<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="20303">
	<Model name="Wrist_Model">
  <!--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>Gonzalez, R.V., Buchanan, T.S., Delp, S.L.</credits>
    <publications>How muscle architecture and moment arms affect wrist flexion-extension moments. Journal of Biomechanics, vol. 30, pp. 705-712, 1997.</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>
								<DisplayGeometry>
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file>humerus.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 1.274 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="ulna">
					<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>
						<CustomJoint name="elbow">
							<!--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>elbow_flexion</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.22604694 0.19103995 0.95519973</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></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>
							<parent_body>ground</parent_body>
							<location_in_parent>0.0127 1 0.0389</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="elbow_flexion">
										<!--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>0 2.26892803</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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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>ulna.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="radius">
					<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>
						<CustomJoint name="radioulnar">
							<!--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></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>
								<TransformAxis name="rotation2">
									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
									<coordinates>pro_sup</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.05639802 0.98357739 -0.17144907</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></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></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>
							<parent_body>ulna</parent_body>
							<location_in_parent> -0.0065 -0.008 0.027</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="pro_sup">
										<!--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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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>radius.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="rotaxis">
					<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>
						<WeldJoint name="rad-rotaxis">
							<parent_body>radius</parent_body>
							<location_in_parent> -0.0085 -0.2313 0.0561</location_in_parent>
							<orientation_in_parent> -0.261799 0.392699 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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="auxprfem">
					<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>
						<CustomJoint name="rotaxis-auxprfem">
							<!--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></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="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>rotaxis_auxprfem_r3</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></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>
							<parent_body>rotaxis</parent_body>
							<location_in_parent> -0.001 0.009 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="rotaxis_auxprfem_r3">
										<!--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>-99999.9 99999.9</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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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="auxprrud">
					<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>
						<CustomJoint name="auxprfem-auxprrud">
							<!--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>auxprfem-auxprrud_coord</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></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 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>
								<!--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>
							<parent_body>auxprfem</parent_body>
							<location_in_parent> 0 0 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="auxprfem-auxprrud_coord">
										<!--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>-0.43633231 0.61086524</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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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="auxdrfem">
					<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>
						<CustomJoint name="auxprrud-auxdrfem">
							<!--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></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="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>auxprrud_auxdrfem_r3</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></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>
							<parent_body>auxprrud</parent_body>
							<location_in_parent> 0.001 -0.02 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="auxprrud_auxdrfem_r3">
										<!--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>-99999.9 99999.9</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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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="auxdrrud">
					<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>
						<CustomJoint name="auxdrfem-auxdrrud">
							<!--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>auxdrfem_auxdrrud_r1</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></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 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>
								<!--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>
							<parent_body>auxdrfem</parent_body>
							<location_in_parent> 0 0 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="auxdrfem_auxdrrud_r1">
										<!--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>-99999.9 99999.9</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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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="scaphoid">
					<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>
						<WeldJoint name="prox-scaph">
							<parent_body>auxprrud</parent_body>
							<location_in_parent> -0.0035 -0.0025 0.009</location_in_parent>
							<orientation_in_parent> 0.401426 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_scaph.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="lunate">
					<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>
						<WeldJoint name="prox-lun">
							<parent_body>auxprrud</parent_body>
							<location_in_parent> -0.004 -0.0015 -0.007</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_lun.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="trapezium">
					<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>
						<WeldJoint name="dist-trpzm">
							<parent_body>auxdrrud</parent_body>
							<location_in_parent> 0.0035 -0.0035 0.02</location_in_parent>
							<orientation_in_parent> -0.261799 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_trpzm.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="trapezoid">
					<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>
						<WeldJoint name="dist-trpzd">
							<parent_body>auxdrrud</parent_body>
							<location_in_parent> -0.0015 -0.0044 0.0134</location_in_parent>
							<orientation_in_parent> 0.349066 -0.174533 0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_trpzd.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="capitate">
					<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>
						<WeldJoint name="dist-cap">
							<parent_body>auxdrrud</parent_body>
							<location_in_parent> -0.0155 -0.0018 -0.0055</location_in_parent>
							<orientation_in_parent> 0.174533 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_cap.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="pisiform">
					<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>
						<WeldJoint name="prox-pis">
							<parent_body>auxprrud</parent_body>
							<location_in_parent> 0.005 -0.015 -0.0201</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_pis.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="triquetrum">
					<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>
						<WeldJoint name="prox-triq">
							<parent_body>auxprrud</parent_body>
							<location_in_parent> -0.0055 -0.01 -0.021</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_triq.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="hamate">
					<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>
						<WeldJoint name="dist-ham">
							<parent_body>auxdrrud</parent_body>
							<location_in_parent> -0.006 -0.005 -0.0175</location_in_parent>
							<orientation_in_parent> -0.20944 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>r_ham.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="carp_metacarp">
					<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>
						<WeldJoint name="auxCMC">
							<parent_body>auxdrrud</parent_body>
							<location_in_parent> 0 0 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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="metacarpal2">
					<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>
						<WeldJoint name="CMC2">
							<parent_body>carp_metacarp</parent_body>
							<location_in_parent> -0.0047 -0.0095 -0.005</location_in_parent>
							<orientation_in_parent> 0.174533 0.261799 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>fingers1.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="Iphalanx1">
					<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>
						<CustomJoint name="MCP2">
							<!--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>MCP2_lateral</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></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>MCP2_flex</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></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>
							<parent_body>metacarpal2</parent_body>
							<location_in_parent> -0.002402 -0.0685 0.045</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="MCP2_lateral">
										<!--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>-0.34906585 0.34906585</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 />
									</Coordinate>
									<Coordinate name="MCP2_flex">
										<!--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>-0.17453293 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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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>fingers2.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="Iphalanx2">
					<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>
						<CustomJoint name="PIP">
							<!--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></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="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>PIP_flex</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></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>
							<parent_body>Iphalanx1</parent_body>
							<location_in_parent> 0.0005 -0.04826 0.00799</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="PIP_flex">
										<!--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>-0.08726646 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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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>fingers3.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="Iphalanx3">
					<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>
						<CustomJoint name="DIP">
							<!--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></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="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>DIP_flex</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></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>
							<parent_body>Iphalanx2</parent_body>
							<location_in_parent> 0.00193 -0.03277 0.00472</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="DIP_flex">
										<!--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>-0.08726646 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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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>fingers4.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="metacarpal3">
					<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>
						<WeldJoint name="CMC3">
							<parent_body>carp_metacarp</parent_body>
							<location_in_parent> -0.0047 -0.0085 -0.005</location_in_parent>
							<orientation_in_parent> 0.0872665 0.174533 0.0872665</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>fingers8.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="midfinger">
					<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>
						<WeldJoint name="MCP3">
							<parent_body>metacarpal3</parent_body>
							<location_in_parent> 0 -0.003 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>fingers6.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>fingers7.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>fingers5.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="metacarpal4">
					<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>
						<WeldJoint name="CMC4">
							<parent_body>carp_metacarp</parent_body>
							<location_in_parent> -0.0047 -0.008 -0.0033</location_in_parent>
							<orientation_in_parent> 0.0872665 0.174533 0.0872665</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>fingers12.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="ringfinger">
					<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>
						<WeldJoint name="MCP4">
							<parent_body>metacarpal4</parent_body>
							<location_in_parent> 0 -0.0025 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>fingers10.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>fingers11.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>fingers9.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="metacarpal5">
					<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>
						<WeldJoint name="CMC5">
							<parent_body>carp_metacarp</parent_body>
							<location_in_parent> -0.002 -0.01 0.0035</location_in_parent>
							<orientation_in_parent> 0.0872665 0.174533 0.0872665</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>fingers16.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="littlefinger">
					<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>
						<WeldJoint name="MCP5">
							<parent_body>metacarpal5</parent_body>
							<location_in_parent> 0 -0.002 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects />
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</WeldJoint>
					</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>fingers14.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>fingers15.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>fingers13.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="thumb">
					<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>
						<CustomJoint name="CMC1">
							<!--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>thumb_abd</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>thumb_flex</coordinates>
									<!--Rotation or translation axis for the transform.-->
									<axis>0.05639802 0.98357739 -0.17144907</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></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>
								<!--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>
							<parent_body>carp_metacarp</parent_body>
							<location_in_parent> 0.008 -0.0045 0.0219</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> 0 0 0</location>
							<orientation> -0 0 -0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="thumb_abd">
										<!--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>-0.78539816 0.26179939</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 />
									</Coordinate>
									<Coordinate name="thumb_flex">
										<!--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>-0.78539816 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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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>fingers17.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>fingers18.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>fingers19.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="imagine">
					<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>
						<CustomJoint name="Wrist">
							<!--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>deviation</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></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>flexion</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></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>
							<parent_body>rotaxis</parent_body>
							<location_in_parent> 0 0 0</location_in_parent>
							<orientation_in_parent> -0 0 -0</orientation_in_parent>
							<location> -0 0 0</location>
							<orientation> -0 0 0</orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet>
								<objects>
									<Coordinate name="deviation">
										<!--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>-0.436332 0.610865</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 />
									</Coordinate>
									<Coordinate name="flexion">
										<!--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>-1.22173048 1.22173048</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 />
									</Coordinate>
								</objects>
								<groups />
							</CoordinateSet>
							<reverse>false</reverse>
						</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>
			</objects>
			<groups />
		</BodySet>
		<!--Constraints in the model.-->
		<ConstraintSet>
			<objects>
				<CoordinateCouplerConstraint name="rotaxis_auxprfem_r3_con">
					<isDisabled>false</isDisabled>
					<coupled_coordinates_function>
						<SimmSpline>
							<x> -1.5708 1.5708</x>
							<y> -0.785398 0.785398</y>
						</SimmSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> flexion</independent_coordinate_names>
					<dependent_coordinate_name>rotaxis_auxprfem_r3</dependent_coordinate_name>
					<scale_factor>1</scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="auxprrud_auxdrfem_r3_con">
					<isDisabled>false</isDisabled>
					<coupled_coordinates_function>
						<SimmSpline>
							<x> -1.22173 1.22173</x>
							<y> -0.610865 0.610865</y>
						</SimmSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names>flexion</independent_coordinate_names>
					<dependent_coordinate_name>auxprrud_auxdrfem_r3</dependent_coordinate_name>
					<scale_factor>1</scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="auxprfem-auxprrud_coord_con">
					<isDisabled>false</isDisabled>
					<coupled_coordinates_function>
						<SimmSpline>
							<x> -0.436332 0 0.610865</x>
							<y> -0.218166 0 0.3054325</y>
						</SimmSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> deviation </independent_coordinate_names>
					<dependent_coordinate_name>auxprfem-auxprrud_coord</dependent_coordinate_name>
					<scale_factor>1</scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="auxdrfem_auxdrrud_r1_con">
					<isDisabled>false</isDisabled>
					<coupled_coordinates_function>
						<SimmSpline>
							<x> -0.436332 0 0.610865</x>
							<y> -0.218166 0 0.3054325</y>
						</SimmSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> deviation</independent_coordinate_names>
					<dependent_coordinate_name>auxdrfem_auxdrrud_r1</dependent_coordinate_name>
					<scale_factor>1</scale_factor>
				</CoordinateCouplerConstraint>
			</objects>
			<groups />
		</ConstraintSet>
		<!--Forces in the model.-->
		<ForceSet>
			<objects>
				<Schutte1993Muscle_Deprecated name="FCR">
					<!--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="FCR-P1">
									<location> 0.00639 0.99639 0.01313</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="FCR-P2">
									<location> 0.00953 -0.21667 0.05024</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="FCR-P3">
									<location> 0.01395 -0.0012 -0.0067</location>
									<body>trapezoid</body>
								</PathPoint>
								<PathPoint name="FCR-P4">
									<location> 0.00592 0.00269 0.01328</location>
									<body>metacarpal2</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>59.7</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0628</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.2185</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.05410521</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FCU">
					<!--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="FCU-P1">
									<location> 0.00463 0.99632 0.01318</location>
									<body>ground</body>
								</PathPoint>
								<ConditionalPathPoint name="FCU-P2">
									<location> -0.00465 -0.22771 0.05589</location>
									<body>ulna</body>
									<range> 0.558505 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FCU-P3">
									<location> -0.01368 -0.22899 0.05805</location>
									<body>ulna</body>
									<range> -1.5708 -0.628319</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FCU-P4">
									<location> 0.01901 0.0109 0.00261</location>
									<body>hamate</body>
									<range> -1.5708 -0.0349066</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FCU-P5">
									<location> 0.01899 0.0024 0.0012</location>
									<body>hamate</body>
									<range> -1.5708 0.558505</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FCU-P6">
									<location> 0.00845 -0.0091 -0.01963</location>
									<body>metacarpal5</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>102.6</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0509</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.242</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.21118484</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="ECU_pre-surgery">
					<!--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="ECU_pre-surgery-P1">
									<location> 0.02268 1.00596 0.06679</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="ECU_pre-surgery-P2">
									<location> -0.00239 -0.01019 0.01329</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECU_pre-surgery-P3">
									<location> -0.01094 -0.03546 0.01362</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECU_pre-surgery-P4">
									<location> -0.02457 -0.09422 0.03348</location>
									<body>ulna</body>
								</PathPoint>
								<PathPoint name="ECU_pre-surgery-P5">
									<location> -0.02793 -0.23106 0.05873</location>
									<body>ulna</body>
								</PathPoint>
								<PathPoint name="ECU_pre-surgery-P6">
									<location> -0.00094 -0.00436 -0.00442</location>
									<body>triquetrum</body>
								</PathPoint>
								<PathPoint name="ECU_pre-surgery-P7">
									<location> -0.00458 -0.00734 -0.02848</location>
									<body>metacarpal5</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>117</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0622</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.231</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.06108652</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="ECU_post-surgery">
					<!--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="ECU_post-surgery-P1">
									<location> 0.02268 1.00596 0.06679</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P2">
									<location> -0.00239 -0.01019 0.01329</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P3">
									<location> -0.01094 -0.03546 0.01362</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P4">
									<location> -0.02457 -0.09422 0.03348</location>
									<body>ulna</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P5">
									<location> -0.02463 -0.1364 0.04159</location>
									<body>ulna</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P6">
									<location> -0.02953 -0.18933 0.07846</location>
									<body>ulna</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P7">
									<location> -0.01789 -0.19788 0.06459</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P8">
									<location> -0.01779 -0.20954 0.07234</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P9">
									<location> -0.01575 0.00302 0.00216</location>
									<body>trapezoid</body>
								</PathPoint>
								<PathPoint name="ECU_post-surgery-P10">
									<location> -0.01502 -0.00464 0.01507</location>
									<body>metacarpal3</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>117</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0622</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.231</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.06108652</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EDM">
					<!--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="EDM-P1">
									<location> 0.02257 1.00608 0.06683</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="EDM-P2">
									<location> -0.00523 -0.01802 0.01357</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDM-P3">
									<location> -0.01075 -0.07282 0.01237</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDM-P4">
									<location> -0.03277 -0.22628 0.07769</location>
									<body>ulna</body>
								</PathPoint>
								<ConditionalPathPoint name="EDM-P5">
									<location> -0.00965 -0.00461 0.00733</location>
									<body>triquetrum</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="EDM-P6">
									<location> -0.00895 -0.00546 -0.02267</location>
									<body>metacarpal5</body>
								</PathPoint>
								<PathPoint name="EDM-P7">
									<location> -0.00709 -0.06329 -0.03424</location>
									<body>metacarpal5</body>
								</PathPoint>
								<PathPoint name="EDM-P8">
									<location> -0.00281 -0.10702 -0.03713</location>
									<body>littlefinger</body>
								</PathPoint>
								<PathPoint name="EDM-P9">
									<location> -0.00027 -0.13243 -0.0357</location>
									<body>littlefinger</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>28.8</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0675</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.347</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="ECRB">
					<!--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="ECRB-P1">
									<location> 0.02254 1.00587 0.06679</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="ECRB-P2">
									<location> -0.00384 -0.1248 0.05482</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECRB-P3">
									<location> -0.01733 -0.20892 0.0704</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECRB-P4">
									<location> -0.01598 0.00257 0.00197</location>
									<body>trapezoid</body>
								</PathPoint>
								<PathPoint name="ECRB-P5">
									<location> -0.01528 -0.00506 0.01554</location>
									<body>metacarpal3</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>122.9</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0585</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.2205</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.1553343</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="ECRL">
					<!--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="ECRL-P1">
									<location> 0.01337 1.01289 0.07069</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="ECRL-P2">
									<location> 0.02239 1.00566 0.06679</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="ECRL-P3">
									<location> -0.00136 -0.12953 0.05532</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="ECRL-P4">
									<location> -0.0083 -0.21052 0.0752</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="ECRL-P5">
									<location> -0.01349 0.01118 0.02204</location>
									<body>metacarpal2</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="ECRL-P6">
									<location> -0.01108 -0.01106 0.02568</location>
									<body>metacarpal2</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>65.7</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0936</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.2026</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.04363323</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDSI">
					<!--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="FDSI-P1">
									<location> 0.0035 0.97945 0.03226</location>
									<body>ground</body>
								</PathPoint>
								<ConditionalPathPoint name="FDSI-P2">
									<location> 0.01091 -0.21436 0.04048</location>
									<body>radius</body>
									<range> 0.436332 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSI-P3">
									<location> 0.00183 -0.21671 0.04253</location>
									<body>radius</body>
									<range> -1.5708 -0.0872665</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSI-P4">
									<location> 0.02244 0.01397 0.00139</location>
									<body>capitate</body>
									<range> -1.5708 -0.715585</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSI-P5">
									<location> 0.02703 0.00411 0.00444</location>
									<body>capitate</body>
									<range> -1.5708 -0.331613</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDSI-P6">
									<location> 0.02944 -0.01143 0.00869</location>
									<body>capitate</body>
								</PathPoint>
								<PathPoint name="FDSI-P7">
									<location> 0.01297 -0.01437 0.02183</location>
									<body>metacarpal2</body>
								</PathPoint>
								<PathPoint name="FDSI-P8">
									<location> 0.00543 -0.06688 0.04728</location>
									<body>metacarpal2</body>
								</PathPoint>
								<PathPoint name="FDSI-P9">
									<location> 0.00596 -0.04624 0.00883</location>
									<body>Iphalanx1</body>
								</PathPoint>
								<PathPoint name="FDSI-P10">
									<location> 0.00581 -0.0059 0.00263</location>
									<body>Iphalanx3</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>51.3</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0835</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.338</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDSM">
					<!--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="FDSM-P1">
									<location> 0.0035 0.97945 0.03226</location>
									<body>ground</body>
								</PathPoint>
								<ConditionalPathPoint name="FDSM-P2">
									<location> 0.01048 -0.21423 0.03978</location>
									<body>radius</body>
									<range> 0.436332 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSM-P3">
									<location> 0.0019 -0.2167 0.0438</location>
									<body>radius</body>
									<range> -1.5708 -0.0872665</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSM-P4">
									<location> 0.02277 0.01364 0.00172</location>
									<body>capitate</body>
									<range> -1.5708 -0.698132</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSM-P5">
									<location> 0.0269 0.0054 0.0037</location>
									<body>capitate</body>
									<range> -1.5708 -0.349066</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDSM-P6">
									<location> 0.03 -0.0118 0.0084</location>
									<body>capitate</body>
								</PathPoint>
								<PathPoint name="FDSM-P7">
									<location> 0.0144 -0.01632 0.01008</location>
									<body>metacarpal3</body>
								</PathPoint>
								<PathPoint name="FDSM-P8">
									<location> 0.00429 -0.08012 0.01596</location>
									<body>metacarpal3</body>
								</PathPoint>
								<PathPoint name="FDSM-P9">
									<location> -0.00048 -0.12516 0.01851</location>
									<body>midfinger</body>
								</PathPoint>
								<PathPoint name="FDSM-P10">
									<location> 0.00028 -0.17254 0.02483</location>
									<body>midfinger</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>75.9</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0749</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.354</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDSR">
					<!--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="FDSR-P1">
									<location> 0.0035 0.97945 0.03226</location>
									<body>ground</body>
								</PathPoint>
								<ConditionalPathPoint name="FDSR-P2">
									<location> 0.01037 -0.21504 0.03862</location>
									<body>radius</body>
									<range> 0.436332 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSR-P3">
									<location> -0.00037 -0.21764 0.0409</location>
									<body>radius</body>
									<range> -1.5708 -0.0872665</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSR-P4">
									<location> 0.02189 0.01306 0.00048</location>
									<body>capitate</body>
									<range> -1.5708 -0.698132</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSR-P5">
									<location> 0.02545 0.00479 0.0023</location>
									<body>capitate</body>
									<range> -1.5708 -0.349066</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDSR-P6">
									<location> 0.0289 -0.0155 0.0073</location>
									<body>capitate</body>
								</PathPoint>
								<PathPoint name="FDSR-P7">
									<location> 0.0144 -0.0252 -0.00101</location>
									<body>metacarpal3</body>
								</PathPoint>
								<PathPoint name="FDSR-P8">
									<location> 0.00807 -0.07635 -0.00696</location>
									<body>metacarpal4</body>
								</PathPoint>
								<PathPoint name="FDSR-P9">
									<location> 0.0033 -0.12455 -0.00441</location>
									<body>ringfinger</body>
								</PathPoint>
								<PathPoint name="FDSR-P10">
									<location> 0.00672 -0.17283 0.00102</location>
									<body>ringfinger</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>48.3</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0736</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.3535</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.06981317</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDSL">
					<!--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="FDSL-P1">
									<location> 0.0035 0.97945 0.03226</location>
									<body>ground</body>
								</PathPoint>
								<ConditionalPathPoint name="FDSL-P2">
									<location> 0.01048 -0.21423 0.03978</location>
									<body>radius</body>
									<range> 0.479966 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSL-P3">
									<location> 0.001 -0.2177 0.0418</location>
									<body>radius</body>
									<range> -1.5708 0.0174533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSL-P4">
									<location> 0.02201 0.01258 -0.00027</location>
									<body>capitate</body>
									<range> -1.5708 -0.698132</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDSL-P5">
									<location> 0.0255 0.0021 0.0025</location>
									<body>capitate</body>
									<range> -1.5708 -0.349066</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDSL-P6">
									<location> 0.0268 -0.0129 0.0061</location>
									<body>capitate</body>
								</PathPoint>
								<PathPoint name="FDSL-P7">
									<location> 0.01463 -0.02498 -0.01151</location>
									<body>metacarpal4</body>
								</PathPoint>
								<PathPoint name="FDSL-P8">
									<location> 0.00674 -0.06152 -0.0347</location>
									<body>metacarpal5</body>
								</PathPoint>
								<PathPoint name="FDSL-P9">
									<location> 0.0073 -0.10135 -0.0357</location>
									<body>littlefinger</body>
								</PathPoint>
								<PathPoint name="FDSL-P10">
									<location> 0.00983 -0.13986 -0.03115</location>
									<body>littlefinger</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>12</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0515</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.343</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDPI">
					<!--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="FDPI-P1">
									<location> -0.0113 -0.03157 0.00208</location>
									<body>ulna</body>
								</PathPoint>
								<ConditionalPathPoint name="FDPI-P2">
									<location> 0.00797 -0.21647 0.04395</location>
									<body>radius</body>
									<range> 0.349066 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPI-P3">
									<location> 0.0013 -0.21659 0.04619</location>
									<body>radius</body>
									<range> -1.5708 0.0174533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPI-P4">
									<location> 0.02269 0.01117 0.00347</location>
									<body>capitate</body>
									<range> -1.5708 -0.383972</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPI-P5">
									<location> 0.02499 0.00065 0.00589</location>
									<body>capitate</body>
									<range> -1.5708 -0.383972</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDPI-P6">
									<location> 0.013 -0.0048 0.01072</location>
									<body>metacarpal2</body>
								</PathPoint>
								<PathPoint name="FDPI-P7">
									<location> 0.00363 -0.06662 0.0449</location>
									<body>metacarpal2</body>
								</PathPoint>
								<PathPoint name="FDPI-P8">
									<location> 0.00494 -0.0506 0.00914</location>
									<body>Iphalanx1</body>
								</PathPoint>
								<PathPoint name="FDPI-P9">
									<location> 0.0095 -0.03028 0.00343</location>
									<body>Iphalanx2</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>53.1</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0749</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.322</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDPM">
					<!--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="FDPM-P1">
									<location> -0.0113 -0.03157 0.00208</location>
									<body>ulna</body>
								</PathPoint>
								<ConditionalPathPoint name="FDPM-P2">
									<location> 0.00433 -0.21689 0.0427</location>
									<body>radius</body>
									<range> 0.279253 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPM-P3">
									<location> -0.00152 -0.21639 0.04445</location>
									<body>radius</body>
									<range> -1.5708 0</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPM-P4">
									<location> 0.02125 0.01055 0.00154</location>
									<body>capitate</body>
									<range> -1.5708 -0.436332</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPM-P5">
									<location> 0.02346 0.00125 0.00384</location>
									<body>capitate</body>
									<range> -1.5708 -0.174533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDPM-P6">
									<location> 0.01168 -0.00745 0.00755</location>
									<body>metacarpal3</body>
								</PathPoint>
								<PathPoint name="FDPM-P7">
									<location> 0.00765 -0.07598 0.01288</location>
									<body>metacarpal3</body>
								</PathPoint>
								<PathPoint name="FDPM-P8">
									<location> 0.00087 -0.1259 0.01853</location>
									<body>midfinger</body>
								</PathPoint>
								<PathPoint name="FDPM-P9">
									<location> 0.00142 -0.16485 0.0224</location>
									<body>midfinger</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>66.9</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0835</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.32</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDPR">
					<!--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="FDPR-P1">
									<location> -0.0113 -0.03157 0.00208</location>
									<body>ulna</body>
								</PathPoint>
								<ConditionalPathPoint name="FDPR-P2">
									<location> 0.00438 -0.21834 0.03741</location>
									<body>radius</body>
									<range> 0.314159 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPR-P3">
									<location> -0.00261 -0.217 0.04286</location>
									<body>radius</body>
									<range> -1.5708 -0.314159</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPR-P4">
									<location> 0.0238 0.01117 -0.00097</location>
									<body>capitate</body>
									<range> -1.5708 -0.436332</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPR-P5">
									<location> 0.02829 0.00175 0.00473</location>
									<body>capitate</body>
									<range> -1.5708 0.174533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDPR-P6">
									<location> 0.01263 -0.0153 0.00166</location>
									<body>metacarpal3</body>
								</PathPoint>
								<PathPoint name="FDPR-P7">
									<location> 0.00788 -0.07665 -0.0056</location>
									<body>metacarpal4</body>
								</PathPoint>
								<PathPoint name="FDPR-P8">
									<location> 0.00288 -0.12885 -0.0044</location>
									<body>ringfinger</body>
								</PathPoint>
								<PathPoint name="FDPR-P9">
									<location> 0.00609 -0.15981 -0.0023</location>
									<body>ringfinger</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>51.6</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0798</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.314</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FDPL">
					<!--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="FDPL-P1">
									<location> -0.0113 -0.03157 0.00208</location>
									<body>ulna</body>
								</PathPoint>
								<ConditionalPathPoint name="FDPL-P2">
									<location> 0.00377 -0.21886 0.03584</location>
									<body>radius</body>
									<range> 0.349066 1.5708</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPL-P3">
									<location> -0.0015 -0.217 0.0433</location>
									<body>radius</body>
									<range> -1.5708 -0.296706</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPL-P4">
									<location> 0.02424 0.01233 0.0008</location>
									<body>capitate</body>
									<range> -1.5708 -0.436332</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FDPL-P5">
									<location> 0.02829 0.00175 0.00473</location>
									<body>capitate</body>
									<range> -1.5708 0.19984</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FDPL-P6">
									<location> 0.01286 -0.01597 -0.00617</location>
									<body>metacarpal4</body>
								</PathPoint>
								<PathPoint name="FDPL-P7">
									<location> 0.00655 -0.06359 -0.03689</location>
									<body>metacarpal5</body>
								</PathPoint>
								<PathPoint name="FDPL-P8">
									<location> 0.00865 -0.10564 -0.03479</location>
									<body>littlefinger</body>
								</PathPoint>
								<PathPoint name="FDPL-P9">
									<location> 0.0092 -0.13216 -0.03269</location>
									<body>littlefinger</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>66</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0749</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.3036</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EDCL">
					<!--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="EDCL-P1">
									<location> 0.01056 1.00611 0.07127</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="EDCL-P2">
									<location> -0.0082 -0.04004 0.01668</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCL-P3">
									<location> -0.01974 -0.18469 0.04807</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCL-P4">
									<location> -0.02211 -0.21097 0.05287</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="EDCL-P5">
									<location> -0.01357 -0.0079 -0.01241</location>
									<body>scaphoid</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="EDCL-P6">
									<location> -0.00192 -0.01151 0.00084</location>
									<body>capitate</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="EDCL-P7">
									<location> -0.01096 -0.02472 -0.01035</location>
									<body>metacarpal3</body>
									<range> -0.0698132 1.74533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="EDCL-P8">
									<location> -0.00801 -0.06389 -0.03508</location>
									<body>metacarpal5</body>
								</PathPoint>
								<PathPoint name="EDCL-P9">
									<location> -0.00303 -0.10372 -0.03765</location>
									<body>littlefinger</body>
								</PathPoint>
								<PathPoint name="EDCL-P10">
									<location> 0.00129 -0.13957 -0.03333</location>
									<body>littlefinger</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>18</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.065</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.3495</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.03490659</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EDCR">
					<!--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="EDCR-P1">
									<location> 0.01011 1.00611 0.07127</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="EDCR-P2">
									<location> -0.0082 -0.04004 0.01668</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCR-P3">
									<location> -0.01766 -0.18446 0.04898</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCR-P4">
									<location> -0.02021 -0.21054 0.05596</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="EDCR-P5">
									<location> -0.01286 -0.0042 -0.01106</location>
									<body>scaphoid</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="EDCR-P6">
									<location> -0.00903 0.00837 -0.00741</location>
									<body>metacarpal3</body>
									<range> 0.226893 1.74533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="EDCR-P7">
									<location> -0.01378 -0.07606 -0.01001</location>
									<body>metacarpal4</body>
								</PathPoint>
								<PathPoint name="EDCR-P8">
									<location> -0.0088 -0.12604 -0.00859</location>
									<body>ringfinger</body>
								</PathPoint>
								<PathPoint name="EDCR-P9">
									<location> -0.00093 -0.16987 -0.00249</location>
									<body>ringfinger</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>38.7</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0626</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.39</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EDCM">
					<!--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="EDCM-P1">
									<location> 0.01011 1.00611 0.07127</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="EDCM-P2">
									<location> -0.0082 -0.04004 0.01668</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCM-P3">
									<location> -0.01675 -0.18466 0.04682</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCM-P4">
									<location> -0.01933 -0.21054 0.05152</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="EDCM-P5">
									<location> -0.01198 -0.00332 -0.01283</location>
									<body>scaphoid</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="EDCM-P6">
									<location> -0.01257 0.00659 -0.00208</location>
									<body>metacarpal3</body>
									<range> -0.349066 1.74533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="EDCM-P7">
									<location> -0.01348 -0.07696 0.01108</location>
									<body>metacarpal3</body>
								</PathPoint>
								<PathPoint name="EDCM-P8">
									<location> -0.01347 -0.13109 0.01966</location>
									<body>midfinger</body>
								</PathPoint>
								<PathPoint name="EDCM-P9">
									<location> -0.00737 -0.17492 0.02576</location>
									<body>midfinger</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>45.9</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0724</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.39</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EDCI">
					<!--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="EDCI-P1">
									<location> 0.01011 1.00611 0.07127</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="EDCI-P2">
									<location> -0.0082 -0.04004 0.01668</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCI-P3">
									<location> -0.02209 -0.18446 0.04898</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EDCI-P4">
									<location> -0.02376 -0.21054 0.0533</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="EDCI-P5">
									<location> -0.01359 -0.00761 -0.01108</location>
									<body>scaphoid</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="EDCI-P6">
									<location> -0.00196 -0.00655 0.00232</location>
									<body>capitate</body>
									<range> 0 0</range>
									<coordinate>auxprfem-auxprrud_coord</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="EDCI-P7">
									<location> -0.01421 -0.01886 0.0078</location>
									<body>metacarpal3</body>
									<range> 0.0174533 1.74533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="EDCI-P8">
									<location> -0.01225 -0.06926 0.04042</location>
									<body>metacarpal2</body>
								</PathPoint>
								<PathPoint name="EDCI-P9">
									<location> -0.00658 -0.04852 0.0044</location>
									<body>Iphalanx1</body>
								</PathPoint>
								<PathPoint name="EDCI-P10">
									<location> -0.00291 -0.01043 7e-005</location>
									<body>Iphalanx3</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>23.4</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.07</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.385</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="FPL">
					<!--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="FPL-P1">
									<location> -0.00284 -0.09605 0.02992</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="FPL-P2">
									<location> -0.00166 -0.13532 0.04257</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="FPL-P3">
									<location> -0.00037 -0.16882 0.04439</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="FPL-P4">
									<location> 0.00345 -0.21433 0.04621</location>
									<body>radius</body>
									<range> -1.5708 0.174533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="FPL-P5">
									<location> 0.00577 0.01018 -0.01528</location>
									<body>thumb</body>
									<range> -1.5708 0.0174533</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="FPL-P6">
									<location> 0.0063 -0.0177 0.0199</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="FPL-P7">
									<location> 9e-005 -0.04175 0.03446</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="FPL-P8">
									<location> 0.00081 -0.04594 0.03877</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="FPL-P9">
									<location> 0.00577 -0.06923 0.04948</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="FPL-P10">
									<location> 0.00493 -0.07776 0.05542</location>
									<body>thumb</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>62.4</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0552</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.1988</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="APL">
					<!--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="APL-P1">
									<location> -0.00494 -0.09677 0.03004</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="APL-P2">
									<location> -0.00892 -0.13772 0.05255</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="APL-P3">
									<location> -0.0066 -0.15947 0.06132</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="APL-P4">
									<location> -0.00682 -0.17731 0.06462</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="APL-P5">
									<location> -0.00282 -0.20831 0.07607</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="APL-P6">
									<location> 0.00117 -0.21506 0.07845</location>
									<body>radius</body>
									<range> -1.5708 -0.471239</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<ConditionalPathPoint name="APL-P7">
									<location> 0.00722 0.00906 0.01082</location>
									<body>trapezium</body>
									<range> -1.5708 0.785398</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="APL-P8">
									<location> 0.00384 0.00196 0.01452</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="APL-P9">
									<location> 0.00816 -0.02324 0.03082</location>
									<body>thumb</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>57.9</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0713</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>0.13089969</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EPB">
					<!--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="EPB-P1">
									<location> -0.00294 -0.13573 0.04196</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EPB-P2">
									<location> -0.00701 -0.14896 0.04387</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EPB-P3">
									<location> -0.01283 -0.17881 0.05817</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EPB-P4">
									<location> -0.00547 -0.19041 0.06961</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EPB-P5">
									<location> 0.00469 -0.21769 0.0756</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="EPB-P6">
									<location> -0.00078 0.00458 0.01475</location>
									<body>trapezium</body>
									<range> -1.5708 -0.349066</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="EPB-P7">
									<location> -0.00387 0.00011 0.01647</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="EPB-P8">
									<location> 0.00452 -0.02214 0.03593</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="EPB-P9">
									<location> 0.0073 -0.03012 0.04408</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="EPB-P10">
									<location> 0.00871 -0.03603 0.048</location>
									<body>thumb</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>14.1</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0675</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.11</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.12566371</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EPL">
					<!--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="EPL-P1">
									<location> -0.02127 -0.0916 0.03268</location>
									<body>ulna</body>
								</PathPoint>
								<PathPoint name="EPL-P2">
									<location> -0.01652 -0.16952 0.03814</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EPL-P3">
									<location> -0.01762 -0.20537 0.0523</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EPL-P4">
									<location> -0.008 0.00038 -0.00774</location>
									<body>scaphoid</body>
								</PathPoint>
								<PathPoint name="EPL-P5">
									<location> -0.0084 -0.00663 0.00319</location>
									<body>scaphoid</body>
								</PathPoint>
								<PathPoint name="EPL-P6">
									<location> -0.0133 -0.00263 0.01214</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="EPL-P7">
									<location> -0.00352 -0.03198 0.04462</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="EPL-P8">
									<location> 0.00081 -0.04107 0.05071</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="EPL-P9">
									<location> 0.00966 -0.06693 0.06022</location>
									<body>thumb</body>
								</PathPoint>
								<PathPoint name="EPL-P10">
									<location> 0.01228 -0.07282 0.06269</location>
									<body>thumb</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>44.1</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>0.22</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="EIP">
					<!--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="EIP-P1">
									<location> -0.01974 -0.14668 0.04449</location>
									<body>ulna</body>
								</PathPoint>
								<PathPoint name="EIP-P2">
									<location> -0.01612 -0.20811 0.05228</location>
									<body>radius</body>
								</PathPoint>
								<PathPoint name="EIP-P3">
									<location> -0.01119 -0.00448 -0.00483</location>
									<body>scaphoid</body>
								</PathPoint>
								<PathPoint name="EIP-P4">
									<location> -0.01312 0.00595 0.0075</location>
									<body>metacarpal2</body>
								</PathPoint>
								<PathPoint name="EIP-P5">
									<location> -0.01022 -0.07179 0.04293</location>
									<body>metacarpal2</body>
								</PathPoint>
								<PathPoint name="EIP-P6">
									<location> -0.00452 -0.0182 0.00396</location>
									<body>Iphalanx3</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>25.2</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0589</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.24804</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>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
				<Schutte1993Muscle_Deprecated name="PL">
					<!--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="PL-P1">
									<location> 0.00468 0.99702 0.01316</location>
									<body>ground</body>
								</PathPoint>
								<PathPoint name="PL-P2">
									<location> 0.01122 -0.20758 0.04487</location>
									<body>radius</body>
								</PathPoint>
								<ConditionalPathPoint name="PL-P3">
									<location> 0.03689 0.00135 0.00732</location>
									<body>capitate</body>
									<range> -1.5708 0.593412</range>
									<coordinate>flexion</coordinate>
								</ConditionalPathPoint>
								<PathPoint name="PL-P4">
									<location> 0.00932 -0.02377 0.00981</location>
									<body>metacarpal3</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>20.7</max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>0.0638</optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>0.236</tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
					<pennation_angle_at_optimal>0.06981317</pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
					<max_contraction_velocity>10</max_contraction_velocity>
					<!--Scale factor for normalizing time-->
					<time_scale>0.1</time_scale>
					<!--Parameter used in time constant of ramping up of muscle force-->
					<activation1>7.667</activation1>
					<!--Parameter used in time constant of ramping up and ramping down of muscle force-->
					<activation2>1.459854</activation2>
					<!--Damping factor related to maximum contraction velocity-->
					<damping>0.05</damping>
					<!--Function representing force-length behavior of tendon-->
					<SimmSpline name="tendon_force_length_curve">
						<x> -10 -0.002 -0.001 0 0.00131 0.00281 0.00431 0.00581 0.00731 0.00881 0.0103 0.0118 0.0123 9.2 9.201 9.202 20</x>
						<y> 0 0 0 0 0.0108 0.0257 0.0435 0.0652 0.0915 0.123 0.161 0.208 0.227 345 345 345 345</y>
					</SimmSpline>
					<!--Function representing active force-length behavior of muscle fibers-->
					<SimmSpline name="active_force_length_curve">
						<x> -35 0 0.401 0.402 0.4035 0.52725 0.62875 0.71875 0.86125 1.045 1.2175 1.43875 1.61875 1.62 1.621 2.2 35</x>
						<y> 0 0 0 0 0 0.226667 0.636667 0.856667 0.95 0.993333 0.77 0.246667 0 0 0 0 0</y>
					</SimmSpline>
					<!--Function representing passive force-length behavior of muscle fibers-->
					<SimmSpline name="passive_force_length_curve">
						<x> -35 0.998 0.999 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.7501 1.7502 35</x>
						<y> 0 0 0 0 0.035 0.12 0.26 0.55 1.17 2 2 2 2</y>
					</SimmSpline>
				</Schutte1993Muscle_Deprecated>
			</objects>
			<groups>
				<ObjectGroup name="flexors">
					<members> APL EPB FCR FCU FDPI FDPL FDPM FDPR FDSI FDSL FDSM FDSR FPL PL</members>
				</ObjectGroup>
				<ObjectGroup name="radial deviators">
					<members> APL ECRB ECRL EDCI EIP EPB EPL FCR FDPI FDSI FPL PL</members>
				</ObjectGroup>
				<ObjectGroup name="wrist">
					<members> ECRB ECRL ECU_pre-surgery ECU_post-surgery FCR FCU</members>
				</ObjectGroup>
				<ObjectGroup name="ulnar deviators">
					<members> ECU_pre-surgery ECU_post-surgery EDCL EDCR EDM FCU FDPL FDPM FDPR FDSL FDSR</members>
				</ObjectGroup>
				<ObjectGroup name="extensors">
					<members> ECRB ECRL ECU_pre-surgery ECU_post-surgery EDCI EDCL EDCM EDCR EDM EIP EPL</members>
				</ObjectGroup>
				<ObjectGroup name="transfer">
					<members> ECRB ECU_pre-surgery</members>
				</ObjectGroup>
				<ObjectGroup name="final">
					<members> ECU_post-surgery</members>
				</ObjectGroup>
				<ObjectGroup name="hand">
					<members> EDCI EDCL EDCM EDCR EDM EIP FDPI FDPL FDPM FDPR FDSI FDSL FDSM FDSR FPL PL</members>
				</ObjectGroup>
				<ObjectGroup name="thumb">
					<members> APL EPB EPL</members>
				</ObjectGroup>
			</groups>
		</ForceSet>
		<!--Markers in the model.-->
		<MarkerSet>
			<objects />
			<groups />
		</MarkerSet>
		<!--ContactGeometries  in the model.-->
		<ContactGeometrySet>
			<objects />
			<groups />
		</ContactGeometrySet>
		<!--Controllers in the model.-->
		<ControllerSet name="Controllers">
			<objects />
			<groups />
		</ControllerSet>
		<!--Probes in the model.-->
		<ProbeSet>
			<objects />
			<groups />
		</ProbeSet>
		<!--Additional components in the model.-->
		<ComponentSet name="MiscComponents">
			<objects />
			<groups />
		</ComponentSet>
	</Model>
</OpenSimDocument>
