<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
	<Model name="ToyLandingModel">
		<!--See the credits section below for information about this model's authors, data sources, intended uses, and more.
		See the publications section for the paper(s) you should cite when using this model. Do not remove either section if you modify or add to this model.
		If you are this model's author(s), add or update the credits and publications sections before distributing your model.-->
		<credits>Developed by Ajay Seth (addition of reflex controller to posture model with passive forces, foot contact and moveable platform) and Matt DeMers (initial drop height and platform orientation, inverter and everter muscles, linear ankle bushings). As a courtesy to the model developers, we request that you notify us (via email at opensim@stanford.edu) and acknowledge the authors (Ajay Seth and Matt DeMers) when distributing or publishing any results based on this model. Please also acknowledge the authors when distributing or publishing any models that derive from this work. The model and controller used in this example are for educational and demonstration purposes and require further testing before being used as a research tool. This is work currently being conducted by the authors.</credits>
		<publications>Notes: 3D, 23 DOF gait model created by D.G. Thelen, Univ. of Wisconsin-Madison, and Ajay Seth, Frank C. Anderson, and Scott L. Delp, Stanford University. Lower extremity joint defintions based on Delp et al. (1990). Low back joint and anthropometry based on Anderson and Pandy (1999, 2001). Planar knee model of Yamaguchi and Zajac (1989). Seth removed the patella to avoid kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame. Number of muscles was reduced by Anderson to improve simulation speed for demonstrations and is not intended to be used in research. Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures, IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990. Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomech. 22(1):1-10. 1989. Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999. Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123:381-390, 2001.</publications>
		<length_units>meters</length_units>
		<force_units>N</force_units>
		<!--Acceleration due to gravity.-->
		<gravity> 0 -9.80665 0</gravity>
		<!--Bodies in the model.-->
		<BodySet>
			<objects>
				<Body name="ground">
					<mass>0</mass>
					<mass_center> 0 0 0</mass_center>
					<inertia_xx>0</inertia_xx>
					<inertia_yy>0</inertia_yy>
					<inertia_zz>0</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint />
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects />
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="platform">
					<mass>0.1</mass>
					<mass_center> 0 0 0</mass_center>
					<inertia_xx>0.001</inertia_xx>
					<inertia_yy>0.001</inertia_yy>
					<inertia_zz>0.001</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="ground_platform">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>ground</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0 0 0</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="platform_rx">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.349065850398866</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-3.1416 3.1416</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>true</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="platform_ry">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-3.1416 3.1416</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>true</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="platform_rz">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-3.1416 3.1416</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>true</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="platform_ty">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>translational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.25</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-5 1</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>true</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>platform_rx</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>platform_ry</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>platform_rz</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>platform_ty</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 -1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects />
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="pelvis">
					<mass>11.777</mass>
					<mass_center> -0.0707 0 0</mass_center>
					<inertia_xx>0.1028</inertia_xx>
					<inertia_yy>0.0871</inertia_yy>
					<inertia_zz>0.0579</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="ground_pelvis">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>ground</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0 0 0</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="pelvis_tilt">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>-0.20943951</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="pelvis_list">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="pelvis_rotation">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="pelvis_tx">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>translational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.0500027</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1 1</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="pelvis_ty">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>translational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>1.67</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1 2</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="pelvis_tz">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>translational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1 1</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>pelvis_tilt</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>pelvis_list</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>pelvis_rotation</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>pelvis_tx</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>pelvis_ty</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>pelvis_tz</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>sacrum.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>pelvis.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>l_pelvis.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="femur_r">
					<mass>9.3014</mass>
					<mass_center> 0 -0.17 0</mass_center>
					<inertia_xx>0.1339</inertia_xx>
					<inertia_yy>0.0351</inertia_yy>
					<inertia_zz>0.1412</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="hip_r">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>pelvis</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>-0.0707 -0.0661 0.0835</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="hip_flexion_r">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.34906585</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 2.0943951</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="hip_adduction_r">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>-0.01745329</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 2.0943951</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="hip_rotation_r">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.08726646</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 2.0943951</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>hip_flexion_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>hip_adduction_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>hip_rotation_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>femur_r.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="tibia_r">
					<mass>3.7075</mass>
					<mass_center> 0 -0.1867 0</mass_center>
					<inertia_xx>0.0504</inertia_xx>
					<inertia_yy>0.0051</inertia_yy>
					<inertia_zz>0.0511</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="knee_r">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>femur_r</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0 0 0</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="knee_angle_r">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>-0.34906585</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 0.17453293</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>knee_angle_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>knee_angle_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<SimmSpline>
											<x> -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944</x>
											<y> -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525</y>
										</SimmSpline>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>knee_angle_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<SimmSpline>
											<x> -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944</x>
											<y> -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396</y>
										</SimmSpline>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>tibia_r.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>fibula.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="talus_r">
					<mass>0.1</mass>
					<mass_center> 0 0 0</mass_center>
					<inertia_xx>0.001</inertia_xx>
					<inertia_yy>0.001</inertia_yy>
					<inertia_zz>0.001</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="ankle_r">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>tibia_r</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0 -0.43 0</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="ankle_angle_r">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.20071286</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>ankle_angle_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>-0.10501355 -0.17402245 0.97912632</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.97912632 0 0.10501355</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>talus.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="calcn_r">
					<mass>1.25</mass>
					<mass_center> 0.1 0.03 0</mass_center>
					<inertia_xx>0.0014</inertia_xx>
					<inertia_yy>0.0039</inertia_yy>
					<inertia_zz>0.0041</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="subtalar_r">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>talus_r</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>-0.04877 -0.04195 0.00792</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="subtalar_angle_r">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>-0.00052361</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>subtalar_angle_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.78717961 0.60474746 -0.12094949</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>-0.12094949 0 -0.78717961</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>foot.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="toes_r">
					<mass>0.2166</mass>
					<mass_center> 0.0346 0.006 -0.0175</mass_center>
					<inertia_xx>0.0001</inertia_xx>
					<inertia_yy>0.0002</inertia_yy>
					<inertia_zz>0.0003</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="mtp_r">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>calcn_r</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0.1788 -0.002 0.00108</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="mtp_angle_r">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>mtp_angle_r</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>-0.5809544 0 0.81393611</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.81393611 -0 0.5809544</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>bofoot.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="femur_l">
					<mass>9.3014</mass>
					<mass_center> 0 -0.17 0</mass_center>
					<inertia_xx>0.1339</inertia_xx>
					<inertia_yy>0.0351</inertia_yy>
					<inertia_zz>0.1412</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="hip_l">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>pelvis</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>-0.0707 -0.0661 -0.0835</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="hip_flexion_l">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>-0.34906585</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 2.0943951</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="hip_adduction_l">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.17453293</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 2.0943951</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="hip_rotation_l">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.08726646</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 2.0943951</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>hip_flexion_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>hip_adduction_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>-1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>hip_rotation_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 -1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>femur_l.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="tibia_l">
					<mass>3.7075</mass>
					<mass_center> 0 -0.1867 0</mass_center>
					<inertia_xx>0.0504</inertia_xx>
					<inertia_yy>0.0051</inertia_yy>
					<inertia_zz>0.0511</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="knee_l">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>femur_l</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0 0 0</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="knee_angle_l">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>-2.0943951</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-2.0943951 0.17453293</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>knee_angle_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>knee_angle_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<SimmSpline>
											<x> -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944</x>
											<y> -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525</y>
										</SimmSpline>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>knee_angle_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<SimmSpline>
											<x> -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944</x>
											<y> -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396</y>
										</SimmSpline>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>tibia_l.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>l_fibula.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="talus_l">
					<mass>0.1</mass>
					<mass_center> 0 0 0</mass_center>
					<inertia_xx>0.001</inertia_xx>
					<inertia_yy>0.001</inertia_yy>
					<inertia_zz>0.001</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="ankle_l">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>tibia_l</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0 -0.43 0</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="ankle_angle_l">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0.20071286</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.04719755 1.04719755</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>ankle_angle_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.10501355 0.17402245 0.97912632</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>-0.97912632 0 0.10501355</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>l_talus.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="calcn_l">
					<mass>1.25</mass>
					<mass_center> 0.1 0.03 0</mass_center>
					<inertia_xx>0.0014</inertia_xx>
					<inertia_yy>0.0039</inertia_yy>
					<inertia_zz>0.0041</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="subtalar_l">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>talus_l</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>-0.04877 -0.04195 -0.00792</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="subtalar_angle_l">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>-0.00052361</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>subtalar_angle_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>-0.78717961 -0.60474746 -0.12094949</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.12094949 0 -0.78717961</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>l_foot.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="toes_l">
					<mass>0.2166</mass>
					<mass_center> 0.0346 0.006 0.0175</mass_center>
					<inertia_xx>0.0001</inertia_xx>
					<inertia_yy>0.0002</inertia_yy>
					<inertia_zz>0.0003</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="mtp_l">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>calcn_l</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>0.1788 -0.002 -0.00108</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="mtp_angle_l">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.04719755 1.04719755</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>true</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>mtp_angle_l</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.5809544 0 0.81393611</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.81393611 0 -0.5809544</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>l_bofoot.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
				<Body name="torso">
					<mass>34.2366</mass>
					<mass_center> -0.03 0.32 0</mass_center>
					<inertia_xx>1.4745</inertia_xx>
					<inertia_yy>0.7555</inertia_yy>
					<inertia_zz>1.4314</inertia_zz>
					<inertia_xy>0</inertia_xy>
					<inertia_xz>0</inertia_xz>
					<inertia_yz>0</inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="back">
							<!--Name of the parent body to which this joint connects its owner body.-->
							<parent_body>pelvis</parent_body>
							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
							<location_in_parent>-0.1007 0.0815 0</location_in_parent>
							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
							<orientation_in_parent>0 0 0</orientation_in_parent>
							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
							<location>0 0 0</location>
							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
							<orientation>0 0 0</orientation>
							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="lumbar_extension">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="lumbar_bending">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
									<Coordinate name="lumbar_rotation">
										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
										<motion_type>rotational</motion_type>
										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
										<default_value>0</default_value>
										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
										<default_speed_value>0</default_speed_value>
										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
										<range>-1.57079633 1.57079633</range>
										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
										<clamped>false</clamped>
										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
										<locked>false</locked>
										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
										<prescribed_function />
										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
										<prescribed>false</prescribed>
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<!--Whether the joint transform defines parent->child or child->parent.-->
							<reverse>false</reverse>
							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
							<SpatialTransform>
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>lumbar_extension</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>lumbar_bending</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>lumbar_rotation</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<LinearFunction>
											<coefficients> 1 0</coefficients>
										</LinearFunction>
									</function>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>1 0 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 1 0</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
								<TransformAxis name="translation3">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates></coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0 0 1</axis>
									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
									<function>
										<Constant>
											<value>0</value>
										</Constant>
									</function>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject>
						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
						<GeometrySet>
							<objects>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>hat_spine.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>hat_jaw.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>hat_skull.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>hat_ribs.vtp</geometry_file>
									<!--Color used to display the geometry when visible-->
									<color> 1 1 1</color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file />
									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
									<transform> -0 0 -0 0 0 0</transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors> 1 1 1</scale_factors>
									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
									<display_preference>4</display_preference>
									<!--Display opacity between 0.0 and 1.0-->
									<opacity>1</opacity>
								</DisplayGeometry>
							</objects>
							<groups />
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors> 1 1 1</scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
						<transform> -0 0 -0 0 0 0</transform>
						<!--Whether to show a coordinate frame-->
						<show_axes>false</show_axes>
						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
						<display_preference>4</display_preference>
					</VisibleObject>
					<WrapObjectSet>
						<objects />
						<groups />
					</WrapObjectSet>
				</Body>
			</objects>
			<groups />
		</BodySet>
		<!--Constraints in the model.-->
		<ConstraintSet>
			<objects />
			<groups />
		</ConstraintSet>
		<!--Forces in the model.-->
		<ForceSet>
			<objects>
				<Thelen2003Muscle name="glut_med1_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_med1_r-P1">
									<location> -0.0408 0.0304 0.1209</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_med1_r-P2">
									<location> -0.0218 -0.0117 0.0555</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1119</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0535</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.078</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med2_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_med2_r-P1">
									<location> -0.0855 0.0445 0.0766</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_med2_r-P2">
									<location> -0.0258 -0.0058 0.0527</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>873</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0845</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.053</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med3_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_med3_r-P1">
									<location> -0.1223 0.0105 0.0648</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_med3_r-P2">
									<location> -0.0309 -0.0047 0.0518</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0646</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.053</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemlh_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="bifemlh_r-P1">
									<location> -0.12596 -0.10257 0.06944</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="bifemlh_r-P2">
									<location> -0.0301 -0.036 0.02943</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="bifemlh_r-P3">
									<location> -0.0234 -0.0563 0.0343</location>
									<body>tibia_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2700</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.109</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.326</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemsh_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="bifemsh_r-P1">
									<location> 0.005 -0.2111 0.0234</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="bifemsh_r-P2">
									<location> -0.0301 -0.036 0.02943</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="bifemsh_r-P3">
									<location> -0.0234 -0.0563 0.0343</location>
									<body>tibia_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>804</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.173</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.089</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="sar_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="sar_r-P1">
									<location> -0.0153 -0.0013 0.1242</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="sar_r-P2">
									<location> -0.003 -0.3568 -0.0421</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="sar_r-P3">
									<location> -0.0056 -0.0419 -0.0399</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="sar_r-P4">
									<location> 0.006 -0.0589 -0.0383</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="sar_r-P5">
									<location> 0.0243 -0.084 -0.0252</location>
									<body>tibia_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>156</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.52</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="add_mag2_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="add_mag2_r-P1">
									<location> -0.0831 -0.1192 0.0308</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="add_mag2_r-P2">
									<location> 0.0054 -0.2285 0.0227</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2343</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.121</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.12</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tfl_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="tfl_r-P1">
									<location> -0.0311 0.0214 0.1241</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="tfl_r-P2">
									<location> 0.0294 -0.0995 0.0597</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="tfl_r-P3">
									<location> 0.0054 -0.4049 0.0357</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="tfl_r-P4">
									<location> 0.006 -0.0487 0.0297</location>
									<body>tibia_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>233</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.095</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.425</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="pect_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="pect_r-P1">
									<location> -0.0431 -0.0768 0.0451</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="pect_r-P2">
									<location> -0.0122 -0.0822 0.0253</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>266</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.033</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="grac_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="grac_r-P1">
									<location> -0.07401 -0.1187 0.02794</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="grac_r-P2">
									<location> -0.02657 -0.0319 -0.03774</location>
									<body>tibia_r</body>
									<range> -0.436332 0.174533</range>
									<coordinate>knee_angle_r</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="grac_r-P3">
									<location> -0.01943 -0.05153 -0.0358</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="grac_r-P4">
									<location> 0.006 -0.0836 -0.0228</location>
									<body>tibia_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>162</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.352</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.126</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max1_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_max1_r-P1">
									<location> -0.1195 0.0612 0.07</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max1_r-P2">
									<location> -0.1291 0.0012 0.0886</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max1_r-P3">
									<location> -0.0457 -0.0248 0.0392</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="glut_max1_r-P4">
									<location> -0.0277 -0.0566 0.047</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>573</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.142</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.125</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max2_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_max2_r-P1">
									<location> -0.1349 0.0176 0.0563</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max2_r-P2">
									<location> -0.1376 -0.052 0.0914</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max2_r-P3">
									<location> -0.0426 -0.053 0.0293</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="glut_max2_r-P4">
									<location> -0.0156 -0.1016 0.0419</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>819</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.147</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.127</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max3_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_max3_r-P1">
									<location> -0.1556 -0.0314 0.0058</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max3_r-P2">
									<location> -0.1529 -0.1052 0.0403</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max3_r-P3">
									<location> -0.0299 -0.1041 0.0135</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="glut_max3_r-P4">
									<location> -0.006 -0.1419 0.0411</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>552</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.144</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.145</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="iliacus_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="iliacus_r-P1">
									<location> -0.0674 0.0365 0.0854</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="iliacus_r-P2">
									<location> -0.0258 -0.055 0.0811</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="iliacus_r-P3">
									<location> -0.0288 -0.0805 0.0816</location>
									<body>pelvis</body>
									<range> -1.5708 0.785398</range>
									<coordinate>hip_flexion_r</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="iliacus_r-P4">
									<location> 0.0017 -0.0543 0.0057</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="iliacus_r-P5">
									<location> -0.0193 -0.0621 0.0129</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1073</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="psoas_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="psoas_r-P1">
									<location> -0.0647 0.0887 0.0289</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="psoas_r-P2">
									<location> -0.0238 -0.057 0.0759</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="psoas_r-P3">
									<location> -0.0288 -0.0805 0.0816</location>
									<body>pelvis</body>
									<range> -1.5708 0.785398</range>
									<coordinate>hip_flexion_r</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="psoas_r-P4">
									<location> 0.0016 -0.0507 0.0038</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="psoas_r-P5">
									<location> -0.0188 -0.0597 0.0104</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1113</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.16</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="quad_fem_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="quad_fem_r-P1">
									<location> -0.1143 -0.1151 0.052</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="quad_fem_r-P2">
									<location> -0.0381 -0.0359 0.0366</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>381</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.054</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.024</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="gem_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="gem_r-P1">
									<location> -0.1133 -0.082 0.0714</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="gem_r-P2">
									<location> -0.0142 -0.0033 0.0443</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>164</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.024</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.039</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="peri_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="peri_r-P1">
									<location> -0.1396 0.0003 0.0235</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="peri_r-P2">
									<location> -0.1193 -0.0276 0.0657</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="peri_r-P3">
									<location> -0.0148 -0.0036 0.0437</location>
									<body>femur_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>444</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.026</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.115</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="rect_fem_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="rect_fem_r-P1">
									<location> -0.0295 -0.0311 0.0968</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="rect_fem_r-P2">
									<location> 0.0334 -0.403 0.0019</location>
									<body>femur_r</body>
									<range> -2.61799 -1.45997</range>
									<coordinate>knee_angle_r</coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="rect_fem_r-P3">
									<location> 0.048391 0.0234197 0.0014</location>
									<body>tibia_r</body>
									<x_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y>
										</SimmSpline>
									</x_location>
									<x_coordinate>knee_angle_r</x_coordinate>
									<y_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y>
										</SimmSpline>
									</y_location>
									<y_coordinate>knee_angle_r</y_coordinate>
									<z_location>
										<SimmSpline>
											<x> -2.0944 0.1745</x>
											<y> 0.0014 0.0014</y>
										</SimmSpline>
									</z_location>
									<z_coordinate>knee_angle_r</z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1169</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.114</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.31</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="vas_int_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="vas_int_r-P1">
									<location> 0.029 -0.1924 0.031</location>
									<body>femur_r</body>
								</PathPoint>
								<PathPoint name="vas_int_r-P2">
									<location> 0.0335 -0.2084 0.0285</location>
									<body>femur_r</body>
								</PathPoint>
								<ConditionalPathPoint name="vas_int_r-P3">
									<location> 0.0343 -0.403 0.0055</location>
									<body>femur_r</body>
									<range> -2.61799 -1.42</range>
									<coordinate>knee_angle_r</coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="vas_int_r-P4">
									<location> 0.0412569 0.0261187 0.0018</location>
									<body>tibia_r</body>
									<x_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y>
										</SimmSpline>
									</x_location>
									<x_coordinate>knee_angle_r</x_coordinate>
									<y_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y>
										</SimmSpline>
									</y_location>
									<y_coordinate>knee_angle_r</y_coordinate>
									<z_location>
										<SimmSpline>
											<x> -2.0944 2.0944</x>
											<y> 0.0018 0.0018</y>
										</SimmSpline>
									</z_location>
									<z_coordinate>knee_angle_r</z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>5000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.107</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.116</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="med_gas_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="med_gas_r-P1">
									<location> -0.019 -0.3929 -0.0235</location>
									<body>femur_r</body>
								</PathPoint>
								<ConditionalPathPoint name="med_gas_r-P2">
									<location> -0.03 -0.4022 -0.0258</location>
									<body>femur_r</body>
									<range> -0.785398 0.174533</range>
									<coordinate>knee_angle_r</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="med_gas_r-P3">
									<location> 0 0.031 -0.0053</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2500</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.09</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.36</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="lat_gas_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="lat_gas_r-P1">
									<location> -0.022 -0.3946 0.0272</location>
									<body>femur_r</body>
								</PathPoint>
								<ConditionalPathPoint name="lat_gas_r-P2">
									<location> -0.03 -0.4018 0.0274</location>
									<body>femur_r</body>
									<range> -0.785398 0.174533</range>
									<coordinate>knee_angle_r</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="lat_gas_r-P3">
									<location> 0 0.031 -0.0053</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>683</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.064</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.38</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="soleus_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="soleus_r-P1">
									<location> -0.0024 -0.1533 0.0071</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="soleus_r-P2">
									<location> 0 0.031 -0.0053</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>4000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.08</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.22</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_post_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="tib_post_r-P1">
									<location> -0.0094 -0.1348 0.0019</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="tib_post_r-P2">
									<location> -0.0144 -0.4051 -0.0229</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="tib_post_r-P3">
									<location> 0.0417 0.0334 -0.0286</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="tib_post_r-P4">
									<location> 0.0772 0.0159 -0.0281</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>3600</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.031</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.31</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="flex_dig_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="flex_dig_r-P1">
									<location> -0.0083 -0.2046 -0.0018</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="flex_dig_r-P2">
									<location> -0.0154 -0.4051 -0.0196</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="flex_dig_r-P3">
									<location> 0.0436 0.0315 -0.028</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="flex_dig_r-P4">
									<location> 0.0708 0.0176 -0.0263</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="flex_dig_r-P5">
									<location> 0.1658 -0.0081 0.0116</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="flex_dig_r-P6">
									<location> -0.0019 -0.0078 0.0147</location>
									<body>toes_r</body>
								</PathPoint>
								<PathPoint name="flex_dig_r-P7">
									<location> 0.0285 -0.0071 0.0215</location>
									<body>toes_r</body>
								</PathPoint>
								<PathPoint name="flex_dig_r-P8">
									<location> 0.0441 -0.006 0.0242</location>
									<body>toes_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>310</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.034</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.4</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="flex_hal_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="flex_hal_r-P1">
									<location> -0.0079 -0.2334 0.0244</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="flex_hal_r-P2">
									<location> -0.0186 -0.4079 -0.0174</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="flex_hal_r-P3">
									<location> 0.0374 0.0276 -0.0241</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="flex_hal_r-P4">
									<location> 0.1038 0.0068 -0.0256</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="flex_hal_r-P5">
									<location> 0.1726 -0.0053 -0.0269</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="flex_hal_r-P6">
									<location> 0.0155 -0.0064 -0.0265</location>
									<body>toes_r</body>
								</PathPoint>
								<PathPoint name="flex_hal_r-P7">
									<location> 0.0562 -0.0102 -0.0181</location>
									<body>toes_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>322</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.043</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.38</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_ant_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="tib_ant_r-P1">
									<location> 0.0179 -0.1624 0.0115</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="tib_ant_r-P2">
									<location> 0.0329 -0.3951 -0.0177</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="tib_ant_r-P3">
									<location> 0.1166 0.0178 -0.0305</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>3000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.098</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.223</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="per_brev_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="per_brev_r-P1">
									<location> -0.007 -0.2646 0.0325</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_brev_r-P2">
									<location> -0.0198 -0.4184 0.0283</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_brev_r-P3">
									<location> -0.0144 -0.4295 0.0289</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_brev_r-P4">
									<location> 0.0471 0.027 0.0233</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="per_brev_r-P5">
									<location> 0.0677 0.0219 0.0343</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>435</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.05</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.161</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="per_long_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="per_long_r-P1">
									<location> 0.0005 -0.1568 0.0362</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_long_r-P2">
									<location> -0.0207 -0.4205 0.0286</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_long_r-P3">
									<location> -0.0162 -0.4319 0.0289</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_long_r-P4">
									<location> 0.0438 0.023 0.0221</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="per_long_r-P5">
									<location> 0.0681 0.0106 0.0284</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="per_long_r-P6">
									<location> 0.0852 0.0069 0.0118</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="per_long_r-P7">
									<location> 0.1203 0.0085 -0.0184</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>943</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.049</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.345</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="per_tert_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="per_tert_r-P1">
									<location> 0.001 -0.2804 0.0231</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_tert_r-P2">
									<location> 0.0229 -0.4069 0.0159</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="per_tert_r-P3">
									<location> 0.0857 0.0228 0.0299</location>
									<body>calcn_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>180</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.079</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.2268928</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ext_dig_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="ext_dig_r-P1">
									<location> 0.0032 -0.1381 0.0276</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="ext_dig_r-P2">
									<location> 0.0289 -0.4007 0.0072</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="ext_dig_r-P3">
									<location> 0.0922 0.0388 -0.0001</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="ext_dig_r-P4">
									<location> 0.1616 0.0055 0.013</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="ext_dig_r-P5">
									<location> 0.0003 0.0047 0.0153</location>
									<body>toes_r</body>
								</PathPoint>
								<PathPoint name="ext_dig_r-P6">
									<location> 0.0443 -0.0004 0.025</location>
									<body>toes_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>512</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.102</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.345</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ext_hal_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="ext_hal_r-P1">
									<location> 0.0012 -0.1767 0.0228</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="ext_hal_r-P2">
									<location> 0.0326 -0.3985 -0.0085</location>
									<body>tibia_r</body>
								</PathPoint>
								<PathPoint name="ext_hal_r-P3">
									<location> 0.097 0.0389 -0.0211</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="ext_hal_r-P4">
									<location> 0.1293 0.0309 -0.0257</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="ext_hal_r-P5">
									<location> 0.1734 0.0139 -0.028</location>
									<body>calcn_r</body>
								</PathPoint>
								<PathPoint name="ext_hal_r-P6">
									<location> 0.0298 0.0041 -0.0245</location>
									<body>toes_r</body>
								</PathPoint>
								<PathPoint name="ext_hal_r-P7">
									<location> 0.0563 0.0034 -0.0186</location>
									<body>toes_r</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>162</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.111</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.305</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med1_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_med1_l-P1">
									<location> -0.0408 0.0304 -0.1209</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_med1_l-P2">
									<location> -0.0218 -0.0117 -0.0555</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1119</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0535</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.078</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med2_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_med2_l-P1">
									<location> -0.0855 0.0445 -0.0766</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_med2_l-P2">
									<location> -0.0258 -0.0058 -0.0527</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>873</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0845</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.053</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med3_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_med3_l-P1">
									<location> -0.1223 0.0105 -0.0648</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_med3_l-P2">
									<location> -0.0309 -0.0047 -0.0518</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0646</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.053</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemlh_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="bifemlh_l-P1">
									<location> -0.12596 -0.10257 -0.06944</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="bifemlh_l-P2">
									<location> -0.0301 -0.036 -0.02943</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="bifemlh_l-P3">
									<location> -0.0234 -0.0563 -0.0343</location>
									<body>tibia_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2700</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.109</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.326</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemsh_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="bifemsh_l-P1">
									<location> 0.005 -0.2111 -0.0234</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="bifemsh_l-P2">
									<location> -0.0301 -0.036 -0.02943</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="bifemsh_l-P3">
									<location> -0.0234 -0.0563 -0.0343</location>
									<body>tibia_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>804</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.173</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.089</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="sar_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="sar_l-P1">
									<location> -0.0153 -0.0013 -0.1242</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="sar_l-P2">
									<location> -0.003 -0.3568 0.0421</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="sar_l-P3">
									<location> -0.0056 -0.0419 0.0399</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="sar_l-P4">
									<location> 0.006 -0.0589 0.0383</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="sar_l-P5">
									<location> 0.0243 -0.084 0.0252</location>
									<body>tibia_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>156</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.52</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="add_mag2_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="add_mag2_l-P1">
									<location> -0.0831 -0.1192 -0.0308</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="add_mag2_l-P2">
									<location> 0.0054 -0.2285 -0.0227</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2343</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.121</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.12</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tfl_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="tfl_l-P1">
									<location> -0.0311 0.0214 -0.1241</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="tfl_l-P2">
									<location> 0.0294 -0.0995 -0.0597</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="tfl_l-P3">
									<location> 0.0054 -0.4049 -0.0357</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="tfl_l-P4">
									<location> 0.006 -0.0487 -0.0297</location>
									<body>tibia_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>233</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.095</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.425</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="pect_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="pect_l-P1">
									<location> -0.0431 -0.0768 -0.0451</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="pect_l-P2">
									<location> -0.0122 -0.0822 -0.0253</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>266</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.033</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="grac_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="grac_l-P1">
									<location> -0.07401 -0.1187 -0.02794</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="grac_l-P2">
									<location> -0.02657 -0.0319 0.03774</location>
									<body>tibia_l</body>
									<range> -0.436332 0.174533</range>
									<coordinate>knee_angle_l</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="grac_l-P3">
									<location> -0.01943 -0.05153 0.0358</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="grac_l-P4">
									<location> 0.006 -0.0836 0.0228</location>
									<body>tibia_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>162</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.352</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.126</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max1_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_max1_l-P1">
									<location> -0.1195 0.0612 -0.07</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max1_l-P2">
									<location> -0.1291 0.0012 -0.0886</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max1_l-P3">
									<location> -0.0457 -0.0248 -0.0392</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="glut_max1_l-P4">
									<location> -0.0277 -0.0566 -0.047</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>573</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.142</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.125</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max2_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_max2_l-P1">
									<location> -0.1349 0.0176 -0.0563</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max2_l-P2">
									<location> -0.1376 -0.052 -0.0914</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max2_l-P3">
									<location> -0.0426 -0.053 -0.0293</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="glut_max2_l-P4">
									<location> -0.0156 -0.1016 -0.0419</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>819</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.147</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.127</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max3_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="glut_max3_l-P1">
									<location> -0.1556 -0.0314 -0.0058</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max3_l-P2">
									<location> -0.1529 -0.1052 -0.0403</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="glut_max3_l-P3">
									<location> -0.0299 -0.1041 -0.0135</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="glut_max3_l-P4">
									<location> -0.006 -0.1419 -0.0411</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>552</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.144</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.145</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="iliacus_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="iliacus_l-P1">
									<location> -0.0674 0.0365 -0.0854</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="iliacus_l-P2">
									<location> -0.0258 -0.055 -0.0811</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="iliacus_l-P3">
									<location> -0.0288 -0.0805 -0.0816</location>
									<body>pelvis</body>
									<range> -1.5708 0.785398</range>
									<coordinate>hip_flexion_l</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="iliacus_l-P4">
									<location> 0.0017 -0.0543 -0.0057</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="iliacus_l-P5">
									<location> -0.0193 -0.0621 -0.0129</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1073</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="psoas_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="psoas_l-P1">
									<location> -0.0647 0.0887 -0.0289</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="psoas_l-P2">
									<location> -0.0238 -0.057 -0.0759</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="psoas_l-P3">
									<location> -0.0288 -0.0805 -0.0816</location>
									<body>pelvis</body>
									<range> -1.5708 0.785398</range>
									<coordinate>hip_flexion_l</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="psoas_l-P4">
									<location> 0.0016 -0.0507 -0.0038</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="psoas_l-P5">
									<location> -0.0188 -0.0597 -0.0104</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1113</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.16</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="quad_fem_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="quad_fem_l-P1">
									<location> -0.1143 -0.1151 -0.052</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="quad_fem_l-P2">
									<location> -0.0381 -0.0359 -0.0366</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>381</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.054</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.024</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="gem_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="gem_l-P1">
									<location> -0.1133 -0.082 -0.0714</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="gem_l-P2">
									<location> -0.0142 -0.0033 -0.0443</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>164</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.024</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.039</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="peri_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="peri_l-P1">
									<location> -0.1396 0.0003 -0.0235</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="peri_l-P2">
									<location> -0.1193 -0.0276 -0.0657</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="peri_l-P3">
									<location> -0.0148 -0.0036 -0.0437</location>
									<body>femur_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>444</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.026</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.115</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="rect_fem_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="rect_fem_l-P1">
									<location> -0.0295 -0.0311 -0.0968</location>
									<body>pelvis</body>
								</PathPoint>
								<ConditionalPathPoint name="rect_fem_l-P2">
									<location> 0.0334 -0.403 -0.0019</location>
									<body>femur_l</body>
									<range> -2.61799 -1.45997</range>
									<coordinate>knee_angle_l</coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="rect_fem_l-P3">
									<location> 0.0155806 0.0234116 -0.0014</location>
									<body>tibia_l</body>
									<x_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y>
										</SimmSpline>
									</x_location>
									<x_coordinate>knee_angle_l</x_coordinate>
									<y_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y>
										</SimmSpline>
									</y_location>
									<y_coordinate>knee_angle_l</y_coordinate>
									<z_location>
										<SimmSpline>
											<x> -2.0944 0.1745</x>
											<y> -0.0014 -0.0014</y>
										</SimmSpline>
									</z_location>
									<z_coordinate>knee_angle_l</z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>1169</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.114</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.31</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="vas_int_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="vas_int_l-P1">
									<location> 0.029 -0.1924 -0.031</location>
									<body>femur_l</body>
								</PathPoint>
								<PathPoint name="vas_int_l-P2">
									<location> 0.0335 -0.2084 -0.0285</location>
									<body>femur_l</body>
								</PathPoint>
								<ConditionalPathPoint name="vas_int_l-P3">
									<location> 0.0343 -0.403 -0.0055</location>
									<body>femur_l</body>
									<range> -2.61799 -1.42</range>
									<coordinate>knee_angle_l</coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="vas_int_l-P4">
									<location> 0.00827343 0.025599 -0.0018</location>
									<body>tibia_l</body>
									<x_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y>
										</SimmSpline>
									</x_location>
									<x_coordinate>knee_angle_l</x_coordinate>
									<y_location>
										<SimmSpline>
											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
											<y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y>
										</SimmSpline>
									</y_location>
									<y_coordinate>knee_angle_l</y_coordinate>
									<z_location>
										<SimmSpline>
											<x> -2.0944 2.0944</x>
											<y> -0.0018 -0.0018</y>
										</SimmSpline>
									</z_location>
									<z_coordinate>knee_angle_l</z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>5000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.107</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.116</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="med_gas_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="med_gas_l-P1">
									<location> -0.019 -0.3929 0.0235</location>
									<body>femur_l</body>
								</PathPoint>
								<ConditionalPathPoint name="med_gas_l-P2">
									<location> -0.03 -0.4022 0.0258</location>
									<body>femur_l</body>
									<range> -0.785398 0.174533</range>
									<coordinate>knee_angle_l</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="med_gas_l-P3">
									<location> 0 0.031 0.0053</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2500</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.09</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.36</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="lat_gas_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="lat_gas_l-P1">
									<location> -0.022 -0.3946 -0.0272</location>
									<body>femur_l</body>
								</PathPoint>
								<ConditionalPathPoint name="lat_gas_l-P2">
									<location> -0.03 -0.4018 -0.0274</location>
									<body>femur_l</body>
									<range> -0.785398 0.174533</range>
									<coordinate>knee_angle_l</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="lat_gas_l-P3">
									<location> 0 0.031 0.0053</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>683</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.064</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.38</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="soleus_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="soleus_l-P1">
									<location> -0.0024 -0.1533 -0.0071</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="soleus_l-P2">
									<location> 0 0.031 0.0053</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>4000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.08</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.22</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_post_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="tib_post_l-P1">
									<location> -0.0094 -0.1348 -0.0019</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="tib_post_l-P2">
									<location> -0.0144 -0.4051 0.0229</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="tib_post_l-P3">
									<location> 0.0417 0.0334 0.0286</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="tib_post_l-P4">
									<location> 0.0772 0.0159 0.0281</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>3600</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.031</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.31</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="flex_dig_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="flex_dig_l-P1">
									<location> -0.0083 -0.2046 0.0018</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="flex_dig_l-P2">
									<location> -0.0154 -0.4051 0.0196</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="flex_dig_l-P3">
									<location> 0.0436 0.0315 0.028</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="flex_dig_l-P4">
									<location> 0.0708 0.0176 0.0263</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="flex_dig_l-P5">
									<location> 0.1658 -0.0081 -0.0116</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="flex_dig_l-P6">
									<location> -0.0019 -0.0078 -0.0147</location>
									<body>toes_l</body>
								</PathPoint>
								<PathPoint name="flex_dig_l-P7">
									<location> 0.0285 -0.0071 -0.0215</location>
									<body>toes_l</body>
								</PathPoint>
								<PathPoint name="flex_dig_l-P8">
									<location> 0.0441 -0.006 -0.0242</location>
									<body>toes_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>310</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.034</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.4</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="flex_hal_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="flex_hal_l-P1">
									<location> -0.0079 -0.2334 -0.0244</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="flex_hal_l-P2">
									<location> -0.0186 -0.4079 0.0174</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="flex_hal_l-P3">
									<location> 0.0374 0.0276 0.0241</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="flex_hal_l-P4">
									<location> 0.1038 0.0068 0.0256</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="flex_hal_l-P5">
									<location> 0.1726 -0.0053 0.0269</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="flex_hal_l-P6">
									<location> 0.0155 -0.0064 0.0265</location>
									<body>toes_l</body>
								</PathPoint>
								<PathPoint name="flex_hal_l-P7">
									<location> 0.0562 -0.0102 0.0181</location>
									<body>toes_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>322</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.043</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.38</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_ant_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="tib_ant_l-P1">
									<location> 0.0179 -0.1624 -0.0115</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="tib_ant_l-P2">
									<location> 0.0329 -0.3951 0.0177</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="tib_ant_l-P3">
									<location> 0.1166 0.0178 0.0305</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>3000</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.098</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.223</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="per_brev_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="per_brev_l-P1">
									<location> -0.007 -0.2646 -0.0325</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_brev_l-P2">
									<location> -0.0198 -0.4184 -0.0283</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_brev_l-P3">
									<location> -0.0144 -0.4295 -0.0289</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_brev_l-P4">
									<location> 0.0471 0.027 -0.0233</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="per_brev_l-P5">
									<location> 0.0677 0.0219 -0.0343</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>435</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.05</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.161</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="per_long_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="per_long_l-P1">
									<location> 0.0005 -0.1568 -0.0362</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_long_l-P2">
									<location> -0.0207 -0.4205 -0.0286</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_long_l-P3">
									<location> -0.0162 -0.4319 -0.0289</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_long_l-P4">
									<location> 0.0438 0.023 -0.0221</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="per_long_l-P5">
									<location> 0.0681 0.0106 -0.0284</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="per_long_l-P6">
									<location> 0.0852 0.0069 -0.0118</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="per_long_l-P7">
									<location> 0.1203 0.0085 0.0184</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>943</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.049</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.345</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="per_tert_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="per_tert_l-P1">
									<location> 0.001 -0.2804 -0.0231</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_tert_l-P2">
									<location> 0.0229 -0.4069 -0.0159</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="per_tert_l-P3">
									<location> 0.0857 0.0228 -0.0299</location>
									<body>calcn_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>180</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.079</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.2268928</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ext_dig_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="ext_dig_l-P1">
									<location> 0.0032 -0.1381 -0.0276</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="ext_dig_l-P2">
									<location> 0.0289 -0.4007 -0.0072</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="ext_dig_l-P3">
									<location> 0.0922 0.0388 0.0001</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="ext_dig_l-P4">
									<location> 0.1616 0.0055 -0.013</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="ext_dig_l-P5">
									<location> 0.0003 0.0047 -0.0153</location>
									<body>toes_l</body>
								</PathPoint>
								<PathPoint name="ext_dig_l-P6">
									<location> 0.0443 -0.0004 -0.025</location>
									<body>toes_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>512</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.102</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.345</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ext_hal_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="ext_hal_l-P1">
									<location> 0.0012 -0.1767 -0.0228</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="ext_hal_l-P2">
									<location> 0.0326 -0.3985 0.0085</location>
									<body>tibia_l</body>
								</PathPoint>
								<PathPoint name="ext_hal_l-P3">
									<location> 0.097 0.0389 0.0211</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="ext_hal_l-P4">
									<location> 0.1293 0.0309 0.0257</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="ext_hal_l-P5">
									<location> 0.1734 0.0139 0.028</location>
									<body>calcn_l</body>
								</PathPoint>
								<PathPoint name="ext_hal_l-P6">
									<location> 0.0298 0.0041 0.0245</location>
									<body>toes_l</body>
								</PathPoint>
								<PathPoint name="ext_hal_l-P7">
									<location> 0.0563 0.0034 0.0186</location>
									<body>toes_l</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>162</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.111</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.305</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
					<ignore_tendon_compliance>false</ignore_tendon_compliance>
					<!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
					<ignore_activation_dynamics>false</ignore_activation_dynamics>
					<!--Assumed activation level if none is assigned.-->
					<default_activation>0.05</default_activation>
					<!--Assumed fiber length, unless otherwise assigned.-->
					<default_fiber_length>0.1</default_fiber_length>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ercspn_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="ercspn_r-P1">
									<location> -0.14 0.0439 0.0436</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="ercspn_r-P2">
									<location> -0.055 0.11 0.0241</location>
									<body>torso</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2500</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.12</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.03</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ercspn_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="ercspn_l-P1">
									<location> -0.14 0.0439 -0.0436</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="ercspn_l-P2">
									<location> -0.055 0.11 -0.0241</location>
									<body>torso</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>2500</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.12</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.03</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="intobl_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="intobl_r-P1">
									<location> -0.04 0.07 0.1157</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="intobl_r-P2">
									<location> 0.07 0.16 0.015</location>
									<body>torso</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>900</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="intobl_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="intobl_l-P1">
									<location> -0.04 0.07 -0.1157</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="intobl_l-P2">
									<location> 0.07 0.16 -0.015</location>
									<body>torso</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>900</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.1</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="extobl_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="extobl_r-P1">
									<location> -0.03 -0.0636 0.01</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="extobl_r-P2">
									<location> 0.065 0.11 0.11</location>
									<body>torso</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>900</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.12</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.14</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="extobl_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
					<min_control>0.01</min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
					<max_control>1</max_control>
					<!--The set of points defining the path of the muscle.-->
					<GeometryPath>
						<PathPointSet>
							<objects>
								<PathPoint name="extobl_l-P1">
									<location> -0.03 -0.0636 -0.01</location>
									<body>pelvis</body>
								</PathPoint>
								<PathPoint name="extobl_l-P2">
									<location> 0.065 0.11 -0.11</location>
									<body>torso</body>
								</PathPoint>
							</objects>
							<groups />
						</PathPointSet>
						<VisibleObject>
							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
							<GeometrySet>
								<objects />
								<groups />
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors> 1 1 1</scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
							<transform> -0 0 -0 0 0 0</transform>
							<!--Whether to show a coordinate frame-->
							<show_axes>false</show_axes>
							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
							<display_preference>4</display_preference>
						</VisibleObject>
						<PathWrapSet>
							<objects />
							<groups />
						</PathWrapSet>
					</GeometryPath>
					<!--The maximum force this actuator can produce.-->
					<optimal_force>1</optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>900</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.12</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.14</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--time constant for ramping up muscle activation-->
					<activation_time_constant>0.01</activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>0.04</deactivation_time_constant>
					<!--tendon strain at maximum isometric muscle force-->
					<FmaxTendonStrain>0.033</FmaxTendonStrain>
					<!--passive muscle strain at maximum isometric muscle force-->
					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>0.5</KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>4</KshapePassive>
					<!--force-velocity shape factor-->
					<Af>0.3</Af>
					<!--maximum normalized lengthening force-->
					<Flen>1.8</Flen>
				</Thelen2003Muscle>
				<HuntCrossleyForce name="foot_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Material properties.-->
					<HuntCrossleyForce::ContactParametersSet name="contact_parameters">
						<objects>
							<HuntCrossleyForce::ContactParameters>
								<!--Names of geometry objects affected by these parameters.-->
								<geometry>platform_surface heel_r ball_big_toe_r small_toe_r</geometry>
								<stiffness>100000000</stiffness>
								<dissipation>0.5</dissipation>
								<static_friction>0.9</static_friction>
								<dynamic_friction>0.9</dynamic_friction>
								<viscous_friction>0.6</viscous_friction>
							</HuntCrossleyForce::ContactParameters>
						</objects>
						<groups />
					</HuntCrossleyForce::ContactParametersSet>
					<!--Slip velocity (creep) at which peak static friction occurs.-->
					<transition_velocity>0.1</transition_velocity>
				</HuntCrossleyForce>
				<HuntCrossleyForce name="foot_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Material properties.-->
					<HuntCrossleyForce::ContactParametersSet name="contact_parameters">
						<objects>
							<HuntCrossleyForce::ContactParameters>
								<!--Names of geometry objects affected by these parameters.-->
								<geometry>platform_surface heel_l ball_big_toe_l small_toe_l</geometry>
								<stiffness>100000000</stiffness>
								<dissipation>0.5</dissipation>
								<static_friction>0.9</static_friction>
								<dynamic_friction>0.9</dynamic_friction>
								<viscous_friction>0.6</viscous_friction>
							</HuntCrossleyForce::ContactParameters>
						</objects>
						<groups />
					</HuntCrossleyForce::ContactParametersSet>
					<!--Slip velocity (creep) at which peak static friction occurs.-->
					<transition_velocity>0.1</transition_velocity>
				</HuntCrossleyForce>
				<BushingForce name="BackBushing">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--One of the two bodies connected by the bushing.-->
					<body_1>pelvis</body_1>
					<!--The other of the two bodies connected by the bushing.-->
					<body_2>torso</body_2>
					<!--Location of bushing frame on body 1.-->
					<location_body_1>-0.1007 0.0815 0</location_body_1>
					<!--Orientation of bushing frame in body 1 as x-y-z, body fixed Euler rotations.-->
					<orientation_body_1>0 0 0</orientation_body_1>
					<!--Location of bushing frame on body 2.-->
					<location_body_2>0 0 0</location_body_2>
					<!--Orientation of bushing frame in body 2 as x-y-z, body fixed Euler rotations.-->
					<orientation_body_2>0 0 0</orientation_body_2>
					<!--Stiffness parameters resisting relative rotation (Nm/rad).-->
					<rotational_stiffness>50 50 10</rotational_stiffness>
					<!--Stiffness parameters resisting relative translation (N/m).-->
					<translational_stiffness>0 0 0</translational_stiffness>
					<!--Damping parameters resisting relative angular velocity. (Nm/(rad/s))-->
					<rotational_damping>1 1 0</rotational_damping>
					<!--Damping parameters resisting relative translational velocity. (N/(m/s)-->
					<translational_damping>0 0 0</translational_damping>
				</BushingForce>
				<BushingForce name="ankle_r_bushing">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--One of the two bodies connected by the bushing.-->
					<body_1>tibia_r</body_1>
					<!--The other of the two bodies connected by the bushing.-->
					<body_2>calcn_r</body_2>
					<!--Location of bushing frame on body 1.-->
					<location_body_1>0 -0.43 0</location_body_1>
					<!--Orientation of bushing frame in body 1 as x-y-z, body fixed Euler rotations.-->
					<orientation_body_1>0 0 0</orientation_body_1>
					<!--Location of bushing frame on body 2.-->
					<location_body_2>0.04877 0.04195 -0.00792</location_body_2>
					<!--Orientation of bushing frame in body 2 as x-y-z, body fixed Euler rotations.-->
					<orientation_body_2>0 0 0</orientation_body_2>
					<!--Stiffness parameters resisting relative rotation (Nm/rad).-->
					<rotational_stiffness>20 5 5</rotational_stiffness>
					<!--Stiffness parameters resisting relative translation (N/m).-->
					<translational_stiffness>0 0 0</translational_stiffness>
					<!--Damping parameters resisting relative angular velocity. (Nm/(rad/s))-->
					<rotational_damping>0.1 0.1 0.1</rotational_damping>
					<!--Damping parameters resisting relative translational velocity. (N/(m/s)-->
					<translational_damping>0 0 0</translational_damping>
				</BushingForce>
				<BushingForce name="ankle_l_bushing">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--One of the two bodies connected by the bushing.-->
					<body_1>tibia_l</body_1>
					<!--The other of the two bodies connected by the bushing.-->
					<body_2>calcn_l</body_2>
					<!--Location of bushing frame on body 1.-->
					<location_body_1>0 -0.43 0</location_body_1>
					<!--Orientation of bushing frame in body 1 as x-y-z, body fixed Euler rotations.-->
					<orientation_body_1>0 0 0</orientation_body_1>
					<!--Location of bushing frame on body 2.-->
					<location_body_2>0.04877 0.04195 0.00792</location_body_2>
					<!--Orientation of bushing frame in body 2 as x-y-z, body fixed Euler rotations.-->
					<orientation_body_2>0 0 0</orientation_body_2>
					<!--Stiffness parameters resisting relative rotation (Nm/rad).-->
					<rotational_stiffness>20 5 5</rotational_stiffness>
					<!--Stiffness parameters resisting relative translation (N/m).-->
					<translational_stiffness>0 0 0</translational_stiffness>
					<!--Damping parameters resisting relative angular velocity. (Nm/(rad/s))-->
					<rotational_damping>0.1 0.1 0.1</rotational_damping>
					<!--Damping parameters resisting relative translational velocity. (N/(m/s)-->
					<translational_damping>0 0 0</translational_damping>
				</BushingForce>
				<CoordinateLimitForce name="LumbarExtensionLimit">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Coordinate (name) to be limited.-->
					<coordinate>lumbar_extension</coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>20</upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in degrees).-->
					<upper_limit>25</upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>20</lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in degrees).-->
					<lower_limit>-35</lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is exceeded. For translational has units N/(m/s) and rotational has Nm/(degree/s)-->
					<damping>0.25</damping>
					<!--Transition region width in the units of the coordinate (rotations in degrees). Dictates the transition from zero to constant stiffness as coordinate exceeds its limit.-->
					<transition>10</transition>
				</CoordinateLimitForce>
				<CoordinateLimitForce name="KneeLimit_r">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Coordinate (name) to be limited.-->
					<coordinate>knee_angle_r</coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>20</upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in degrees).-->
					<upper_limit>-5</upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>10</lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in degrees).-->
					<lower_limit>-120</lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is exceeded. For translational has units N/(m/s) and rotational has Nm/(degree/s)-->
					<damping>0.25</damping>
					<!--Transition region width in the units of the coordinate (rotations in degrees). Dictates the transition from zero to constant stiffness as coordinate exceeds its limit.-->
					<transition>10</transition>
				</CoordinateLimitForce>
				<CoordinateLimitForce name="KneeLimit_l">
					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
					<isDisabled>false</isDisabled>
					<!--Coordinate (name) to be limited.-->
					<coordinate>knee_angle_l</coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>20</upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in degrees).-->
					<upper_limit>-5</upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>10</lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in degrees).-->
					<lower_limit>-120</lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is exceeded. For translational has units N/(m/s) and rotational has Nm/(degree/s)-->
					<damping>0.25</damping>
					<!--Transition region width in the units of the coordinate (rotations in degrees). Dictates the transition from zero to constant stiffness as coordinate exceeds its limit.-->
					<transition>10</transition>
				</CoordinateLimitForce>
			</objects>
			<groups>
				<ObjectGroup name="R_select_muscles">
					<members> ercspn_r intobl_r glut_max1_r glut_med1_r bifemlh_r rect_fem_r vas_int_r med_gas_r soleus_r tib_ant_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_abd">
					<members> glut_max1_r glut_med1_r glut_med2_r glut_med3_r peri_r sar_r tfl_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_flex">
					<members> glut_med1_r grac_r iliacus_r pect_r psoas_r rect_fem_r sar_r tfl_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_inrot">
					<members> glut_med1_r iliacus_r psoas_r tfl_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_exrot">
					<members> gem_r glut_med3_r peri_r quad_fem_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_ext">
					<members> add_mag2_r bifemlh_r glut_max1_r glut_max2_r glut_max3_r glut_med3_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_add">
					<members> add_mag2_r bifemlh_r grac_r pect_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_knee_bend">
					<members> bifemlh_r bifemsh_r grac_r med_gas_r sar_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_knee_ext">
					<members> rect_fem_r vas_int_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_ankle_pf">
					<members> flex_dig_r flex_hal_r lat_gas_r med_gas_r per_brev_r per_long_r soleus_r tib_post_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_inverter">
					<members> ext_hal_r flex_dig_r flex_hal_r tib_ant_r tib_post_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_ankle_df">
					<members> ext_dig_r ext_hal_r per_tert_r tib_ant_r</members>
				</ObjectGroup>
				<ObjectGroup name="R_everter">
					<members> ext_dig_r per_brev_r per_long_r per_tert_r</members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_abd">
					<members> glut_max1_l glut_med1_l glut_med2_l glut_med3_l peri_l sar_l tfl_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_flex">
					<members> glut_med1_l grac_l iliacus_l pect_l psoas_l rect_fem_l sar_l tfl_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_inrot">
					<members> glut_med1_l iliacus_l psoas_l tfl_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_exrot">
					<members> gem_l glut_med3_l peri_l quad_fem_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_ext">
					<members> add_mag2_l bifemlh_l glut_max1_l glut_max2_l glut_max3_l glut_med3_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_add">
					<members> add_mag2_l bifemlh_l grac_l pect_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_knee_bend">
					<members> bifemlh_l bifemsh_l grac_l med_gas_l sar_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_knee_ext">
					<members> rect_fem_l vas_int_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_ankle_pf">
					<members> med_gas_l soleus_l tib_post_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_inverter">
					<members> tib_ant_l tib_post_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_ankle_df">
					<members> tib_ant_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_ankle_pf">
					<members> flex_dig_l flex_hal_l lat_gas_l med_gas_l per_brev_l per_long_l soleus_l tib_post_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_inverter">
					<members> ext_hal_l flex_dig_l flex_hal_l tib_ant_l tib_post_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_ankle_df">
					<members> ext_dig_l ext_hal_l per_tert_l tib_ant_l</members>
				</ObjectGroup>
				<ObjectGroup name="L_everter">
					<members> ext_dig_l per_brev_l per_long_l per_tert_l</members>
				</ObjectGroup>
				<ObjectGroup name="back_ext">
					<members> ercspn_l ercspn_r</members>
				</ObjectGroup>
				<ObjectGroup name="back_rlb">
					<members> ercspn_r extobl_r intobl_r</members>
				</ObjectGroup>
				<ObjectGroup name="back_introt">
					<members> ercspn_r extobl_l intobl_r</members>
				</ObjectGroup>
				<ObjectGroup name="back_llb">
					<members> ercspn_l extobl_l intobl_l</members>
				</ObjectGroup>
				<ObjectGroup name="back_extrot">
					<members> ercspn_l extobl_r intobl_l</members>
				</ObjectGroup>
				<ObjectGroup name="back_flex">
					<members> extobl_l extobl_r intobl_l intobl_r</members>
				</ObjectGroup>
			</groups>
		</ForceSet>
		<!--Markers in the model.-->
		<MarkerSet>
			<objects />
			<groups />
		</MarkerSet>
		<!--ContactGeometries  in the model.-->
		<ContactGeometrySet>
			<objects>
				<ContactHalfSpace name="platform_surface">
					<!--Body name to connect the contact geometry to-->
					<body_name>platform</body_name>
					<!--Location of geometry center in the body frame-->
					<location>0 0 0</location>
					<!--Orientation of geometry in the body frame-->
					<orientation>0 0 -1.57079633</orientation>
					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
					<display_preference>4</display_preference>
				</ContactHalfSpace>
				<ContactSphere name="heel_r">
					<!--Body name to connect the contact geometry to-->
					<body_name>calcn_r</body_name>
					<!--Location of geometry center in the body frame-->
					<location>0.01 0.01 -0.005</location>
					<!--Orientation of geometry in the body frame-->
					<orientation>0 0 0</orientation>
					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
					<display_preference>4</display_preference>
					<radius>0.03</radius>
				</ContactSphere>
				<ContactSphere name="ball_big_toe_r">
					<!--Body name to connect the contact geometry to-->
					<body_name>toes_r</body_name>
					<!--Location of geometry center in the body frame-->
					<location>-0.005 0.005 -0.03</location>
					<!--Orientation of geometry in the body frame-->
					<orientation>0 0 0</orientation>
					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
					<display_preference>4</display_preference>
					<radius>0.02</radius>
				</ContactSphere>
				<ContactSphere name="small_toe_r">
					<!--Body name to connect the contact geometry to-->
					<body_name>toes_r</body_name>
					<!--Location of geometry center in the body frame-->
					<location>-0.04 0.005 0.04</location>
					<!--Orientation of geometry in the body frame-->
					<orientation>0 0 0</orientation>
					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
					<display_preference>4</display_preference>
					<radius>0.015</radius>
				</ContactSphere>
				<ContactSphere name="heel_l">
					<!--Body name to connect the contact geometry to-->
					<body_name>calcn_l</body_name>
					<!--Location of geometry center in the body frame-->
					<location>0.01 0.01 0.005</location>
					<!--Orientation of geometry in the body frame-->
					<orientation>0 0 0</orientation>
					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
					<display_preference>4</display_preference>
					<radius>0.03</radius>
				</ContactSphere>
				<ContactSphere name="ball_big_toe_l">
					<!--Body name to connect the contact geometry to-->
					<body_name>toes_l</body_name>
					<!--Location of geometry center in the body frame-->
					<location>-0.005 0.005 0.03</location>
					<!--Orientation of geometry in the body frame-->
					<orientation>0 0 0</orientation>
					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
					<display_preference>4</display_preference>
					<radius>0.02</radius>
				</ContactSphere>
				<ContactSphere name="small_toe_l">
					<!--Body name to connect the contact geometry to-->
					<body_name>toes_l</body_name>
					<!--Location of geometry center in the body frame-->
					<location>-0.04 0.005 -0.04</location>
					<!--Orientation of geometry in the body frame-->
					<orientation>0 0 0</orientation>
					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
					<display_preference>4</display_preference>
					<radius>0.015</radius>
				</ContactSphere>
			</objects>
			<groups />
		</ContactGeometrySet>
		<!--Controllers in the model.-->
		<ControllerSet>
			<objects>
				<ToyReflexController name="Reflexes">
					<!--Flag (true or false) indicating whether or not the controller is disabled.-->
					<isDisabled>false</isDisabled>
					<!--The list of model actuators that this controller will control.The keyword ALL indicates the controller will controll all the acuators in the model-->
					<actuator_list>glut_med1_r glut_med2_r glut_med3_r bifemlh_r bifemsh_r sar_r add_mag2_r tfl_r pect_r grac_r glut_max1_r glut_max2_r glut_max3_r iliacus_r psoas_r quad_fem_r gem_r peri_r rect_fem_r vas_int_r med_gas_r lat_gas_r soleus_r tib_post_r flex_dig_r flex_hal_r tib_ant_r per_brev_r per_long_r per_tert_r ext_dig_r ext_hal_r glut_med1_l glut_med2_l glut_med3_l bifemlh_l bifemsh_l sar_l add_mag2_l tfl_l pect_l grac_l glut_max1_l glut_max2_l glut_max3_l iliacus_l psoas_l quad_fem_l gem_l peri_l rect_fem_l vas_int_l med_gas_l lat_gas_l soleus_l tib_post_l flex_dig_l flex_hal_l tib_ant_l per_brev_l per_long_l per_tert_l ext_dig_l ext_hal_l ercspn_r ercspn_l intobl_r intobl_l extobl_r extobl_l</actuator_list>
					<!--Factor by which the stretch reflex is scaled.-->
					<gain>0.85</gain>
				</ToyReflexController>
				<PrescribedController name="R-inverter-controls">
					<!--Flag (true or false) indicating whether or not the controller is disabled.-->
					<isDisabled>true</isDisabled>
					<!--The list of model actuators that this controller will control.The keyword ALL indicates the controller will controll all the acuators in the model-->
					<actuator_list>ext_hal_r flex_dig_r flex_hal_r tib_ant_r tib_post_r</actuator_list>
					<!--Functions (one per control) describing the controls for actuatorsspecified for this controller.-->
					<FunctionSet name="ControlFunctions">
						<objects>
							<Constant name="ext_hal_r">
								<value>0.1</value>
							</Constant>
							<Constant name="flex_dig_r">
								<value>0.1</value>
							</Constant>
							<Constant name="flex_hal_r">
								<value>0.1</value>
							</Constant>
							<Constant name="tib_ant_r">
								<value>0.1</value>
							</Constant>
							<Constant name="tib_post_r">
								<value>0.1</value>
							</Constant>
						</objects>
						<groups />
					</FunctionSet>
				</PrescribedController>
				<PrescribedController name="R-everter-controls">
					<!--Flag (true or false) indicating whether or not the controller is disabled.-->
					<isDisabled>true</isDisabled>
					<!--The list of model actuators that this controller will control.The keyword ALL indicates the controller will controll all the acuators in the model-->
					<actuator_list>ext_dig_r per_brev_r per_long_r per_tert_r</actuator_list>
					<!--Functions (one per control) describing the controls for actuatorsspecified for this controller.-->
					<FunctionSet name="ControlFunctions">
						<objects>
							<Constant name="ext_dig_r">
								<value>0.3</value>
							</Constant>
							<Constant name="per_brev_r">
								<value>0.3</value>
							</Constant>
							<Constant name="per_long_r">
								<value>0.3</value>
							</Constant>
							<Constant name="per_tert_r">
								<value>0.3</value>
							</Constant>
						</objects>
						<groups />
					</FunctionSet>
				</PrescribedController>
			</objects>
			<groups />
		</ControllerSet>
	</Model>
</OpenSimDocument>
