</nodeID>
+                    <position>2.91373e-013,-1.65288e-011,5.94718e-011</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS2"</name>
+                    <displayName>"SCSYS_L_HIP_PITCH_FRAME"</displayName>
+                    <nodeID>"7641(USERADDED)"</nodeID>
+                    <position>26,-151.913,-42.8515</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,1,0,0,0,1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame ref="6">
+                    <name>"CS3"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/99:-:59/120/RootPart::59/120/99(AUTOGEN)"</nodeID>
+                    <position>64.0923,-151.996,-43.3623</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame ref="30">
+                    <name>"CS4"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120:59/120/99:-:59/126::59/120/99(AUTOGEN)"</nodeID>
+                    <position>26.5046,-151.913,-42.8515</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame ref="51">
+                    <name>"CS5"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/100:-:59/120/99::59/120/99(AUTOGEN)"</nodeID>
+                    <position>70.1,-151.913,-68.0351</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                </frames>
+                <geometryFileName>"SIM_SEA_2-5_L_HIP_1_prt.stl"</geometryFileName>
+              </Body>
+              <Body>
+                <name>"RootPart"</name>
+                <nodeID>"59/120/RootPart"</nodeID>
+                <status>""</status>
+                <mass>0</mass>
+                <massUnits>"kg"</massUnits>
+                <inertia>0,0,0,0,0,0,0,0,0</inertia>
+                <inertiaUnits>"kg*m^2"</inertiaUnits>
+                <volume>0</volume>
+                <volumeUnits>"mm^3"</volumeUnits>
+                <surfaceArea>0</surfaceArea>
+                <surfaceAreaUnits>"mm^2"</surfaceAreaUnits>
+                <frames>
+                  <Frame>
+                    <name>"CG"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/RootPart::CG(AUTOGEN)"</nodeID>
+                    <position>70.6856,-392.479,-38.848</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS1"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/RootPart::CS1(AUTOGEN)"</nodeID>
+                    <position>2.91373e-013,-1.65288e-011,5.94718e-011</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame ref="5">
+                    <name>"CS2"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/99:-:59/120/RootPart::59/120/RootPart(AUTOGEN)"</nodeID>
+                    <position>64.0923,-151.996,-43.3623</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                </frames>
+                <geometryFileName>""</geometryFileName>
+              </Body>
+              <Body>
+                <name>"SIM_SEA_2-5_L_HIP_2"</name>
+                <nodeID>"59/120/100"</nodeID>
                 <status>""</status>
-                <mass>0.919725</mass>
+                <mass>0.421106</mass>
                 <massUnits>"kg"</massUnits>
-                <inertia>0.000404539,1.18502e-006,-9.64514e-007,1.18502e-006,0.000573315,-1.06028e-006,-9.64514e-007,-1.06028e-006,0.000578982</inertia>
+                <inertia>0.000494284,1.5483e-007,-1.86308e-007,1.5483e-007,0.000288736,1.52962e-005,-1.86308e-007,1.52962e-005,0.000319008</inertia>
                 <inertiaUnits>"kg*m^2"</inertiaUnits>
-                <volume>186623</volume>
+                <volume>89807.8</volume>
                 <volumeUnits>"mm^3"</volumeUnits>
-                <surfaceArea>104725</surfaceArea>
+                <surfaceArea>62097.9</surfaceArea>
                 <surfaceAreaUnits>"mm^2"</surfaceAreaUnits>
                 <frames>
                   <Frame>
                     <name>"CG"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/120/99::CG(AUTOGEN)"</nodeID>
-                    <position>64.0923,-151.996,-43.3623</position>
+                    <nodeID>"59/120/100::CG(AUTOGEN)"</nodeID>
+                    <position>70.0806,-195.966,-44.4277</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2509,8 +2983,8 @@
                   <Frame>
                     <name>"CS1"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/120/99::CS1(AUTOGEN)"</nodeID>
-                    <position>2.91373e-013,-1.65288e-011,5.94718e-011</position>
+                    <nodeID>"59/120/100::CS1(AUTOGEN)"</nodeID>
+                    <position>-8.83647e-012,-2.01799e-011,-1.90676e-007</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2521,9 +2995,9 @@
                   </Frame>
                   <Frame>
                     <name>"CS2"</name>
-                    <displayName>"SCSYS_L_HIP_PITCH_FRAME"</displayName>
-                    <nodeID>"7641(USERADDED)"</nodeID>
-                    <position>26,-151.913,-42.8515</position>
+                    <displayName>"SCSYS_L_HIP_ROLL_FRAME"</displayName>
+                    <nodeID>"5326(USERADDED)"</nodeID>
+                    <position>70.1,-151.913,-42.8515</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2532,11 +3006,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="6">
+                  <Frame ref="52">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/120/99:-:59/120/RootPart::59/120/99(AUTOGEN)"</nodeID>
-                    <position>64.0923,-151.996,-43.3623</position>
+                    <nodeID>"59/120/100:-:59/120/99::59/120/100(AUTOGEN)"</nodeID>
+                    <position>70.1,-151.913,-68.0351</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2545,11 +3019,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="35">
+                  <Frame ref="53">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/120/100:-:59/120/99::59/120/99(AUTOGEN)"</nodeID>
-                    <position>70.1,-151.913,-68.0351</position>
+                    <nodeID>"59/120/100:-:59/120/101::59/120/100(AUTOGEN)"</nodeID>
+                    <position>70.1,-215.413,-43.709</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2558,11 +3032,121 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="38">
-                    <name>"CS5"</name>
+                </frames>
+                <geometryFileName>"SIM_SEA_2-5_L_HIP_2_prt.stl"</geometryFileName>
+              </Body>
+              <Body>
+                <name>"SIM_SEA_2-5_L_UPPER_THIGH"</name>
+                <nodeID>"59/120/101"</nodeID>
+                <status>""</status>
+                <mass>0.126212</mass>
+                <massUnits>"kg"</massUnits>
+                <inertia>3.27938e-005,2.67901e-007,-4.41463e-009,2.67901e-007,5.69957e-005,3.32338e-008,-4.41463e-009,3.32338e-008,3.26449e-005</inertia>
+                <inertiaUnits>"kg*m^2"</inertiaUnits>
+                <volume>41709.8</volume>
+                <volumeUnits>"mm^3"</volumeUnits>
+                <surfaceArea>21283.8</surfaceArea>
+                <surfaceAreaUnits>"mm^2"</surfaceAreaUnits>
+                <frames>
+                  <Frame>
+                    <name>"CG"</name>
                     <displayName>""</displayName>
-                    <nodeID>"59/120:59/120/99:-:59/126::59/120/99(AUTOGEN)"</nodeID>
-                    <position>26.5046,-151.913,-42.8515</position>
+                    <nodeID>"59/120/101::CG(AUTOGEN)"</nodeID>
+                    <position>70.3823,-234.931,-43.832</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS1"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/101::CS1(AUTOGEN)"</nodeID>
+                    <position>-1.01012e-011,-1.96302e-011,-1.90679e-007</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS2"</name>
+                    <displayName>"SCSYS_L_UPPER_LEG_FT45"</displayName>
+                    <nodeID>"5431(USERADDED)"</nodeID>
+                    <position>70.1,-226.213,-43.709</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>0,0,1,-1,0,0,0,-1,0</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame ref="54">
+                    <name>"CS3"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/100:-:59/120/101::59/120/101(AUTOGEN)"</nodeID>
+                    <position>70.1,-215.413,-43.709</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame ref="55">
+                    <name>"CS4"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/101:-:59/120/102::59/120/101(AUTOGEN)"</nodeID>
+                    <position>70.1,-240.813,-43.709</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                </frames>
+                <geometryFileName>"SIM_SEA_2-5_L_UPPER_THIGH_prt.stl"</geometryFileName>
+              </Body>
+              <Body>
+                <name>"SIM_SEA_2-5_L_THIGH"</name>
+                <nodeID>"59/120/102"</nodeID>
+                <status>""</status>
+                <mass>2.23259</mass>
+                <massUnits>"kg"</massUnits>
+                <inertia>0.00800632,-0.000153347,-4.90616e-006,-0.000153347,0.00180556,-0.000168911,-4.90616e-006,-0.000168911,0.00799529</inertia>
+                <inertiaUnits>"kg*m^2"</inertiaUnits>
+                <volume>648811</volume>
+                <volumeUnits>"mm^3"</volumeUnits>
+                <surfaceArea>426996</surfaceArea>
+                <surfaceAreaUnits>"mm^2"</surfaceAreaUnits>
+                <frames>
+                  <Frame>
+                    <name>"CG"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/102::CG(AUTOGEN)"</nodeID>
+                    <position>70.2018,-319.529,-40.3222</position>
+                    <positionOrigin>"WORLD"</positionOrigin>
+                    <positionReferenceFrame>"WORLD"</positionReferenceFrame>
+                    <positionUnits>"mm"</positionUnits>
+                    <orientation>1,0,0,0,1,0,0,0,1</orientation>
+                    <orientationType>"3x3 Transform"</orientationType>
+                    <orientationUnits>"rad"</orientationUnits>
+                    <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
+                  </Frame>
+                  <Frame>
+                    <name>"CS1"</name>
+                    <displayName>""</displayName>
+                    <nodeID>"59/120/102::CS1(AUTOGEN)"</nodeID>
+                    <position>-1.00101e-011,0.2,-1.90679e-007</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -2571,121 +3155,193 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                </frames>
-                <geometryFileName>"SIM_SEA_2-5_L_HIP_1_prt.stl"</geometryFileName>
-              </Body>
-              <Body>
-                <name>"RootPart"</name>
-                <nodeID>"59/120/RootPart"</nodeID>
-                <status>""</status>
-                <mass>0</mass>
-                <massUnits>"kg"</massUnits>
-                <inertia>0,0,0,0,0,0,0,0,0</inertia>
-                <inertiaUnits>"kg*m^2"</inertiaUnits>
-                <volume>0</volume>
-                <volumeUnits>"mm^3"</volumeUnits>
-                <surfaceArea>0</surfaceArea>
-                <surfaceAreaUnits>"mm^2"</surfaceAreaUnits>
-                <frames>
                   <Frame>
-                    <name>"CG"</name>
-                    <displayName>""</displayName>
-                    <nodeID>"59/120/RootPart::CG(AUTOGEN)"</nodeID>
-                    <position>70.6856,-392.479,-38.848</position>
+                    <name>"CS2"</name>
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@@ -3428,48 +4078,48 @@
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+                    <name>"CS29"</name>
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+                    <name>"CS30"</name>
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+                  <Frame ref="64">
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@@ -3521,7 +4171,7 @@
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@@ -3529,7 +4179,7 @@
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@@ -3550,7 +4200,7 @@
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@@ -3558,7 +4208,7 @@
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@@ -3579,7 +4229,7 @@
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@@ -3587,7 +4237,7 @@
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@@ -3608,7 +4258,7 @@
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@@ -3616,7 +4266,7 @@
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@@ -3637,7 +4287,7 @@
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@@ -3645,7 +4295,7 @@
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@@ -3666,7 +4316,7 @@
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@@ -3674,7 +4324,7 @@
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-                      <Frame ref="48"></Frame>
+                      <Frame ref="62"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -3689,13 +4339,13 @@
               </SimpleJoint>
               <SimpleJoint>
                 <name>"SIM_SEA_2-5_L_FOOT--SIM_SEA_2-5_L_SOLE"</name>
-                <nodeID>"59/120/105:-:59/120/106"</nodeID>
+                <nodeID>"59/120/105:-:59/120/111"</nodeID>
                 <status>""</status>
                 <base>
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="49"></Frame>
+                      <Frame ref="63"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -3703,7 +4353,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="50"></Frame>
+                      <Frame ref="64"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -3939,11 +4589,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="21">
+              <Frame ref="26">
                 <name>"CS15"</name>
                 <displayName>""</displayName>
-                <nodeID>"60:60/132:-:61:61/59::60/132(AUTOGEN)"</nodeID>
-                <position>-14.3,222.797,-25.5907</position>
+                <nodeID>"59:59/125:-:60:60/132::60/132(AUTOGEN)"</nodeID>
+                <position>-1.90735e-007,50,-30.9025</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -3952,11 +4602,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="51">
+              <Frame ref="37">
                 <name>"CS16"</name>
                 <displayName>""</displayName>
-                <nodeID>"60/132:-:60/94::60/132(AUTOGEN)"</nodeID>
-                <position>-120.016,142.8,-22.9332</position>
+                <nodeID>"60:60/132:-:61:61/59::60/132(AUTOGEN)"</nodeID>
+                <position>-14.3,222.797,-25.5907</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -3965,11 +4615,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="53">
+              <Frame ref="65">
                 <name>"CS17"</name>
                 <displayName>""</displayName>
-                <nodeID>"60/132:-:60/71::60/132(AUTOGEN)"</nodeID>
-                <position>120.016,142.8,-22.9332</position>
+                <nodeID>"60/132:-:60/94::60/132(AUTOGEN)"</nodeID>
+                <position>-120.016,142.8,-22.9332</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -3978,11 +4628,11 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="56">
+              <Frame ref="67">
                 <name>"CS18"</name>
                 <displayName>""</displayName>
-                <nodeID>"59:59/125:-:60:60/132::60/132(AUTOGEN)"</nodeID>
-                <position>-1.90735e-007,50,-30.9025</position>
+                <nodeID>"60/132:-:60/71::60/132(AUTOGEN)"</nodeID>
+                <position>120.016,142.8,-22.9332</position>
                 <positionOrigin>"WORLD"</positionOrigin>
                 <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                 <positionUnits>"mm"</positionUnits>
@@ -4088,7 +4738,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="52">
+              <Frame ref="66">
                 <name>"CS2"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/132:-:60/94::60/94(AUTOGEN)"</nodeID>
@@ -4101,7 +4751,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="57">
+              <Frame ref="69">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/94:-:60/95::60/94(AUTOGEN)"</nodeID>
@@ -4156,7 +4806,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="58">
+              <Frame ref="70">
                 <name>"CS2"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/94:-:60/95::60/95(AUTOGEN)"</nodeID>
@@ -4169,7 +4819,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="59">
+              <Frame ref="71">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/125:-:60/95::60/95(AUTOGEN)"</nodeID>
@@ -4237,7 +4887,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="60">
+              <Frame ref="72">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/125:-:60/95::60/125(AUTOGEN)"</nodeID>
@@ -4250,7 +4900,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="61">
+              <Frame ref="73">
                 <name>"CS4"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/125:-:60/133::60/125(AUTOGEN)"</nodeID>
@@ -4357,7 +5007,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="62">
+              <Frame ref="74">
                 <name>"CS6"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/125:-:60/133::60/133(AUTOGEN)"</nodeID>
@@ -4370,7 +5020,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="63">
+              <Frame ref="75">
                 <name>"CS7"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/133:-:60/150:60/150/98::60/133(AUTOGEN)"</nodeID>
@@ -4425,7 +5075,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="54">
+              <Frame ref="68">
                 <name>"CS2"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/132:-:60/71::60/71(AUTOGEN)"</nodeID>
@@ -4438,7 +5088,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="71">
+              <Frame ref="83">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/103:-:60/71::60/71(AUTOGEN)"</nodeID>
@@ -4493,7 +5143,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="72">
+              <Frame ref="84">
                 <name>"CS2"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/103:-:60/71::60/103(AUTOGEN)"</nodeID>
@@ -4506,7 +5156,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="73">
+              <Frame ref="85">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/103:-:60/108::60/103(AUTOGEN)"</nodeID>
@@ -4574,7 +5224,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="74">
+              <Frame ref="86">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/103:-:60/108::60/108(AUTOGEN)"</nodeID>
@@ -4587,7 +5237,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="75">
+              <Frame ref="87">
                 <name>"CS4"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/108:-:60/140::60/108(AUTOGEN)"</nodeID>
@@ -4694,7 +5344,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="76">
+              <Frame ref="88">
                 <name>"CS6"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/108:-:60/140::60/140(AUTOGEN)"</nodeID>
@@ -4707,7 +5357,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="77">
+              <Frame ref="89">
                 <name>"CS7"</name>
                 <displayName>""</displayName>
                 <nodeID>"60/140:-:60/151:60/151/75::60/140(AUTOGEN)"</nodeID>
@@ -4762,7 +5412,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="51"></Frame>
+                  <Frame ref="65"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4770,7 +5420,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="52"></Frame>
+                  <Frame ref="66"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4791,7 +5441,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="53"></Frame>
+                  <Frame ref="67"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4799,7 +5449,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="54"></Frame>
+                  <Frame ref="68"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4820,7 +5470,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="57"></Frame>
+                  <Frame ref="69"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4828,7 +5478,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="58"></Frame>
+                  <Frame ref="70"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4849,7 +5499,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="59"></Frame>
+                  <Frame ref="71"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4857,7 +5507,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="60"></Frame>
+                  <Frame ref="72"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4878,7 +5528,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="61"></Frame>
+                  <Frame ref="73"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4886,7 +5536,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="62"></Frame>
+                  <Frame ref="74"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4907,7 +5557,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="63"></Frame>
+                  <Frame ref="75"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4915,7 +5565,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="64"></Frame>
+                  <Frame ref="76"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4936,7 +5586,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="71"></Frame>
+                  <Frame ref="83"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4944,7 +5594,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="72"></Frame>
+                  <Frame ref="84"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4965,7 +5615,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="73"></Frame>
+                  <Frame ref="85"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -4973,7 +5623,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="74"></Frame>
+                  <Frame ref="86"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -4994,7 +5644,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="75"></Frame>
+                  <Frame ref="87"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -5002,7 +5652,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="76"></Frame>
+                  <Frame ref="88"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -5023,7 +5673,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="77"></Frame>
+                  <Frame ref="89"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -5031,7 +5681,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="78"></Frame>
+                  <Frame ref="90"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -5104,7 +5754,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="64">
+                  <Frame ref="76">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/133:-:60/150:60/150/98::60/150/98(AUTOGEN)"</nodeID>
@@ -5117,7 +5767,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="65">
+                  <Frame ref="77">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/150/112:-:60/150/98::60/150/98(AUTOGEN)"</nodeID>
@@ -5591,7 +6241,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="66">
+                  <Frame ref="78">
                     <name>"CS30"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/150/112:-:60/150/98::60/150/112(AUTOGEN)"</nodeID>
@@ -5604,7 +6254,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="67">
+                  <Frame ref="79">
                     <name>"CS31"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/150/105:-:60/150/112::60/150/112(AUTOGEN)"</nodeID>
@@ -5659,7 +6309,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="68">
+                  <Frame ref="80">
                     <name>"CS2"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/150/105:-:60/150/112::60/150/105(AUTOGEN)"</nodeID>
@@ -5672,7 +6322,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="69">
+                  <Frame ref="81">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/150/105:-:60/150/108::60/150/105(AUTOGEN)"</nodeID>
@@ -5740,7 +6390,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="70">
+                  <Frame ref="82">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/150/105:-:60/150/108::60/150/108(AUTOGEN)"</nodeID>
@@ -5795,7 +6445,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="65"></Frame>
+                      <Frame ref="77"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -5803,7 +6453,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="66"></Frame>
+                      <Frame ref="78"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -5824,7 +6474,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="67"></Frame>
+                      <Frame ref="79"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -5832,7 +6482,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="68"></Frame>
+                      <Frame ref="80"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -5853,7 +6503,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="69"></Frame>
+                      <Frame ref="81"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -5861,7 +6511,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="70"></Frame>
+                      <Frame ref="82"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -5937,7 +6587,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="78">
+                  <Frame ref="90">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/140:-:60/151:60/151/75::60/151/75(AUTOGEN)"</nodeID>
@@ -5950,7 +6600,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="79">
+                  <Frame ref="91">
                     <name>"CS4"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/151/75:-:60/151/98::60/151/75(AUTOGEN)"</nodeID>
@@ -6424,11 +7074,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="80">
+                  <Frame ref="33">
                     <name>"CS30"</name>
                     <displayName>""</displayName>
-                    <nodeID>"60/151/75:-:60/151/98::60/151/98(AUTOGEN)"</nodeID>
-                    <position>109.391,-52.06,-25.7802</position>
+                    <nodeID>"60/151/87:-:60/151/98::60/151/98(AUTOGEN)"</nodeID>
+                    <position>109.398,-158.56,-27.9302</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -6437,11 +7087,11 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="81">
+                  <Frame ref="92">
                     <name>"CS31"</name>
                     <displayName>""</displayName>
-                    <nodeID>"60/151/87:-:60/151/98::60/151/98(AUTOGEN)"</nodeID>
-                    <position>109.398,-158.56,-27.9302</position>
+                    <nodeID>"60/151/75:-:60/151/98::60/151/98(AUTOGEN)"</nodeID>
+                    <position>109.391,-52.06,-25.7802</position>
                     <positionOrigin>"WORLD"</positionOrigin>
                     <positionReferenceFrame>"WORLD"</positionReferenceFrame>
                     <positionUnits>"mm"</positionUnits>
@@ -6492,7 +7142,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="17">
+                  <Frame ref="31">
                     <name>"CS2"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/151/87:-:60/151/93::60/151/87(AUTOGEN)"</nodeID>
@@ -6505,7 +7155,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="82">
+                  <Frame ref="34">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/151/87:-:60/151/98::60/151/87(AUTOGEN)"</nodeID>
@@ -6573,7 +7223,7 @@
                     <orientationUnits>"rad"</orientationUnits>
                     <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
                   </Frame>
-                  <Frame ref="18">
+                  <Frame ref="32">
                     <name>"CS3"</name>
                     <displayName>""</displayName>
                     <nodeID>"60/151/87:-:60/151/93::60/151/93(AUTOGEN)"</nodeID>
@@ -6628,7 +7278,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="17"></Frame>
+                      <Frame ref="31"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -6636,7 +7286,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="18"></Frame>
+                      <Frame ref="32"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -6650,14 +7300,14 @@
                 </primitives>
               </SimpleJoint>
               <SimpleJoint>
-                <name>"SIM_SEA_2-5_L_ELBOW_PROSUP--SIM_SEA_2-5_L_FOREARM"</name>
-                <nodeID>"60/151/75:-:60/151/98"</nodeID>
+                <name>"SIM_SEA_2-5_L_FOREARM--SIM_SEA_2-5_L_WRIST_PITCH"</name>
+                <nodeID>"60/151/87:-:60/151/98"</nodeID>
                 <status>""</status>
                 <base>
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="79"></Frame>
+                      <Frame ref="33"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -6665,7 +7315,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="80"></Frame>
+                      <Frame ref="34"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -6674,19 +7324,19 @@
                     <name>"revolute"</name>
                     <nodeID>""</nodeID>
                     <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>0,-1,0</axis>
+                    <axis>0,0,-1</axis>
                   </Primitive>
                 </primitives>
               </SimpleJoint>
               <SimpleJoint>
-                <name>"SIM_SEA_2-5_L_FOREARM--SIM_SEA_2-5_L_WRIST_PITCH"</name>
-                <nodeID>"60/151/87:-:60/151/98"</nodeID>
+                <name>"SIM_SEA_2-5_L_ELBOW_PROSUP--SIM_SEA_2-5_L_FOREARM"</name>
+                <nodeID>"60/151/75:-:60/151/98"</nodeID>
                 <status>""</status>
                 <base>
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="81"></Frame>
+                      <Frame ref="91"></Frame>
                     </connection>
                   </JointSide>
                 </base>
@@ -6694,7 +7344,7 @@
                   <JointSide>
                     <name>""</name>
                     <connection>
-                      <Frame ref="82"></Frame>
+                      <Frame ref="92"></Frame>
                     </connection>
                   </JointSide>
                 </follower>
@@ -6703,7 +7353,7 @@
                     <name>"revolute"</name>
                     <nodeID>""</nodeID>
                     <referenceFrame>"WORLD"</referenceFrame>
-                    <axis>0,0,-1</axis>
+                    <axis>0,-1,0</axis>
                   </Primitive>
                 </primitives>
               </SimpleJoint>
@@ -6774,7 +7424,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="19">
+              <Frame ref="35">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"61/59:-:61/60::61/59(AUTOGEN)"</nodeID>
@@ -6787,7 +7437,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="22">
+              <Frame ref="38">
                 <name>"CS4"</name>
                 <displayName>""</displayName>
                 <nodeID>"60:60/132:-:61:61/59::61/59(AUTOGEN)"</nodeID>
@@ -6897,7 +7547,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="20">
+              <Frame ref="36">
                 <name>"CS2"</name>
                 <displayName>""</displayName>
                 <nodeID>"61/59:-:61/60::61/60(AUTOGEN)"</nodeID>
@@ -6910,7 +7560,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="23">
+              <Frame ref="39">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"61/60:-:61/6480::61/60(AUTOGEN)"</nodeID>
@@ -6978,7 +7628,7 @@
                 <orientationUnits>"rad"</orientationUnits>
                 <orientationReferenceFrame>"WORLD"</orientationReferenceFrame>
               </Frame>
-              <Frame ref="24">
+              <Frame ref="40">
                 <name>"CS3"</name>
                 <displayName>""</displayName>
                 <nodeID>"61/60:-:61/6480::61/6480(AUTOGEN)"</nodeID>
@@ -7033,7 +7683,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="19"></Frame>
+                  <Frame ref="35"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -7041,7 +7691,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="20"></Frame>
+                  <Frame ref="36"></Frame>
                 </connection>
               </JointSide>
             </follower>
@@ -7062,7 +7712,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="23"></Frame>
+                  <Frame ref="39"></Frame>
                 </connection>
               </JointSide>
             </base>
@@ -7070,7 +7720,7 @@
               <JointSide>
                 <name>""</name>
                 <connection>
-                  <Frame ref="24"></Frame>
+                  <Frame ref="40"></Frame>
                 </connection>
               </JointSide>
             </follower>
diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
index ab4452f3..73aa870d 100644
--- a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
+++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in
@@ -396,6 +396,156 @@ exportedFrames:
   - frameName: SCSYS_R_LOWER_LEG_SKIN_21
     frameReferenceLink: r_lower_leg
     exportedFrameName: r_lower_leg_skin_21
+  - frameName: SCSYS_R_FOOT_SKIN_9
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_9
+  - frameName: SCSYS_R_FOOT_SKIN_8
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_8
+  - frameName: SCSYS_R_FOOT_SKIN_10
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_10
+  - frameName: SCSYS_R_FOOT_SKIN_11
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_11
+  - frameName: SCSYS_R_FOOT_SKIN_12
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_12
+  - frameName: SCSYS_R_FOOT_SKIN_13
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_13
+  - frameName: SCSYS_R_FOOT_SKIN_1
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_1
+  - frameName: SCSYS_R_FOOT_SKIN_2
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_2
+  - frameName: SCSYS_R_FOOT_SKIN_3
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_3
+  - frameName: SCSYS_R_FOOT_SKIN_4
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_4
+  - frameName: SCSYS_R_FOOT_SKIN_0
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_0
+  - frameName: SCSYS_R_FOOT_SKIN_15
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_15
+  - frameName: SCSYS_R_FOOT_SKIN_14
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_14
+  - frameName: SCSYS_R_FOOT_SKIN_21
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_21
+  - frameName: SCSYS_R_FOOT_SKIN_26
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_26
+  - frameName: SCSYS_R_FOOT_SKIN_27
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_27
+  - frameName: SCSYS_R_FOOT_SKIN_28
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_28
+  - frameName: SCSYS_R_FOOT_SKIN_17
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_17
+  - frameName: SCSYS_R_FOOT_SKIN_18
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_18
+  - frameName: SCSYS_R_FOOT_SKIN_19
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_19
+  - frameName: SCSYS_R_FOOT_SKIN_20
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_20
+  - frameName: SCSYS_R_FOOT_SKIN_29
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_29
+  - frameName: SCSYS_R_FOOT_SKIN_24
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_24
+  - frameName: SCSYS_R_FOOT_SKIN_25
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_25
+  - frameName: SCSYS_R_FOOT_SKIN_22
+    frameReferenceLink: r_sole
+    exportedFrameName: r_sole_skin_22
+  - frameName: SCSYS_L_FOOT_SKIN_9
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_9
+  - frameName: SCSYS_L_FOOT_SKIN_10
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_10
+  - frameName: SCSYS_L_FOOT_SKIN_11
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_11
+  - frameName: SCSYS_L_FOOT_SKIN_12
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_12
+  - frameName: SCSYS_L_FOOT_SKIN_13
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_13
+  - frameName: SCSYS_L_FOOT_SKIN_8
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_8
+  - frameName: SCSYS_L_FOOT_SKIN_1
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_1
+  - frameName: SCSYS_L_FOOT_SKIN_0
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_0
+  - frameName: SCSYS_L_FOOT_SKIN_15
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_15
+  - frameName: SCSYS_L_FOOT_SKIN_14
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_14
+  - frameName: SCSYS_L_FOOT_SKIN_2
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_2
+  - frameName: SCSYS_L_FOOT_SKIN_3
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_3
+  - frameName: SCSYS_L_FOOT_SKIN_4
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_4
+  - frameName: SCSYS_L_FOOT_SKIN_21
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_21
+  - frameName: SCSYS_L_FOOT_SKIN_26
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_26
+  - frameName: SCSYS_L_FOOT_SKIN_27
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_27
+  - frameName: SCSYS_L_FOOT_SKIN_28
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_28
+  - frameName: SCSYS_L_FOOT_SKIN_17
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_17
+  - frameName: SCSYS_L_FOOT_SKIN_18
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_18
+  - frameName: SCSYS_L_FOOT_SKIN_19
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_19
+  - frameName: SCSYS_L_FOOT_SKIN_20
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_20
+  - frameName: SCSYS_L_FOOT_SKIN_29
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_29
+  - frameName: SCSYS_L_FOOT_SKIN_24
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_24
+  - frameName: SCSYS_L_FOOT_SKIN_25
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_25
+  - frameName: SCSYS_L_FOOT_SKIN_22
+    frameReferenceLink: l_sole
+    exportedFrameName: l_sole_skin_22
 @XSENS_IMU_FRAME@