<?xml version="1.0" encoding="UTF-8"?>
<OpenSimDocument Version="20302">
	<Model name="Jumper">
		<defaults>
			<ControlLinear name="default">
				<is_model_control> true </is_model_control>
				<extrapolate> true </extrapolate>
				<default_min>      -1.00000000 </default_min>
				<default_max>       1.00000000 </default_max>
				<filter_on> false </filter_on>
				<use_steps> false </use_steps>
				<x_nodes/>
				<min_nodes/>
				<max_nodes/>
				<kp>     100.00000000 </kp>
				<kv>      20.00000000 </kv>
			</ControlLinear>
			<CoordinateActuator name="default">
				<isDisabled> false </isDisabled>
				<!--Minimum allowed value for control signal. Used primarily when solving
				    for control values-->
				<min_control> -infinity </min_control>
				<!--Maximum allowed value for control signal. Used primarily when solving
				    for control values-->
				<max_control> infinity </max_control>
				<coordinate> Unassigned </coordinate>
				<optimal_force>     300.00000000 </optimal_force>
			</CoordinateActuator>
			<PointActuator name="default">
				<isDisabled> false </isDisabled>
				<!--Minimum allowed value for control signal. Used primarily when solving
				    for control values-->
				<min_control> -infinity </min_control>
				<!--Maximum allowed value for control signal. Used primarily when solving
				    for control values-->
				<max_control> infinity </max_control>
				<body>  </body>
				<point>       0.00000000       0.00000000       0.00000000 </point>
				<point_is_global> false </point_is_global>
				<direction>       1.00000000       0.00000000       0.00000000 </direction>
				<force_is_global> true </force_is_global>
				<optimal_force>    1000.00000000 </optimal_force>
			</PointActuator>
			<TorqueActuator name="default">
				<isDisabled> false </isDisabled>
				<!--Minimum allowed value for control signal. Used primarily when solving
				    for control values-->
				<min_control> -infinity </min_control>
				<!--Maximum allowed value for control signal. Used primarily when solving
				    for control values-->
				<max_control> infinity </max_control>
				<bodyA> Unassigned </bodyA>
				<bodyB> Unassigned </bodyB>
				<torque_is_global> true </torque_is_global>
				<axis>       1.00000000       0.00000000       0.00000000 </axis>
				<optimal_force>     300.00000000 </optimal_force>
			</TorqueActuator>
			<Thelen2003Muscle name="default">
				<isDisabled> false </isDisabled>
				<!--Minimum allowed value for control signal. Used primarily when solving
				    for control values-->
				<min_control>       0.00000000 </min_control>
				<!--Maximum allowed value for control signal. Used primarily when solving
				    for control values-->
				<max_control>       1.00000000 </max_control>
				<GeometryPath name="">
					<PathPointSet name="">
						<objects/>
						<groups/>
					</PathPointSet>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects/>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</PathWrapSet>
				</GeometryPath>
				<optimal_force>       1.00000000 </optimal_force>
				<!--Maximum isometric force that the fibers can generate-->
				<max_isometric_force>    1000.00000000 </max_isometric_force>
				<!--Optimal length of the muscle fibers-->
				<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
				<!--Resting length of the tendon-->
				<tendon_slack_length>       0.20000000 </tendon_slack_length>
				<!--Angle between tendon and fibers at optimal fiber length-->
				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
				    per second-->
				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
				<!--time constant for ramping up of muscle activation-->
				<activation_time_constant>       0.01000000 </activation_time_constant>
				<!--time constant for ramping down of muscle activation-->
				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
				<!--maximum contraction velocity at full activation in fiber lengths per
				    second-->
				<Vmax>      10.00000000 </Vmax>
				<!--maximum contraction velocity at low activation in fiber lengths per
				    second-->
				<Vmax0>       5.00000000 </Vmax0>
				<!--tendon strain due to maximum isometric muscle force-->
				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
				<!--passive muscle strain due to maximum isometric muscle force-->
				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
				<!--shape factor for Gaussian active muscle force-length relationship-->
				<KshapeActive>       0.50000000 </KshapeActive>
				<!--exponential shape factor for passive force-length relationship-->
				<KshapePassive>       4.00000000 </KshapePassive>
				<!--passive damping in the force-velocity relationship-->
				<damping>       0.05000000 </damping>
				<!--force-velocity shape factor-->
				<Af>       0.30000000 </Af>
				<!--maximum normalized lengthening force-->
				<Flen>       1.80000000 </Flen>
			</Thelen2003Muscle>
			<Schutte1993Muscle name="default">
				<isDisabled> false </isDisabled>
				<!--Minimum allowed value for control signal. Used primarily when solving
				    for control values-->
				<min_control>       0.00000000 </min_control>
				<!--Maximum allowed value for control signal. Used primarily when solving
				    for control values-->
				<max_control>       1.00000000 </max_control>
				<GeometryPath name="">
					<PathPointSet name="">
						<objects/>
						<groups/>
					</PathPointSet>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects/>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</PathWrapSet>
				</GeometryPath>
				<optimal_force>       1.00000000 </optimal_force>
				<!--Maximum isometric force that the fibers can generate-->
				<max_isometric_force>    1000.00000000 </max_isometric_force>
				<!--Optimal length of the muscle fibers-->
				<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
				<!--Resting length of the tendon-->
				<tendon_slack_length>       0.20000000 </tendon_slack_length>
				<!--Angle between tendon and fibers at optimal fiber length-->
				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
				    per second-->
				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
				<!--Scale factor for normalizing time-->
				<time_scale>       0.10000000 </time_scale>
				<!--Parameter used in time constant of ramping up of muscle force-->
				<activation1>       7.66700000 </activation1>
				<!--Parameter used in time constant of ramping up and ramping down of
				    muscle force-->
				<activation2>       1.45985400 </activation2>
				<!--Damping factor related to maximum contraction velocity-->
				<damping>       0.05000000 </damping>
				<!--Function representing force-length behavior of tendon-->
				<tendon_force_length_curve>
					<NaturalCubicSpline name="">
						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
					</NaturalCubicSpline>
				</tendon_force_length_curve>
				<!--Function representing active force-length behavior of muscle fibers-->
				<active_force_length_curve>
					<NaturalCubicSpline name="">
						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
					</NaturalCubicSpline>
				</active_force_length_curve>
				<!--Function representing passive force-length behavior of muscle fibers-->
				<passive_force_length_curve>
					<NaturalCubicSpline name="">
						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
					</NaturalCubicSpline>
				</passive_force_length_curve>
			</Schutte1993Muscle>
			<Delp1990Muscle name="default">
				<isDisabled> false </isDisabled>
				<!--Minimum allowed value for control signal. Used primarily when solving
				    for control values-->
				<min_control>       0.01000000 </min_control>
				<!--Maximum allowed value for control signal. Used primarily when solving
				    for control values-->
				<max_control>       1.00000000 </max_control>
				<GeometryPath name="">
					<PathPointSet name="">
						<objects/>
						<groups/>
					</PathPointSet>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects/>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</PathWrapSet>
				</GeometryPath>
				<optimal_force>       1.00000000 </optimal_force>
				<!--Maximum isometric force that the fibers can generate-->
				<max_isometric_force>       0.00000000 </max_isometric_force>
				<!--Optimal length of the muscle fibers-->
				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
				<!--Resting length of the tendon-->
				<tendon_slack_length>       0.00000000 </tendon_slack_length>
				<!--Angle between tendon and fibers at optimal fiber length-->
				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
				    per second-->
				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
				<!--Scale factor for normalizing time-->
				<time_scale>       0.10000000 </time_scale>
				<!--Parameter used in time constant of ramping up of muscle force-->
				<activation1>       0.00000000 </activation1>
				<!--Parameter used in time constant of ramping up and ramping down of
				    muscle force-->
				<activation2>       0.00000000 </activation2>
				<!--Normalized mass of the muscle between the tendon and muscle fibers-->
				<mass>       0.00000000 </mass>
				<!--Function representing force-length behavior of tendon-->
				<tendon_force_length_curve>
					<NaturalCubicSpline name="">
						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
					</NaturalCubicSpline>
				</tendon_force_length_curve>
				<!--Function representing active force-length behavior of muscle fibers-->
				<active_force_length_curve>
					<NaturalCubicSpline name="">
						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
					</NaturalCubicSpline>
				</active_force_length_curve>
				<!--Function representing passive force-length behavior of muscle fibers-->
				<passive_force_length_curve>
					<NaturalCubicSpline name="">
						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
					</NaturalCubicSpline>
				</passive_force_length_curve>
				<!--Function representing force-velocity behavior of muscle fibers-->
				<force_velocity_curve>
					<NaturalCubicSpline name="">
						<x>      -1.00000000      -0.95000000      -0.90000000      -0.85000000      -0.80000000      -0.75000000      -0.70000000      -0.65000000      -0.60000000      -0.55000000      -0.50000000      -0.45000000      -0.40000000      -0.35000000      -0.30000000      -0.25000000      -0.20000000      -0.15000000      -0.10000000      -0.05000000       0.00000000       0.05000000       0.10000000       0.15000000       0.20000000       0.25000000       0.30000000       0.35000000       0.40000000       0.45000000       0.50000000       0.55000000       0.60000000       0.65000000       0.70000000       0.75000000       0.80000000       0.85000000       0.90000000       0.95000000       1.00000000 </x>
						<y>       0.00000000       0.01041700       0.02173900       0.03409100       0.04761900       0.06250000       0.07894700       0.09722200       0.11764700       0.14062500       0.16666700       0.19642900       0.23076900       0.27083300       0.31818200       0.37500000       0.44444400       0.53125000       0.64285700       0.79166700       1.00000000       1.48201400       1.60157100       1.65579100       1.68673900       1.70675100       1.72075300       1.73109900       1.73905500       1.74536500       1.75049000       1.75473600       1.75831200       1.76136400       1.76399900       1.76629800       1.76832100       1.77011500       1.77171700       1.77315500       1.77445500 </y>
					</NaturalCubicSpline>
				</force_velocity_curve>
			</Delp1990Muscle>
			<CMC_Joint name="default">
				<!--Flag (true or false) indicating whether or not a task is enabled.-->
				<on> false </on>
				<!--Weight with which a task is tracked relative to other tasks. To track
				    a task more tightly, make the weight larger.-->
				<weight>       1.00000000       1.00000000       1.00000000 </weight>
				<!--Name of body frame with respect to which a tracking objective is
				    specified. The special name 'center_of_mass' refers to the system
				    center of mass. This property is not used for tracking joint angles.-->
				<wrt_body> -1 </wrt_body>
				<!--Name of body frame in which the tracking objectives are expressed.
				    This property is not used for tracking joint angles.-->
				<express_body> -1 </express_body>
				<!--Array of 3 flags (each true or false) specifying whether a component
				    of a task is active.  For example, tracking the trajectory of a point
				    in space could have three components (x,y,z).  This allows each of
				    those to be made active (true) or inactive (false).  A task for
				    tracking a joint coordinate only has one component.-->
				<active> false false false </active>
				<!--Position error feedback gain (stiffness). To achieve critical damping
				    of errors, choose kv = 2*sqrt(kp).-->
				<kp>       1.00000000       1.00000000       1.00000000 </kp>
				<!--Velocity error feedback gain (damping). To achieve critical damping of
				    errors, choose kv = 2*sqrt(kp).-->
				<kv>       1.00000000       1.00000000       1.00000000 </kv>
				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
				    gain.-->
				<ka>       1.00000000       1.00000000       1.00000000 </ka>
				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
				    this propery.-->
				<r0>       0.00000000       0.00000000       0.00000000 </r0>
				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
				    this property.-->
				<r1>       0.00000000       0.00000000       0.00000000 </r1>
				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
				    this property.-->
				<r2>       0.00000000       0.00000000       0.00000000 </r2>
				<!--Name of the coordinate to be tracked.-->
				<coordinate>  </coordinate>
				<!--Error limit on the tracking accuracy for this coordinate. If the
				    tracking errors approach this limit, the weighting for this coordinate
				    is increased.-->
				<limit>       0.00000000 </limit>
			</CMC_Joint>
		</defaults>
		<credits> Delp S.L., Loan J.P., Hoy M.G., Zajac F.E., Topp E.L., Rosen J.M., Thelen D.G., Anderson F.C., Seth A., Reinbolt J.A. </credits>
		<publications> Notes:  3D, 23 DOF gait model created by D.G. Thelen, Univ. of Wisconsin-Madison, and Ajay Seth, Frank C. Anderson, and Scott L. Delp, Stanford University.  Lower extremity joint defintions based on Delp et al. (1990).  Low back joint and anthropometry based on Anderson and Pandy (1999, 2001). Planar knee model of Yamaguchi and Zajac (1989).  Seth removed the patella to avoid kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame.  Number of muscles was reduced by Anderson to improve simulation speed for demonstrations and is not intended to be used in research.

Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures,  IEEE Transactions on Biomedical Engineering, vol. 37, pp. 757-767, 1990.

Yamaguchi G.T., Zajac F.E.: A planar model of the knee joint to characterize the knee extensor mechanism." J . Biomecl7. vol. 21. pp. 1-10. 1989.

Anderson F.C., Pandy M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2:201-231, 1999.

Anderson F.C., Pandy M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123:381-390, 2001. </publications>
		<ForceSet name="">
			<objects>
				<Thelen2003Muscle name="glut_med1_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_med1_r-P1">
									<location>      -0.04080000       0.03040000       0.12090000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_med1_r-P2">
									<location>      -0.02180000      -0.01170000       0.05550000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1119.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.07800000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.13962634 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med2_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_med2_r-P1">
									<location>      -0.08550000       0.04450000       0.07660000 </location>
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										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
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										<GeometrySet name="">
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										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_med2_r-P2">
									<location>      -0.02580000      -0.00580000       0.05270000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     873.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.08450000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.05300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med3_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_med3_r-P1">
									<location>      -0.12230000       0.01050000       0.06480000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_med3_r-P2">
									<location>      -0.03090000      -0.00470000       0.05180000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.06460000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.05300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.33161256 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemlh_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="bifemlh_r-P1">
									<location>      -0.12596000      -0.10257000       0.06944000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="bifemlh_r-P2">
									<location>      -0.03010000      -0.03600000       0.02943000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
								<PathPoint name="bifemlh_r-P3">
									<location>      -0.02340000      -0.05630000       0.03430000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2700.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10900000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.32600000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemsh_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="bifemsh_r-P1">
									<location>       0.00500000      -0.21110000       0.02340000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
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								<PathPoint name="bifemsh_r-P2">
									<location>      -0.03010000      -0.03600000       0.02943000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
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										<!--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>
									<body> tibia_r </body>
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								<PathPoint name="bifemsh_r-P3">
									<location>      -0.02340000      -0.05630000       0.03430000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     804.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.17300000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.08900000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.40142573 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="sar_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="sar_r-P1">
									<location>      -0.01530000      -0.00130000       0.12420000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="sar_r-P2">
									<location>      -0.00300000      -0.35680000      -0.04210000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="sar_r-P3">
									<location>      -0.00560000      -0.04190000      -0.03990000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
								<PathPoint name="sar_r-P4">
									<location>       0.00600000      -0.05890000      -0.03830000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
								<PathPoint name="sar_r-P5">
									<location>       0.02430000      -0.08400000      -0.02520000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     156.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.52000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.10000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="add_mag2_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="add_mag2_r-P1">
									<location>      -0.08310000      -0.11920000       0.03080000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="add_mag2_r-P2">
									<location>       0.00540000      -0.22850000       0.02270000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2343.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.12100000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tfl_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="tfl_r-P1">
									<location>      -0.03110000       0.02140000       0.12410000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="tfl_r-P2">
									<location>       0.02940000      -0.09950000       0.05970000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="tfl_r-P3">
									<location>       0.00540000      -0.40490000       0.03570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="tfl_r-P4">
									<location>       0.00600000      -0.04870000       0.02970000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     233.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.09500000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.42500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="pect_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="pect_r-P1">
									<location>      -0.04310000      -0.07680000       0.04510000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="pect_r-P2">
									<location>      -0.01220000      -0.08220000       0.02530000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     266.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.03300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="grac_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="grac_r-P1">
									<location>      -0.07401000      -0.11870000       0.02794000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="grac_r-P2">
									<location>      -0.02657000      -0.03190000      -0.03774000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
									<range>      -0.43633231       0.17453293 </range>
									<coordinate> knee_angle_r </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="grac_r-P3">
									<location>      -0.01943000      -0.05153000      -0.03580000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
								<PathPoint name="grac_r-P4">
									<location>       0.00600000      -0.08360000      -0.02280000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     162.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.35200000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12600000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max1_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_max1_r-P1">
									<location>      -0.11950000       0.06120000       0.07000000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max1_r-P2">
									<location>      -0.12910000       0.00120000       0.08860000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max1_r-P3">
									<location>      -0.04570000      -0.02480000       0.03920000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="glut_max1_r-P4">
									<location>      -0.02770000      -0.05660000       0.04700000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     573.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.14200000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max2_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_max2_r-P1">
									<location>      -0.13490000       0.01760000       0.05630000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max2_r-P2">
									<location>      -0.13760000      -0.05200000       0.09140000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max2_r-P3">
									<location>      -0.04260000      -0.05300000       0.02930000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="glut_max2_r-P4">
									<location>      -0.01560000      -0.10160000       0.04190000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     819.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.14700000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12700000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max3_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_max3_r-P1">
									<location>      -0.15560000      -0.03140000       0.00580000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max3_r-P2">
									<location>      -0.15290000      -0.10520000       0.04030000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max3_r-P3">
									<location>      -0.02990000      -0.10410000       0.01350000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="glut_max3_r-P4">
									<location>      -0.00600000      -0.14190000       0.04110000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     552.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.14400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.14500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="iliacus_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="iliacus_r-P1">
									<location>      -0.06740000       0.03650000       0.08540000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="iliacus_r-P2">
									<location>      -0.02580000      -0.05500000       0.08110000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="iliacus_r-P3">
									<location>      -0.02880000      -0.08050000       0.08160000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
									<range>      -1.57079633       0.78539816 </range>
									<coordinate> hip_flexion_r </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="iliacus_r-P4">
									<location>       0.00170000      -0.05430000       0.00570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="iliacus_r-P5">
									<location>      -0.01930000      -0.06210000       0.01290000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1073.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.10000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.12217305 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="psoas_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
ffor control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="psoas_r-P1">
									<location>      -0.06470000       0.08870000       0.02890000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="psoas_r-P2">
									<location>      -0.02380000      -0.05700000       0.07590000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="psoas_r-P3">
									<location>      -0.02880000      -0.08050000       0.08160000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
									<range>      -1.57079633       0.78539816 </range>
									<coordinate> hip_flexion_r </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="psoas_r-P4">
									<location>       0.00160000      -0.05070000       0.00380000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="psoas_r-P5">
									<location>      -0.01880000      -0.05970000       0.01040000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1113.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.16000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.13962634 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="quad_fem_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="quad_fem_r-P1">
									<location>      -0.11430000      -0.11510000       0.05200000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="quad_fem_r-P2">
									<location>      -0.03810000      -0.03590000       0.03660000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     381.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.05400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.02400000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="gem_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="gem_r-P1">
									<location>      -0.11330000      -0.08200000       0.07140000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="gem_r-P2">
									<location>      -0.01420000      -0.00330000       0.04430000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     164.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.02400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.03900000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="peri_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="peri_r-P1">
									<location>      -0.13960000       0.00030000       0.02350000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="peri_r-P2">
									<location>      -0.11930000      -0.02760000       0.06570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="peri_r-P3">
									<location>      -0.01480000      -0.00360000       0.04370000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     444.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.02600000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.11500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.17453293 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="rect_fem_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="rect_fem_r-P1">
									<location>      -0.02950000      -0.03110000       0.09680000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="rect_fem_r-P2">
									<location>       0.03340000      -0.40300000       0.00190000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
									<range>      -2.61799388      -1.45996792 </range>
									<coordinate> knee_angle_r </coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="rect_fem_r-P3">
									<location>       0.03076155       0.02531463       0.00140000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
									<x_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.01558050       0.01799382       0.02750810       0.02965635       0.03076155       0.03656953       0.04220742       0.04509018       0.04839100       0.05342993       0.06175755       0.06176687       0.06177620       0.06330831       0.06699396       0.07330346       0.05734807 </y>
										</NaturalCubicSpline>
									</x_location>
									<x_coordinate> knee_angle_r </x_coordinate>
									<y_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.02341162       0.02376131       0.02511413       0.02527948       0.02531463       0.02491840       0.02423731       0.02384473       0.02341972       0.02276440       0.02098402       0.02098143       0.02097883       0.02052247       0.01917541       0.01595544      -0.06737737 </y>
										</NaturalCubicSpline>
									</y_location>
									<y_coordinate> knee_angle_r </y_coordinate>
									<z_location>
										<NaturalCubicSpline name="">
											<x>      -2.09440000       0.17450000 </x>
											<y>       0.00140000       0.00140000 </y>
										</NaturalCubicSpline>
									</z_location>
									<z_coordinate> knee_angle_r </z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1169.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.11400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.31000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="vas_int_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="vas_int_r-P1">
									<location>       0.02900000      -0.19240000       0.03100000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<PathPoint name="vas_int_r-P2">
									<location>       0.03350000      -0.20840000       0.02850000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<ConditionalPathPoint name="vas_int_r-P3">
									<location>       0.03430000      -0.40300000       0.00550000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
									<range>      -2.61799388      -1.41999988 </range>
									<coordinate> knee_angle_r </coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="vas_int_r-P4">
									<location>       0.02345827       0.02751511       0.00180000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
									<x_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.00827330       0.01068662       0.02020416       0.02235298       0.02345827       0.02927151       0.03494648       0.03787104       0.04125689       0.04652869       0.05546322       0.05547346       0.05548371       0.05717169       0.06127199       0.06843685       0.06488175 </y>
										</NaturalCubicSpline>
									</x_location>
									<x_coordinate> knee_angle_r </x_coordinate>
									<y_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.02559904       0.02594872       0.02731241       0.02747964       0.02751511       0.02713628       0.02657369       0.02630726       0.02611870       0.02601292       0.02529232       0.02529107       0.02528981       0.02505258       0.02421913       0.02182878      -0.06857056 </y>
										</NaturalCubicSpline>
									</y_location>
									<y_coordinate> knee_angle_r </y_coordinate>
									<z_location>
										<NaturalCubicSpline name="">
											<x>      -2.09440000       2.09440000 </x>
											<y>       0.00180000       0.00180000 </y>
										</NaturalCubicSpline>
									</z_location>
									<z_coordinate> knee_angle_r </z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    5000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10700000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.11600000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="med_gas_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="med_gas_r-P1">
									<location>      -0.01900000      -0.39290000      -0.02350000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
								</PathPoint>
								<ConditionalPathPoint name="med_gas_r-P2">
									<location>      -0.03000000      -0.40220000      -0.02580000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_r </body>
									<range>      -0.78539816       0.17453293 </range>
									<coordinate> knee_angle_r </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="med_gas_r-P3">
									<location>       0.00000000       0.03100000      -0.00530000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2500.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.09000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.36000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.29670597 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="soleus_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="soleus_r-P1">
									<location>      -0.00240000      -0.15330000       0.00710000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
								<PathPoint name="soleus_r-P2">
									<location>       0.00000000       0.03100000      -0.00530000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
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										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
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										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
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										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    4000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.08000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.22000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.43633231 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_post_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="tib_post_r-P1">
									<location>      -0.00940000      -0.13480000       0.00190000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
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										<GeometrySet name="">
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										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
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									<body> tibia_r </body>
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									<location>      -0.01440000      -0.40510000      -0.02290000 </location>
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										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
								<PathPoint name="tib_post_r-P3">
									<location>       0.04170000       0.03340000      -0.02860000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
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										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_r </body>
								</PathPoint>
								<PathPoint name="tib_post_r-P4">
									<location>       0.07720000       0.01590000      -0.02810000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    3600.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.03100000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.31000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.20943951 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_ant_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="tib_ant_r-P1">
									<location>       0.01790000      -0.16240000       0.01150000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
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										<GeometrySet name="">
											<objects/>
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										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
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										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
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									<location>       0.03290000      -0.39510000      -0.01770000 </location>
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										</GeometrySet>
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										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_r </body>
								</PathPoint>
								<PathPoint name="tib_ant_r-P3">
									<location>       0.11660000       0.01780000      -0.03050000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_r </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    3000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.09800000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.22300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med1_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_med1_l-P1">
									<location>      -0.04080000       0.03040000      -0.12090000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
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										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_med1_l-P2">
									<location>      -0.02180000      -0.01170000      -0.05550000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1119.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.07800000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.13962634 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med2_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_med2_l-P1">
									<location>      -0.08550000       0.04450000      -0.07660000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_med2_l-P2">
									<location>      -0.02580000      -0.00580000      -0.05270000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     873.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.08450000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.05300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_med3_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_med3_l-P1">
									<location>      -0.12230000       0.01050000      -0.06480000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_med3_l-P2">
									<location>      -0.03090000      -0.00470000      -0.05180000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.06460000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.05300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.33161256 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemlh_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="bifemlh_l-P1">
									<location>      -0.12596000      -0.10257000      -0.06944000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="bifemlh_l-P2">
									<location>      -0.03010000      -0.03600000      -0.02943000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="bifemlh_l-P3">
									<location>      -0.02340000      -0.05630000      -0.03430000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2700.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10900000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.32600000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="bifemsh_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="bifemsh_l-P1">
									<location>       0.00500000      -0.21110000      -0.02340000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="bifemsh_l-P2">
									<location>      -0.03010000      -0.03600000      -0.02943000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="bifemsh_l-P3">
									<location>      -0.02340000      -0.05630000      -0.03430000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     804.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.17300000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.08900000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.40142573 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="sar_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="sar_l-P1">
									<location>      -0.01530000      -0.00130000      -0.12420000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="sar_l-P2">
									<location>      -0.00300000      -0.35680000       0.04210000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="sar_l-P3">
									<location>      -0.00560000      -0.04190000       0.03990000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="sar_l-P4">
									<location>       0.00600000      -0.05890000       0.03830000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="sar_l-P5">
									<location>       0.02430000      -0.08400000       0.02520000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     156.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.52000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.10000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="add_mag2_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="add_mag2_l-P1">
									<location>      -0.08310000      -0.11920000      -0.03080000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="add_mag2_l-P2">
									<location>       0.00540000      -0.22850000      -0.02270000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2343.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.12100000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tfl_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="tfl_l-P1">
									<location>      -0.03110000       0.02140000      -0.12410000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="tfl_l-P2">
									<location>       0.02940000      -0.09950000      -0.05970000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="tfl_l-P3">
									<location>       0.00540000      -0.40490000      -0.03570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="tfl_l-P4">
									<location>       0.00600000      -0.04870000      -0.02970000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     233.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.09500000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.42500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="pect_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="pect_l-P1">
									<location>      -0.04310000      -0.07680000      -0.04510000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="pect_l-P2">
									<location>      -0.01220000      -0.08220000      -0.02530000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     266.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.03300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="grac_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="grac_l-P1">
									<location>      -0.07401000      -0.11870000      -0.02794000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="grac_l-P2">
									<location>      -0.02657000      -0.03190000       0.03774000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
									<range>      -0.43633231       0.17453293 </range>
									<coordinate> knee_angle_l </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="grac_l-P3">
									<location>      -0.01943000      -0.05153000       0.03580000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="grac_l-P4">
									<location>       0.00600000      -0.08360000       0.02280000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     162.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.35200000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12600000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max1_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_max1_l-P1">
									<location>      -0.11950000       0.06120000      -0.07000000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max1_l-P2">
									<location>      -0.12910000       0.00120000      -0.08860000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max1_l-P3">
									<location>      -0.04570000      -0.02480000      -0.03920000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="glut_max1_l-P4">
									<location>      -0.02770000      -0.05660000      -0.04700000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     573.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.14200000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max2_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_max2_l-P1">
									<location>      -0.13490000       0.01760000      -0.05630000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max2_l-P2">
									<location>      -0.13760000      -0.05200000      -0.09140000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max2_l-P3">
									<location>      -0.04260000      -0.05300000      -0.02930000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="glut_max2_l-P4">
									<location>      -0.01560000      -0.10160000      -0.04190000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     819.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.14700000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.12700000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="glut_max3_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="glut_max3_l-P1">
									<location>      -0.15560000      -0.03140000      -0.00580000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max3_l-P2">
									<location>      -0.15290000      -0.10520000      -0.04030000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="glut_max3_l-P3">
									<location>      -0.02990000      -0.10410000      -0.01350000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="glut_max3_l-P4">
									<location>      -0.00600000      -0.14190000      -0.04110000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     552.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.14400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.14500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="iliacus_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="iliacus_l-P1">
									<location>      -0.06740000       0.03650000      -0.08540000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="iliacus_l-P2">
									<location>      -0.02580000      -0.05500000      -0.08110000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="iliacus_l-P3">
									<location>      -0.02880000      -0.08050000      -0.08160000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
									<range>      -1.57079633       0.78539816 </range>
									<coordinate> hip_flexion_l </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="iliacus_l-P4">
									<location>       0.00170000      -0.05430000      -0.00570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="iliacus_l-P5">
									<location>      -0.01930000      -0.06210000      -0.01290000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1073.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.10000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.12217305 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="psoas_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="psoas_l-P1">
									<location>      -0.06470000       0.08870000      -0.02890000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="psoas_l-P2">
									<location>      -0.02380000      -0.05700000      -0.07590000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="psoas_l-P3">
									<location>      -0.02880000      -0.08050000      -0.08160000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
									<range>      -1.57079633       0.78539816 </range>
									<coordinate> hip_flexion_l </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="psoas_l-P4">
									<location>       0.00160000      -0.05070000      -0.00380000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="psoas_l-P5">
									<location>      -0.01880000      -0.05970000      -0.01040000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1113.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.16000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.13962634 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="quad_fem_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="quad_fem_l-P1">
									<location>      -0.11430000      -0.11510000      -0.05200000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="quad_fem_l-P2">
									<location>      -0.03810000      -0.03590000      -0.03660000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     381.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.05400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.02400000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="gem_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="gem_l-P1">
									<location>      -0.11330000      -0.08200000      -0.07140000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="gem_l-P2">
									<location>      -0.01420000      -0.00330000      -0.04430000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     164.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.02400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.03900000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="peri_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="peri_l-P1">
									<location>      -0.13960000       0.00030000      -0.02350000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="peri_l-P2">
									<location>      -0.11930000      -0.02760000      -0.06570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="peri_l-P3">
									<location>      -0.01480000      -0.00360000      -0.04370000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     444.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.02600000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.11500000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.17453293 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="rect_fem_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="rect_fem_l-P1">
									<location>      -0.02950000      -0.03110000      -0.09680000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<ConditionalPathPoint name="rect_fem_l-P2">
									<location>       0.03340000      -0.40300000      -0.00190000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
									<range>      -2.61799388      -1.45996792 </range>
									<coordinate> knee_angle_l </coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="rect_fem_l-P3">
									<location>       0.03076155       0.02531463      -0.00140000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
									<x_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.01558050       0.01799382       0.02750810       0.02965635       0.03076155       0.03656953       0.04220742       0.04509018       0.04839100       0.05342993       0.06175755       0.06176687       0.06177620       0.06330831       0.06699396       0.07330346       0.05734807 </y>
										</NaturalCubicSpline>
									</x_location>
									<x_coordinate> knee_angle_l </x_coordinate>
									<y_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.02341162       0.02376131       0.02511413       0.02527948       0.02531463       0.02491840       0.02423731       0.02384473       0.02341972       0.02276440       0.02098402       0.02098143       0.02097883       0.02052247       0.01917541       0.01595544      -0.06737737 </y>
										</NaturalCubicSpline>
									</y_location>
									<y_coordinate> knee_angle_l </y_coordinate>
									<z_location>
										<NaturalCubicSpline name="">
											<x>      -2.09440000       0.17450000 </x>
											<y>      -0.00140000      -0.00140000 </y>
										</NaturalCubicSpline>
									</z_location>
									<z_coordinate> knee_angle_l </z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    1169.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.11400000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.31000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="vas_int_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="vas_int_l-P1">
									<location>       0.02900000      -0.19240000      -0.03100000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<PathPoint name="vas_int_l-P2">
									<location>       0.03350000      -0.20840000      -0.02850000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<ConditionalPathPoint name="vas_int_l-P3">
									<location>       0.03430000      -0.40300000      -0.00550000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
									<range>      -2.61799388      -1.41999988 </range>
									<coordinate> knee_angle_l </coordinate>
								</ConditionalPathPoint>
								<MovingPathPoint name="vas_int_l-P4">
									<location>       0.02345827       0.02751511      -0.00180000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
									<x_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.00827330       0.01068662       0.02020416       0.02235298       0.02345827       0.02927151       0.03494648       0.03787104       0.04125689       0.04652869       0.05546322       0.05547346       0.05548371       0.05717169       0.06127199       0.06843685       0.06488175 </y>
										</NaturalCubicSpline>
									</x_location>
									<x_coordinate> knee_angle_l </x_coordinate>
									<y_location>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.99997279      -1.57079633      -1.45752446      -1.39626340      -1.04719755      -0.69813170      -0.52639130      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.02792527       0.08726646       0.17453293       2.09439510 </x>
											<y>       0.02559904       0.02594872       0.02731241       0.02747964       0.02751511       0.02713628       0.02657369       0.02630726       0.02611870       0.02601292       0.02529232       0.02529107       0.02528981       0.02505258       0.02421913       0.02182878      -0.06857056 </y>
										</NaturalCubicSpline>
									</y_location>
									<y_coordinate> knee_angle_l </y_coordinate>
									<z_location>
										<NaturalCubicSpline name="">
											<x>      -2.09440000       2.09440000 </x>
											<y>      -0.00180000      -0.00180000 </y>
										</NaturalCubicSpline>
									</z_location>
									<z_coordinate> knee_angle_l </z_coordinate>
								</MovingPathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    5000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10700000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.11600000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.05235988 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="med_gas_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="med_gas_l-P1">
									<location>      -0.01900000      -0.39290000       0.02350000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
								</PathPoint>
								<ConditionalPathPoint name="med_gas_l-P2">
									<location>      -0.03000000      -0.40220000       0.02580000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> femur_l </body>
									<range>      -0.78539816       0.17453293 </range>
									<coordinate> knee_angle_l </coordinate>
								</ConditionalPathPoint>
								<PathPoint name="med_gas_l-P3">
									<location>       0.00000000       0.03100000       0.00530000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2500.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.09000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.36000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.29670597 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="soleus_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="soleus_l-P1">
									<location>      -0.00240000      -0.15330000      -0.00710000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="soleus_l-P2">
									<location>       0.00000000       0.03100000       0.00530000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    4000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.08000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.22000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.43633231 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_post_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="tib_post_l-P1">
									<location>      -0.00940000      -0.13480000      -0.00190000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="tib_post_l-P2">
									<location>      -0.01440000      -0.40510000       0.02290000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="tib_post_l-P3">
									<location>       0.04170000       0.03340000       0.02860000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_l </body>
								</PathPoint>
								<PathPoint name="tib_post_l-P4">
									<location>       0.07720000       0.01590000       0.02810000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    3600.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.03100000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.31000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.20943951 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="tib_ant_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="tib_ant_l-P1">
									<location>       0.01790000      -0.16240000      -0.01150000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="tib_ant_l-P2">
									<location>       0.03290000      -0.39510000       0.01770000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> tibia_l </body>
								</PathPoint>
								<PathPoint name="tib_ant_l-P3">
									<location>       0.11660000       0.01780000       0.03050000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> calcn_l </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    3000.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.09800000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.22300000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.08726646 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ercspn_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="ercspn_r-P1">
									<location>      -0.14000000       0.04390000       0.04360000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="ercspn_r-P2">
									<location>      -0.05500000       0.11000000       0.02410000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> torso </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2500.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.12000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.03000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="ercspn_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="ercspn_l-P1">
									<location>      -0.14000000       0.04390000      -0.04360000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="ercspn_l-P2">
									<location>      -0.05500000       0.11000000      -0.02410000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> torso </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>    2500.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.12000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.03000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="intobl_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="intobl_r-P1">
									<location>      -0.04000000       0.07000000       0.11570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="intobl_r-P2">
									<location>       0.07000000       0.16000000       0.01500000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> torso </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     900.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.10000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="intobl_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="intobl_l-P1">
									<location>      -0.04000000       0.07000000      -0.11570000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="intobl_l-P2">
									<location>       0.07000000       0.16000000      -0.01500000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> torso </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     900.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.10000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.10000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="extobl_r">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="extobl_r-P1">
									<location>      -0.03000000      -0.06360000       0.01000000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="extobl_r-P2">
									<location>       0.06500000       0.11000000       0.11000000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> torso </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     900.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.12000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.14000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<Thelen2003Muscle name="extobl_l">
					<isDisabled> false </isDisabled>
					<!--Minimum allowed value for control signal. Used primarily when solving
					    for control values-->
					<min_control>       0.00000000 </min_control>
					<!--Maximum allowed value for control signal. Used primarily when solving
					    for control values-->
					<max_control>       1.00000000 </max_control>
					<GeometryPath name="">
						<PathPointSet name="">
							<objects>
								<PathPoint name="extobl_l-P1">
									<location>      -0.03000000      -0.06360000      -0.01000000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> pelvis </body>
								</PathPoint>
								<PathPoint name="extobl_l-P2">
									<location>       0.06500000       0.11000000      -0.11000000 </location>
									<VisibleObject name="">
										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
										    .obj-->
										<GeometrySet name="">
											<objects/>
											<groups/>
										</GeometrySet>
										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
										<!--transform relative to owner specified as 3 rotations (rad) followed by
										    3 translations rX rY rZ tx ty tz-->
										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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>
									<body> torso </body>
								</PathPoint>
							</objects>
							<groups/>
						</PathPointSet>
						<VisibleObject name="">
							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
							    .obj-->
							<GeometrySet name="">
								<objects/>
								<groups/>
							</GeometrySet>
							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
							<!--transform relative to owner specified as 3 rotations (rad) followed by
							    3 translations rX rY rZ tx ty tz-->
							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
							<objects/>
							<groups/>
						</PathWrapSet>
					</GeometryPath>
					<optimal_force>       1.00000000 </optimal_force>
					<!--Maximum isometric force that the fibers can generate-->
					<max_isometric_force>     900.00000000 </max_isometric_force>
					<!--Optimal length of the muscle fibers-->
					<optimal_fiber_length>       0.12000000 </optimal_fiber_length>
					<!--Resting length of the tendon-->
					<tendon_slack_length>       0.14000000 </tendon_slack_length>
					<!--Angle between tendon and fibers at optimal fiber length-->
					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
					    per second-->
					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
					<!--time constant for ramping up of muscle activation-->
					<activation_time_constant>       0.01000000 </activation_time_constant>
					<!--time constant for ramping down of muscle activation-->
					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
					<!--maximum contraction velocity at full activation in fiber lengths per
					    second-->
					<Vmax>      10.00000000 </Vmax>
					<!--maximum contraction velocity at low activation in fiber lengths per
					    second-->
					<Vmax0>       5.00000000 </Vmax0>
					<!--tendon strain due to maximum isometric muscle force-->
					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
					<!--passive muscle strain due to maximum isometric muscle force-->
					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
					<!--shape factor for Gaussian active muscle force-length relationship-->
					<KshapeActive>       0.50000000 </KshapeActive>
					<!--exponential shape factor for passive force-length relationship-->
					<KshapePassive>       4.00000000 </KshapePassive>
					<!--passive damping in the force-velocity relationship-->
					<damping>       0.05000000 </damping>
					<!--force-velocity shape factor-->
					<Af>       0.30000000 </Af>
					<!--maximum normalized lengthening force-->
					<Flen>       1.80000000 </Flen>
				</Thelen2003Muscle>
				<HuntCrossleyForce name="foot_r">
				 <isDisabled> false </isDisabled>
				 <HuntCrossleyForce::ContactParametersSet name="">
				   <objects>
					<HuntCrossleyForce::ContactParameters name="">
							<geometry> platform r_heel_lat r_heel_med r_toe_lat r_toe_med r_toe  </geometry>
							<stiffness> 100000000.00000000000000000000 </stiffness>
							<dissipation>       0.50000000000000000000 </dissipation>
							<static_friction>       0.90000000000000002000 </static_friction>
							<dynamic_friction>       0.90000000000000002000 </dynamic_friction>
							<viscous_friction>       0.6 </viscous_friction>
					</HuntCrossleyForce::ContactParameters>
				   </objects>
				   <groups/>
				 </HuntCrossleyForce::ContactParametersSet>
				 <transition_velocity>       0.10000000000000001000 </transition_velocity>
				</HuntCrossleyForce>
                <HuntCrossleyForce name="foot_l">
				 <isDisabled> false </isDisabled>
				 <HuntCrossleyForce::ContactParametersSet name="">
				   <objects>
					<HuntCrossleyForce::ContactParameters name="">
							<geometry> platform l_heel_lat l_heel_med l_toe_lat l_toe_med l_toe  </geometry>
							<stiffness> 100000000.00000000000000000000 </stiffness>
							<dissipation>       0.50000000000000000000 </dissipation>
							<static_friction>       0.90000000000000002000 </static_friction>
							<dynamic_friction>       0.90000000000000002000 </dynamic_friction>
							<viscous_friction>       0.6 </viscous_friction>
					</HuntCrossleyForce::ContactParameters>
				   </objects>
				   <groups/>
				 </HuntCrossleyForce::ContactParametersSet>
				 <transition_velocity>       0.10000000000000001000 </transition_velocity>
				</HuntCrossleyForce>
				<CoordinateLimitForce name="LumbarExtensionLimit">
					<isDisabled> false </isDisabled>
					<coordinate> lumbar_extension </coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper
					    limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>      20.00000000 </upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in
					    degrees).-->
					<upper_limit>      25.00000000 </upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower
					    limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>      20.00000000 </lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in
					    degrees).-->
					<lower_limit>     -75.00000000 </lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is
					    exceeded-->
					<damping>       0.25000000 </damping>
					<!--Transition region width in the units of the coordinate (rotations in
					    degrees).Dictates the transition from zero to constant stiffness as
					    coordinate exceeds its limit.-->
					<transition>      10.00000000 </transition>
				</CoordinateLimitForce>
				<CoordinateLimitForce name="KneeLimit_r">
					<isDisabled> false </isDisabled>
					<coordinate> knee_angle_r </coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper
					    limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>      20.00000000 </upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in
					    degrees).-->
					<upper_limit>      0.00000000 </upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower
					    limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>      20.00000000 </lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in
					    degrees).-->
					<lower_limit>    -120.00000000 </lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is
					    exceeded-->
					<damping>       0.25000000 </damping>
					<!--Transition region width in the units of the coordinate (rotations in
					    degrees).Dictates the transition from zero to constant stiffness as
					    coordinate exceeds its limit.-->
					<transition>      10.00000000 </transition>
				</CoordinateLimitForce>
				<CoordinateLimitForce name="KneeLimit_l">
					<isDisabled> false </isDisabled>
					<coordinate> knee_angle_l </coordinate>
					<!--Stiffness of the passive limit force when coordinate exceeds upper
					    limit. Note, rotational stiffness expected in N*m/degree.-->
					<upper_stiffness>      20.00000000 </upper_stiffness>
					<!--The upper limit of the coordinate range of motion (rotations in
					    degrees).-->
					<upper_limit>      0.00000000 </upper_limit>
					<!--Stiffness of the passive limit force when coordinate exceeds lower
					    limit. Note, rotational stiffness expected in N*m/degree.-->
					<lower_stiffness>      20.00000000 </lower_stiffness>
					<!--The lower limit of the coordinate range of motion (rotations in
					    degrees).-->
					<lower_limit>    -120.00000000 </lower_limit>
					<!--Damping factor on the coordinate's speed applied only when limit is
					    exceeded-->
					<damping>       0.25000000 </damping>
					<!--Transition region width in the units of the coordinate (rotations in
					    degrees).Dictates the transition from zero to constant stiffness as
					    coordinate exceeds its limit.-->
					<transition>      10.00000000 </transition>
				</CoordinateLimitForce>
			</objects>
			<groups>
				<ObjectGroup name="R_hip_abd">
					<members> glut_max1_r glut_med1_r glut_med2_r glut_med3_r peri_r sar_r tfl_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_flex">
					<members> glut_med1_r grac_r iliacus_r pect_r psoas_r rect_fem_r sar_r tfl_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_inrot">
					<members> glut_med1_r iliacus_r psoas_r tfl_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_exrot">
					<members> gem_r glut_med3_r peri_r quad_fem_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_ext">
					<members> add_mag2_r bifemlh_r glut_max1_r glut_max2_r glut_max3_r glut_med3_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_hip_add">
					<members> add_mag2_r bifemlh_r grac_r pect_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_knee_bend">
					<members> bifemlh_r bifemsh_r grac_r med_gas_r sar_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_knee_ext">
					<members> rect_fem_r vas_int_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_ankle_pf">
					<members> med_gas_r soleus_r tib_post_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_inverter">
					<members> tib_ant_r tib_post_r </members>
				</ObjectGroup>
				<ObjectGroup name="R_ankle_df">
					<members> tib_ant_r </members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_abd">
					<members> glut_max1_l glut_med1_l glut_med2_l glut_med3_l peri_l sar_l tfl_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_flex">
					<members> glut_med1_l grac_l iliacus_l pect_l psoas_l rect_fem_l sar_l tfl_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_inrot">
					<members> glut_med1_l iliacus_l psoas_l tfl_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_exrot">
					<members> gem_l glut_med3_l peri_l quad_fem_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_ext">
					<members> add_mag2_l bifemlh_l glut_max1_l glut_max2_l glut_max3_l glut_med3_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_hip_add">
					<members> add_mag2_l bifemlh_l grac_l pect_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_knee_bend">
					<members> bifemlh_l bifemsh_l grac_l med_gas_l sar_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_knee_ext">
					<members> rect_fem_l vas_int_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_ankle_pf">
					<members> med_gas_l soleus_l tib_post_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_inverter">
					<members> tib_ant_l tib_post_l </members>
				</ObjectGroup>
				<ObjectGroup name="L_ankle_df">
					<members> tib_ant_l </members>
				</ObjectGroup>
				<ObjectGroup name="back_ext">
					<members> ercspn_l ercspn_r </members>
				</ObjectGroup>
				<ObjectGroup name="back_rlb">
					<members> ercspn_r extobl_r intobl_r </members>
				</ObjectGroup>
				<ObjectGroup name="back_introt">
					<members> ercspn_r extobl_l intobl_r </members>
				</ObjectGroup>
				<ObjectGroup name="back_llb">
					<members> ercspn_l extobl_l intobl_l </members>
				</ObjectGroup>
				<ObjectGroup name="back_extrot">
					<members> ercspn_l extobl_r intobl_l </members>
				</ObjectGroup>
				<ObjectGroup name="back_flex">
					<members> extobl_l extobl_r intobl_l intobl_r </members>
				</ObjectGroup>
			</groups>
		</ForceSet>
		<length_units> meters </length_units>
		<force_units> N </force_units>
		<!--Acceleration due to gravity.-->
		<gravity>       0.00000000      -9.80665000       0.00000000 </gravity>
		<!--Bodies in the model.-->
		<BodySet name="">
			<objects>
				<Body name="ground">
					<mass>       0.00000000 </mass>
					<mass_center>       0.00000000       0.00000000       0.00000000 </mass_center>
					<inertia_xx>       0.00000000 </inertia_xx>
					<inertia_yy>       0.00000000 </inertia_yy>
					<inertia_zz>       0.00000000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint/>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> Unassigned </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="pelvis">
					<mass>      11.77700000 </mass>
					<mass_center>      -0.07070000       0.00000000       0.00000000 </mass_center>
					<inertia_xx>       0.10280000 </inertia_xx>
					<inertia_yy>       0.08710000 </inertia_yy>
					<inertia_zz>       0.05790000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="ground_pelvis">
							<parent_body> ground </parent_body>
							<location_in_parent>       0.00000000       0.00000000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="pelvis_tilt">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>      -0.435194554 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -0.435194554 </initial_value>
										<range>      -1.57079633       1.57079633 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pelvis_list">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       -0.000520379 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       -0.000520379 </initial_value>
										<range>      -1.57079633       1.57079633 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pelvis_rotation">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       -0.000336776 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       -0.000336776 </initial_value>
										<range>      -1.57079633       1.57079633 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pelvis_tx">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>       -0.000925015 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       -0.000925015 </initial_value>
										<range>      -5.00000000       5.00000000 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pelvis_ty">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>       0.709164751 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.709164751 </initial_value>
										<range>      -1.00000000       2.00000000 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pelvis_tz">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>       -0.000443383 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       -0.000443383 </initial_value>
										<range>      -3.00000000       3.00000000 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pelvis_tilt </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pelvis_list </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pelvis_rotation </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pelvis_tx </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pelvis_ty </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pelvis_tz </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> sacrum.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> pelvis.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> l_pelvis.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="femur_r">
					<mass>       9.30140000 </mass>
					<mass_center>       0.00000000      -0.17000000       0.00000000 </mass_center>
					<inertia_xx>       0.13390000 </inertia_xx>
					<inertia_yy>       0.03510000 </inertia_yy>
					<inertia_zz>       0.14120000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="hip_r">
							<parent_body> pelvis </parent_body>
							<location_in_parent>      -0.07070000      -0.06610000       0.08350000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="hip_flexion_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       1.32645023 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       1.32645023 </initial_value>
										<range>      -2.09439510       2.09439510 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="hip_adduction_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>      -0.10471976 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -0.10471976 </initial_value>
										<range>      -2.09439510       2.09439510 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="hip_rotation_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.05235988 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.05235988 </initial_value>
										<range>      -2.09439510       2.09439510 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> hip_flexion_r </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> hip_adduction_r </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> hip_rotation_r </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> femur_r.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="tibia_r">
					<mass>       3.60750000 </mass>
					<mass_center>       0.00000000      -0.18700000       0.00000000 </mass_center>
					<inertia_xx>       0.05040000 </inertia_xx>
					<inertia_yy>       0.00510000 </inertia_yy>
					<inertia_zz>       0.05110000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="knee_r">
							<parent_body> femur_r </parent_body>
							<location_in_parent>       0.00000000       0.00000000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="knee_angle_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>      -1.39626340 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -1.39626340 </initial_value>
										<range>      -2.09439510       0.17453293 </range>
										<clamped> true </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="tib_tx_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>       0.00411000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.00411000 </initial_value>
										<range>      -5.00000000       5.00000000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="tib_ty_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>      -0.41105524 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -0.41105524 </initial_value>
										<range>      -1.00000000       2.00000000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> knee_angle_r </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> tib_tx_r </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> tib_ty_r </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> tibia_r.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> fibula.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="patella_r">
					<mass>       0.10000000 </mass>
					<mass_center>       0.00000000       0.00000000       0.00000000 </mass_center>
					<inertia_xx>       0.00100000 </inertia_xx>
					<inertia_yy>       0.00100000 </inertia_yy>
					<inertia_zz>       0.00100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="tib_pat_r">
							<parent_body> tibia_r </parent_body>
							<location_in_parent>       0.00000000       0.00000000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="pat_angle_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.17500000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.30623248 </initial_value>
										<range>      -2.09400000       0.17500000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pat_tx_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>       0.03240000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.03240000 </initial_value>
										<range>      -5.00000000       5.00000000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pat_ty_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>      -0.02000000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -0.02000000 </initial_value>
										<range>      -5.00000000       5.00000000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pat_angle_r </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pat_tx_r </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pat_ty_r </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> pat.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="talus_r">
					<mass>       0.10000000 </mass>
					<mass_center>       0.00000000       0.00000000       0.00000000 </mass_center>
					<inertia_xx>       0.00100000 </inertia_xx>
					<inertia_yy>       0.00100000 </inertia_yy>
					<inertia_zz>       0.00100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="ankle_r">
							<parent_body> tibia_r </parent_body>
							<location_in_parent>       0.00000000      -0.43000000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="ankle_angle_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.549778714 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.549778714 </initial_value>
										<range>      -1.57100000       1.57100000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> ankle_angle_r </coordinates>
									<axis>      -0.10500000      -0.17400000       0.97900000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.97900000      -0.00000000       0.10500000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> talus.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="calcn_r">
					<mass>       1.25000000 </mass>
					<mass_center>       0.10000000       0.03000000       0.00000000 </mass_center>
					<inertia_xx>       0.00100000 </inertia_xx>
					<inertia_yy>       0.00400000 </inertia_yy>
					<inertia_zz>       0.00400000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="subtalar_r">
							<parent_body> talus_r </parent_body>
							<location_in_parent>      -0.04900000      -0.04200000       0.00800000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="subtalar_angle_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.248709418 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.248709418 </initial_value>
										<range>      -1.57100000       1.57100000 </range>
										<clamped> false </clamped>
										<locked> true </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> subtalar_angle_r </coordinates>
									<axis>       0.78700000       0.60500000      -0.12100000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>      -0.12100000       0.00000000      -0.78700000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> foot.vtp </geometry_file> <!-- foot.vtp -->
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="toes_r">
					<mass>       0.21700000 </mass>
					<mass_center>       0.03500000       0.00600000      -0.01800000 </mass_center>
					<inertia_xx>       0.00000000 </inertia_xx>
					<inertia_yy>       0.00000000 </inertia_yy>
					<inertia_zz>       0.00100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="mtp_r">
							<parent_body> calcn_r </parent_body>
							<location_in_parent>       0.17900000      -0.00200000       0.00100000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="mtp_angle_r">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.00000000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.00000000 </initial_value>
										<range>      -1.57100000       1.57100000 </range>
										<clamped> false </clamped>
										<locked> true </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> mtp_angle_r </coordinates>
									<axis>      -0.58100000       0.00000000       0.81400000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.81400000      -0.00000000       0.58100000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> bofoot.vtp </geometry_file> <!-- bofoot.vtp -->
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="femur_l">
					<mass>       9.30100000 </mass>
					<mass_center>       0.00000000      -0.17000000       0.00000000 </mass_center>
					<inertia_xx>       0.13400000 </inertia_xx>
					<inertia_yy>       0.03500000 </inertia_yy>
					<inertia_zz>       0.14100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="hip_l">
							<parent_body> pelvis </parent_body>
							<location_in_parent>      -0.07100000      -0.06600000      -0.08400000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="hip_flexion_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       1.32645024 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       1.32645024 </initial_value>
										<range>      -2.09400000       2.09400000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="hip_adduction_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>      -0.10471976 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -0.10471976 </initial_value>
										<range>      -2.09400000       2.09400000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="hip_rotation_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.05235988 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.05235988 </initial_value>
										<range>      -2.09400000       2.09400000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> hip_flexion_l </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> hip_adduction_l </coordinates>
									<axis>      -1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> hip_rotation_l </coordinates>
									<axis>       0.00000000      -1.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> femur_l.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="tibia_l">
					<mass>       3.60750000 </mass>
					<mass_center>       0.00000000      -0.18700000       0.00000000 </mass_center>
					<inertia_xx>       0.05040000 </inertia_xx>
					<inertia_yy>       0.00510000 </inertia_yy>
					<inertia_zz>       0.05110000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="knee_l">
							<parent_body> femur_l </parent_body>
							<location_in_parent>       0.00000000       0.00000000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="knee_angle_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>      -1.39626333 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -1.39626333 </initial_value>
										<range>      -2.09439510       0.17453293 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> knee_angle_l </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.74532925      -1.39626340      -1.04719755      -0.69813170      -0.34906585      -0.17453293       0.19734422       0.33739496       0.49017757       1.52146027       2.09439510 </x>
											<y>      -0.00320000       0.00179000       0.00411000       0.00410000       0.00212000      -0.00100000      -0.00310000      -0.00522700      -0.00543500      -0.00557400      -0.00543500      -0.00525000 </y>
										</NaturalCubicSpline>
									</function>
									<coordinates> knee_angle_l </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<NaturalCubicSpline name="">
											<x>      -2.09439510      -1.22173048      -0.52359878      -0.34906585      -0.17453293       0.15914856       2.09439510 </x>
											<y>      -0.42260000      -0.40820000      -0.39900000      -0.39760000      -0.39660000      -0.39526400      -0.39600000 </y>
										</NaturalCubicSpline>
									</function>
									<coordinates> knee_angle_l </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> tibia_l.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> l_fibula.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="patella_l">
					<mass>       0.10000000 </mass>
					<mass_center>       0.00000000       0.00000000       0.00000000 </mass_center>
					<inertia_xx>       0.00100000 </inertia_xx>
					<inertia_yy>       0.00100000 </inertia_yy>
					<inertia_zz>       0.00100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="tib_pat_l">
							<parent_body> tibia_l </parent_body>
							<location_in_parent>       0.00000000       0.00000000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="pat_angle_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.17500000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.30623248 </initial_value>
										<range>      -2.09400000       0.17500000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pat_tx_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>       0.03239996 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.03239996 </initial_value>
										<range>      -5.00000000       5.00000000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="pat_ty_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> translational </motion_type>
										<default_value>      -0.02000000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -0.02000000 </initial_value>
										<range>      -5.00000000       5.00000000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pat_angle_l </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pat_tx_l </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> pat_ty_l </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> l_patella.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="talus_l">
					<mass>       0.10000000 </mass>
					<mass_center>       0.00000000       0.00000000       0.00000000 </mass_center>
					<inertia_xx>       0.00100000 </inertia_xx>
					<inertia_yy>       0.00100000 </inertia_yy>
					<inertia_zz>       0.00100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="ankle_l">
							<parent_body> tibia_l </parent_body>
							<location_in_parent>       0.00000000      -0.43000000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="ankle_angle_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.549778714 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.549778714 </initial_value>
										<range>      -1.04700000       1.04700000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> ankle_angle_l </coordinates>
									<axis>       0.10500000      0.17400000       0.97900000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.97900000       0.00000000      -0.10500000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> l_talus.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="calcn_l">
					<mass>       1.25000000 </mass>
					<mass_center>       0.10000000       0.03000000       0.00000000 </mass_center>
					<inertia_xx>       0.00100000 </inertia_xx>
					<inertia_yy>       0.00400000 </inertia_yy>
					<inertia_zz>       0.00400000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="subtalar_l">
							<parent_body> talus_l </parent_body>
							<location_in_parent>      -0.04900000      -0.04200000      -0.00800000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="subtalar_angle_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.248709418</default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.248709418 </initial_value>
										<range>      -1.57100000       1.57100000 </range>
										<clamped> false </clamped>
										<locked> true </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> subtalar_angle_l </coordinates>
									<axis>      -0.78700000      -0.60500000      -0.12100000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>      -0.12100000       0.00000000       0.78700000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> l_foot.vtp </geometry_file> <!-- l_foot.vtp -->
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="toes_l">
					<mass>       0.21700000 </mass>
					<mass_center>       0.03500000       0.00600000       0.01800000 </mass_center>
					<inertia_xx>       0.00000000 </inertia_xx>
					<inertia_yy>       0.00000000 </inertia_yy>
					<inertia_zz>       0.00100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="mtp_l">
							<parent_body> calcn_l </parent_body>
							<location_in_parent>       0.17900000      -0.00200000      -0.00100000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="mtp_angle_l">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.00000000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.00000000 </initial_value>
										<range>      -1.04700000       1.04700000 </range>
										<clamped> false </clamped>
										<locked> true </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> mtp_angle_l </coordinates>
									<axis>       0.58100000       0.00000000       0.81400000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.81400000       0.00000000      -0.58100000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> l_bofoot.vtp </geometry_file> <!-- l_bofoot.vtp -->
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
				<Body name="torso">
					<mass>      34.23700000 </mass>
					<mass_center>      -0.03000000       0.32000000       0.00000000 </mass_center>
					<inertia_xx>       1.47400000 </inertia_xx>
					<inertia_yy>       0.75500000 </inertia_yy>
					<inertia_zz>       1.43100000 </inertia_zz>
					<inertia_xy>       0.00000000 </inertia_xy>
					<inertia_xz>       0.00000000 </inertia_xz>
					<inertia_yz>       0.00000000 </inertia_yz>
					<!--Joint that connects this body with the parent body.-->
					<Joint>
						<CustomJoint name="back">
							<parent_body> pelvis </parent_body>
							<location_in_parent>      -0.10100000       0.08200000       0.00000000 </location_in_parent>
							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
							<location>       0.00000000       0.00000000       0.00000000 </location>
							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
							<!--Generalized coordinates parameterizing this joint.-->
							<CoordinateSet name="">
								<objects>
									<Coordinate name="lumbar_extension">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>      -0.17453293 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>      -0.17453293 </initial_value>
										<range>      -1.57100000       1.57100000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="lumbar_bending">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.00000000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.00000000 </initial_value>
										<range>      -1.57100000       1.57100000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
									<Coordinate name="lumbar_rotation">
										<!--Cooridnate can describe rotational, translational, or coupled values.
										    Defaults to rotational.-->
										<motion_type> rotational </motion_type>
										<default_value>       0.00000000 </default_value>
										<default_speed_value>       0.00000000 </default_speed_value>
										<initial_value>       0.00000000 </initial_value>
										<range>      -1.57100000       1.57100000 </range>
										<clamped> false </clamped>
										<locked> false </locked>
										<prescribed_function/>
									</Coordinate>
								</objects>
								<groups/>
							</CoordinateSet>
							<reverse> false </reverse>
							<SpatialTransform name="">
								<!--3 Axes for rotations are listed first.-->
								<TransformAxis name="rotation1">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> lumbar_extension </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation2">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> lumbar_bending </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="rotation3">
									<function>
										<LinearFunction name="">
											<coefficients>       1.00000000       0.00000000 </coefficients>
										</LinearFunction>
									</function>
									<coordinates> lumbar_rotation </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<!--3 Axes for translations are listed next.-->
								<TransformAxis name="translation1">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       1.00000000       0.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation2">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       1.00000000       0.00000000 </axis>
								</TransformAxis>
								<TransformAxis name="translation3">
									<function>
										<Constant name="">
											<value>       0.00000000 </value>
										</Constant>
									</function>
									<coordinates> </coordinates>
									<axis>       0.00000000       0.00000000       1.00000000 </axis>
								</TransformAxis>
							</SpatialTransform>
						</CustomJoint>
					</Joint>
					<VisibleObject name="">
						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
						    .obj-->
						<GeometrySet name="">
							<objects>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> hat_spine.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> hat_jaw.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> hat_skull.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
								<DisplayGeometry name="">
									<!--Name of geometry file .vtp, .stl, .obj-->
									<geometry_file> hat_ribs.vtp </geometry_file>
									<!--Color used to display the geometry when visible-->
									<color>       1.00000000       1.00000000       1.00000000 </color>
									<!--Name of texture file .jpg, .bmp-->
									<texture_file>  </texture_file>
									<!--in body transform specified as 3 rotations (rad) followed by 3
									    translations rX rY rZ tx ty tz-->
									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
									<scale_factors>       1.00000000       1.00000000       1.00000000 </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>       1.00000000 </opacity>
								</DisplayGeometry>
							</objects>
							<groups/>
						</GeometrySet>
						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
						<!--transform relative to owner specified as 3 rotations (rad) followed by
						    3 translations rX rY rZ tx ty tz-->
						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </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 name="">
						<objects/>
						<groups/>
					</WrapObjectSet>
				</Body>
			</objects>
			<groups/>
		</BodySet>
		<!--Constraints in the model.-->
		<ConstraintSet name="">
			<objects>
				<CoordinateCouplerConstraint name="knee_tx_r">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.74532925      -1.39626340      -1.04719755      -0.69813170      -0.34906585      -0.17453293       0.19734422       0.33739496       0.49017757       1.52146027       2.09439510 </x>
							<y>      -0.00320000       0.00179000       0.00411000       0.00410000       0.00212000      -0.00100000      -0.00310000      -0.00522700      -0.00543500      -0.00557400      -0.00543500      -0.00525000 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_r </independent_coordinate_names>
					<dependent_coordinate_name> tib_tx_r </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="knee_ty_r">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.22173048      -0.52359878      -0.34906585      -0.17453293       0.15914856       2.09439510 </x>
							<y>      -0.42260000      -0.40820000      -0.39900000      -0.39760000      -0.39660000      -0.39526400      -0.39600000 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_r </independent_coordinate_names>
					<dependent_coordinate_name> tib_ty_r </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="pat_tx_r">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.39626340      -1.04719755      -0.69813170      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.08726646       2.09439510 </x>
							<y>       0.01730000       0.03240000       0.03810000       0.04300000       0.04690000       0.04840000       0.04960000       0.04960000       0.04960000       0.04960000       0.04960000 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_r </independent_coordinate_names>
					<dependent_coordinate_name> pat_tx_r </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="pat_ty_r">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.57079633      -1.39626340      -1.04719755      -0.69813170      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.08726646       2.09439510 </x>
							<y>      -0.02190000      -0.02020000      -0.02000000      -0.02040000      -0.02110000      -0.02190000      -0.02230000      -0.02270000      -0.02270000      -0.02270000      -0.02270000      -0.02270000 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_r </independent_coordinate_names>
					<dependent_coordinate_name> pat_ty_r </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="pat_angle_r">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.99997279      -1.45752446      -0.52639130       0.02792527       0.17453293 </x>
							<y>       0.30805061       0.30805061       0.30630528       0.27017697      -0.03700098      -0.27995081 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_r </independent_coordinate_names>
					<dependent_coordinate_name> pat_angle_r </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="pat_tx_l">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.39626340      -1.04719755      -0.69813170      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.08726646       2.09439510 </x>
							<y>       0.01730000       0.03240000       0.03810000       0.04300000       0.04690000       0.04840000       0.04960000       0.04960000       0.04960000       0.04960000       0.04960000 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_l </independent_coordinate_names>
					<dependent_coordinate_name> pat_tx_l </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="pat_ty_l">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.57079633      -1.39626340      -1.04719755      -0.69813170      -0.34906585      -0.17453293       0.00000000       0.00017453       0.00034907       0.08726646       2.09439510 </x>
							<y>      -0.02190000      -0.02020000      -0.02000000      -0.02040000      -0.02110000      -0.02190000      -0.02230000      -0.02270000      -0.02270000      -0.02270000      -0.02270000      -0.02270000 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_l </independent_coordinate_names>
					<dependent_coordinate_name> pat_ty_l </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
				<CoordinateCouplerConstraint name="pat_angle_l">
					<isDisabled> false </isDisabled>
					<coupled_coordinates_function>
						<NaturalCubicSpline name="">
							<x>      -2.09439510      -1.99997279      -1.45752446      -0.52639130       0.02792527       0.17453293 </x>
							<y>       0.30805061       0.30805061       0.30630528       0.27017697      -0.03700098      -0.27995081 </y>
						</NaturalCubicSpline>
					</coupled_coordinates_function>
					<independent_coordinate_names> knee_angle_l </independent_coordinate_names>
					<dependent_coordinate_name> pat_angle_l </dependent_coordinate_name>
					<scale_factor>       1.00000000 </scale_factor>
				</CoordinateCouplerConstraint>
			</objects>
			<groups/>
		</ConstraintSet>
		<!--Markers in the model.-->
		<MarkerSet name="">
			<objects/>
			<groups/>
		</MarkerSet>
		<!--ContactGeometry objects in the model.-->
		<ContactGeometrySet name="">
			<objects>
                <ContactHalfSpace name="platform">
				<body_name> ground </body_name>
				  <location>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000      -1.570796326794897 </orientation>
				</ContactHalfSpace>
				<ContactSphere name="r_heel_lat">
				  <body_name> calcn_r </body_name>
				  <location>       0.00000000       0.00000000       0.025000000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="r_heel_med">
				  <body_name> calcn_r </body_name>
				  <location>       0.00000000       0.00000000       -0.035000000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="r_toe_lat">
				  <body_name> calcn_r </body_name>
				  <location>      0.14250000       0.00000000       0.04100000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="r_toe_med">
				  <body_name> calcn_r </body_name>
				  <location>      0.18500000       0.00000000       -0.02750000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="r_toe">
				  <body_name> toes_r </body_name>
				  <location>      0.071000       0.00200       0.01400 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="l_heel_lat">
				  <body_name> calcn_l </body_name>
				  <location>       0.00000000       0.00000000       -0.025000000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="l_heel_med">
				  <body_name> calcn_l </body_name>
				  <location>       0.00000000       0.00000000       0.035000000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="l_toe_lat">
				  <body_name> calcn_l </body_name>
				  <location>      0.14250000       0.00000000       -0.04100000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="l_toe_med">
				  <body_name> calcn_l </body_name>
				  <location>      0.18500000       0.00000000       0.02750000 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
				<ContactSphere name="l_toe">
				  <body_name> toes_l </body_name>
				  <location>      0.071000       0.00200       -0.01400 </location>
				  <orientation>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </orientation>
				  <radius> 0.01 </radius>
				</ContactSphere>
			</objects>
			<groups/>
		</ContactGeometrySet>
		<!--Controller objects in the model.-->
		<ControllerSet name="Controllers">
			<objects/>
			<groups/>
		</ControllerSet>
	</Model>
</OpenSimDocument>
