The tree displayed in the Navigator window has nodes of many different types. Nodes can represent 1) a single object in the model or associated with the model or 2) collections of objects (for example, the node corresponding to the set of rigid bodies in a model). Nodes that correspond to multiple objects have a folder-like representation in the navigator tree. 

The following table describes the types of objects that can be represented in the tree and their corresponding icons. Some objects, such as markers, are not represented in the tree in order to present a less cluttered view when dealing with large models.

Node Label


What the node represents

[Model Name]

A full OpenSim model

  • Bodies

The set of rigid bodies in the model

  • [Body Name]

A single rigid body or Ground frame

  • [Wrap Object Name]

A single muscle wrap object

  • [Frame]

An offset frame attached to the Body or ground

  • [Geometry Name]

Geometry (a mesh file, or analytical geometry)


All forces in the model

  • Muscles

All Muscles

  • [Muscle Group Name]

A muscle group

  • [Muscle Name]

A single muscle

  • Actuators

All non-muscle actuators

  • TorqueActuator

A torque

  • CoordinateActuator

A Generalized force

  • Contact Forces

A force

  • Other Forces

A force


All joints in the model

  • [Joint Name]

A single joint

  • [Dof Name]

A function describing dof changes

  • Dofs

All degrees of freedom for a joint

  • [Frame]

An offset frame used to define the Joint


A list of constraints associated with the model

  • [Constraint Name]

A specific constraint

Contact Geometry

A list of contact geometry associated with the model


A list of markers associated with the model

  • [Marker Name]

A specific marker


All motions associated with a model

  • [Motion Name]

A specific motion

ControllersAll controllers in the modle
ProbesAll Probes attached to the model
Other ComponentsAny other custom components that are a part of the model

Selecting Components (Key Bindings)

Selection of nodes in the Navigator tree follows the standard conventions: 

In addition, clicking the left mouse button twice (double clicking) a node places a triad on the object in the visualizer. This is useful when quickly navigating the model to investigate where different objects are in the 3D View window. You can use the triad to move the object in the visualizer.


Next: Node Commands (Context Menus)

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