\begin{center}
	\tikzsetnextfilename{Test_articulated_leg}
	\begin{tikzpicture}[y=1cm, x=1cm, inner sep=0pt, outer sep=0pt]


		\input{joints_def}
		\input{articulated_leg/torso}

		\begin{scope}[rotate around={30:(hipArt)}]

			\input{articulated_leg/thigh}
			\begin{scope}[rotate around={-20:(kneeArt)}]

				\input{articulated_leg/calf}
				\begin{scope}[rotate around={10:(ankleArt)}]

					\input{articulated_leg/feet}
				\end{scope}
				\draw[line width=0.018cm] (ankleArt) circle(0.05);
			\end{scope}
			\draw[line width=0.018cm] (kneeArt) circle(0.05);
		\end{scope}
		\draw[line width=0.018cm] (hipArt) circle(0.05);


	\end{tikzpicture}
\end{center}
