Add and load original Gait2392 model

author: Tobias Klauser <tklauser@distanz.ch> 2012-11-26 15:49:22 +0100
committer: Tobias Klauser <tklauser@distanz.ch> 2012-11-26 15:49:22 +0100
commit: 9ad11e249b843b54abe32368087f369c3539dafa (patch)
tree: acebafea2708c518fe58c3b93877e097f1b8d31f
parent: e9f4f691e554000f9decf84da56568d6150badb2 (diff)
2 files changed, 9782 insertions, 1 deletions
diff --git a/LocomotorPrimitives.cpp b/LocomotorPrimitives.cpp
index 7ceecb4..7e24f08 100644
--- a/LocomotorPrimitives.cpp
+++ b/LocomotorPrimitives.cpp
@@ -88,7 +88,7 @@ int main(void)
 
 	try {
 		// Create an OpenSim model and set its name
-		OpenSim::Model osimModel("../../leg6dof9musc.osim");
+		OpenSim::Model osimModel("../../locomotor-primitives.osim");
 		osimModel.setName(MODEL_NAME);
 		constructModel(osimModel);
 
diff --git a/locomotor-primitives.osim b/locomotor-primitives.osim
new file mode 100644
index 0000000..1cd00d3
--- /dev/null
+++ b/locomotor-primitives.osim
@@ -0,0 +1,9781 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<OpenSimDocument Version="30000">
+	<Model name="3DGaitModel2392">
+		<!--See the credits section below for information about this model's authors, data sources, intended uses, and more.
+		See the publications section for the paper(s) you should cite when using this model. Do not remove either section if you modify or add to this model.
+		If you are this model's author(s), add or update the credits and publications sections before distributing your model.-->
+		<credits>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. 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 replaced tibia translation constraints with a CustomJoint for the knee and removed the patella to eliminate all kinematic constraints; insertions of the quadrucepts are handled with moving points in the tibia frame as defined by Delp 1990. License: Creative Commons (CCBY 3.0). You are free to distribute, remix, tweak, and build upon this work, even commercially, as long as you credit us for the original creation. http://creativecommons.org/licenses/by/3.0/ More Information: http://simtk-confluence.stanford.edu:8080/display/OpenSim/Gait+2392+and+2354+Models</credits>
+		<publications>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>
+		<length_units>meters</length_units>
+		<force_units>N</force_units>
+		<!--Acceleration due to gravity.-->
+		<gravity> 0 -9.80665 0</gravity>
+		<!--Bodies in the model.-->
+		<BodySet>
+			<objects>
+				<Body name="ground">
+					<mass>0</mass>
+					<mass_center> 0 0 0</mass_center>
+					<inertia_xx>0</inertia_xx>
+					<inertia_yy>0</inertia_yy>
+					<inertia_zz>0</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint />
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>treadmill.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>0</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>0</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="pelvis">
+					<mass>11.777</mass>
+					<mass_center> -0.0707 0 0</mass_center>
+					<inertia_xx>0.1028</inertia_xx>
+					<inertia_yy>0.0871</inertia_yy>
+					<inertia_zz>0.0579</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="ground_pelvis">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>ground</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0 0 0</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="pelvis_tilt">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="pelvis_list">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="pelvis_rotation">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="pelvis_tx">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>translational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-5 5</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="pelvis_ty">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>translational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1 2</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="pelvis_tz">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>translational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-3 3</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>pelvis_tilt</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>pelvis_list</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>pelvis_rotation</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>pelvis_tx</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>pelvis_ty</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>pelvis_tz</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>sacrum.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>pelvis.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>l_pelvis.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="femur_r">
+					<mass>9.3014</mass>
+					<mass_center> 0 -0.17 0</mass_center>
+					<inertia_xx>0.1339</inertia_xx>
+					<inertia_yy>0.0351</inertia_yy>
+					<inertia_zz>0.1412</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="hip_r">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>pelvis</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>-0.0707 -0.0661 0.0835</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="hip_flexion_r">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 2.0943951</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="hip_adduction_r">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 2.0943951</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="hip_rotation_r">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 2.0943951</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>hip_flexion_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>hip_adduction_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>hip_rotation_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>femur.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="tibia_r">
+					<mass>3.7075</mass>
+					<mass_center> 0 -0.1867 0</mass_center>
+					<inertia_xx>0.0504</inertia_xx>
+					<inertia_yy>0.0051</inertia_yy>
+					<inertia_zz>0.0511</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="knee_r">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>femur_r</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0 0 0</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="knee_angle_r">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 0.17453293</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>knee_angle_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>knee_angle_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<SimmSpline>
+											<x> -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944</x>
+											<y> -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525</y>
+										</SimmSpline>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>knee_angle_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<SimmSpline>
+											<x> -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944</x>
+											<y> -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396</y>
+										</SimmSpline>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>tibia.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>fibula.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="talus_r">
+					<mass>0.1</mass>
+					<mass_center> 0 0 0</mass_center>
+					<inertia_xx>0.001</inertia_xx>
+					<inertia_yy>0.001</inertia_yy>
+					<inertia_zz>0.001</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="ankle_r">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>tibia_r</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0 -0.43 0</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="ankle_angle_r">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>ankle_angle_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>-0.10501355 -0.17402245 0.97912632</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0.97912632 -0 0.10501355</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>talus.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="calcn_r">
+					<mass>1.25</mass>
+					<mass_center> 0.1 0.03 0</mass_center>
+					<inertia_xx>0.0014</inertia_xx>
+					<inertia_yy>0.0039</inertia_yy>
+					<inertia_zz>0.0041</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="subtalar_r">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>talus_r</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>-0.04877 -0.04195 0.00792</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="subtalar_angle_r">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>subtalar_angle_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0.78717961 0.60474746 -0.12094949</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>-0.12094949 0 -0.78717961</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>foot.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="toes_r">
+					<mass>0.2166</mass>
+					<mass_center> 0.0346 0.006 -0.0175</mass_center>
+					<inertia_xx>0.0001</inertia_xx>
+					<inertia_yy>0.0002</inertia_yy>
+					<inertia_zz>0.001</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="mtp_r">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>calcn_r</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0.1788 -0.002 0.00108</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="mtp_angle_r">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>mtp_angle_r</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>-0.5809544 0 0.81393611</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0.81393611 -0 0.5809544</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>bofoot.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="femur_l">
+					<mass>9.3014</mass>
+					<mass_center> 0 -0.17 0</mass_center>
+					<inertia_xx>0.1339</inertia_xx>
+					<inertia_yy>0.0351</inertia_yy>
+					<inertia_zz>0.1412</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="hip_l">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>pelvis</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>-0.0707 -0.0661 -0.0835</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="hip_flexion_l">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 2.0943951</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="hip_adduction_l">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 2.0943951</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="hip_rotation_l">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 2.0943951</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>hip_flexion_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>hip_adduction_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>-1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>hip_rotation_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 -1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>l_femur.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="tibia_l">
+					<mass>3.7075</mass>
+					<mass_center> 0 -0.1867 0</mass_center>
+					<inertia_xx>0.0504</inertia_xx>
+					<inertia_yy>0.0051</inertia_yy>
+					<inertia_zz>0.0511</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="knee_l">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>femur_l</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0 0 0</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="knee_angle_l">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-2.0943951 0.17453293</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>knee_angle_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>knee_angle_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<SimmSpline>
+											<x> -2.0944 -1.74533 -1.39626 -1.0472 -0.698132 -0.349066 -0.174533 0.197344 0.337395 0.490178 1.52146 2.0944</x>
+											<y> -0.0032 0.00179 0.00411 0.0041 0.00212 -0.001 -0.0031 -0.005227 -0.005435 -0.005574 -0.005435 -0.00525</y>
+										</SimmSpline>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>knee_angle_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<SimmSpline>
+											<x> -2.0944 -1.22173 -0.523599 -0.349066 -0.174533 0.159149 2.0944</x>
+											<y> -0.4226 -0.4082 -0.399 -0.3976 -0.3966 -0.395264 -0.396</y>
+										</SimmSpline>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>l_tibia.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>l_fibula.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="talus_l">
+					<mass>0.1</mass>
+					<mass_center> 0 0 0</mass_center>
+					<inertia_xx>0.001</inertia_xx>
+					<inertia_yy>0.001</inertia_yy>
+					<inertia_zz>0.001</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="ankle_l">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>tibia_l</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0 -0.43 0</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="ankle_angle_l">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.04719755 1.04719755</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>ankle_angle_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0.10501355 0.17402245 0.97912632</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0.97912632 0 -0.10501355</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>l_talus.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="calcn_l">
+					<mass>1.25</mass>
+					<mass_center> 0.1 0.03 0</mass_center>
+					<inertia_xx>0.0014</inertia_xx>
+					<inertia_yy>0.0039</inertia_yy>
+					<inertia_zz>0.0041</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="subtalar_l">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>talus_l</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>-0.04877 -0.04195 -0.00792</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="subtalar_angle_l">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>subtalar_angle_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>-0.78717961 -0.60474746 -0.12094949</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>-0.12094949 0 0.78717961</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>l_foot.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="toes_l">
+					<mass>0.2166</mass>
+					<mass_center> 0.0346 0.006 0.0175</mass_center>
+					<inertia_xx>0.0001</inertia_xx>
+					<inertia_yy>0.0002</inertia_yy>
+					<inertia_zz>0.001</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="mtp_l">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>calcn_l</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0.1788 -0.002 -0.00108</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="mtp_angle_l">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.04719755 1.04719755</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>mtp_angle_l</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0.5809544 0 0.81393611</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0.81393611 0 -0.5809544</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>l_bofoot.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+				<Body name="torso">
+					<mass>34.2366</mass>
+					<mass_center> -0.03 0.32 0</mass_center>
+					<inertia_xx>1.4745</inertia_xx>
+					<inertia_yy>0.7555</inertia_yy>
+					<inertia_zz>1.4314</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
+					<!--Joint that connects this body with the parent body.-->
+					<Joint>
+						<CustomJoint name="back">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>pelvis</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>-0.1007 0.0815 0</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 0</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 0</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
+								<objects>
+									<Coordinate name="lumbar_extension">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="lumbar_bending">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+									<Coordinate name="lumbar_rotation">
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>rotational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>0</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-1.57079633 1.57079633</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>false</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
+									</Coordinate>
+								</objects>
+								<groups />
+							</CoordinateSet>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+							<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
+							<SpatialTransform>
+								<!--3 Axes for rotations are listed first.-->
+								<TransformAxis name="rotation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>lumbar_extension</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>lumbar_bending</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="rotation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates>lumbar_rotation</coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<LinearFunction>
+											<coefficients> 1 0</coefficients>
+										</LinearFunction>
+									</function>
+								</TransformAxis>
+								<!--3 Axes for translations are listed next.-->
+								<TransformAxis name="translation1">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>1 0 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation2">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 1 0</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+								<TransformAxis name="translation3">
+									<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
+									<coordinates></coordinates>
+									<!--Rotation or translation axis for the transform.-->
+									<axis>0 0 1</axis>
+									<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->
+									<function>
+										<Constant>
+											<value>0</value>
+										</Constant>
+									</function>
+								</TransformAxis>
+							</SpatialTransform>
+						</CustomJoint>
+					</Joint>
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>hat_spine.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>hat_jaw.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>hat_skull.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+								<DisplayGeometry>
+									<!--Name of geometry file .vtp, .stl, .obj-->
+									<geometry_file>hat_ribs.vtp</geometry_file>
+									<!--Color used to display the geometry when visible-->
+									<color> 1 1 1</color>
+									<!--Name of texture file .jpg, .bmp-->
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> -0 0 -0 0 0 0</transform>
+									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+									<scale_factors> 1 1 1</scale_factors>
+									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
+									<display_preference>4</display_preference>
+									<!--Display opacity between 0.0 and 1.0-->
+									<opacity>1</opacity>
+								</DisplayGeometry>
+							</objects>
+							<groups />
+						</GeometrySet>
+						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> -0 0 -0 0 0 0</transform>
+						<!--Whether to show a coordinate frame-->
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
+					</VisibleObject>
+					<WrapObjectSet>
+						<objects />
+						<groups />
+					</WrapObjectSet>
+				</Body>
+			</objects>
+			<groups />
+		</BodySet>
+		<!--Constraints in the model.-->
+		<ConstraintSet>
+			<objects />
+			<groups />
+		</ConstraintSet>
+		<!--Forces in the model.-->
+		<ForceSet>
+			<objects>
+				<Thelen2003Muscle name="glut_med1_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_med1_r-P1">
+									<location> -0.0408 0.0304 0.1209</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_med1_r-P2">
+									<location> -0.0218 -0.0117 0.0555</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>819</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.0535</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.078</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_med2_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_med2_r-P1">
+									<location> -0.0855 0.0445 0.0766</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_med2_r-P2">
+									<location> -0.0258 -0.0058 0.0527</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>573</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.0845</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.053</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_med3_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_med3_r-P1">
+									<location> -0.1223 0.0105 0.0648</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_med3_r-P2">
+									<location> -0.0309 -0.0047 0.0518</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>653</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.0646</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.053</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_min1_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_min1_r-P1">
+									<location> -0.0467 -0.008 0.1056</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_min1_r-P2">
+									<location> -0.0072 -0.0104 0.056</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>270</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.068</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.016</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_min2_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_min2_r-P1">
+									<location> -0.0633 -0.0065 0.0991</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_min2_r-P2">
+									<location> -0.0096 -0.0104 0.056</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>285</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.056</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.026</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_min3_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_min3_r-P1">
+									<location> -0.0834 -0.0063 0.0856</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_min3_r-P2">
+									<location> -0.0135 -0.0083 0.055</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>323</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.038</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.051</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.01745329</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="semimem_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="semimem_r-P1">
+									<location> -0.1192 -0.09747 0.07151</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="semimem_r-P2">
+									<location> -0.0348 -0.03519 -0.01891</location>
+									<body>tibia_r</body>
+									<range> -0.558505 0.174533</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="semimem_r-P3">
+									<location> -0.027 -0.04771 -0.01957</location>
+									<body>tibia_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1288</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.08</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.359</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="semiten_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="semiten_r-P1">
+									<location> -0.12635 -0.10988 0.06039</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="semiten_r-P2">
+									<location> -0.04203 -0.02859 -0.02277</location>
+									<body>tibia_r</body>
+									<range> -0.331613 0.174533</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="semiten_r-P3">
+									<location> -0.03322 -0.05282 -0.02288</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="semiten_r-P4">
+									<location> -0.0113 -0.0746 -0.0245</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="semiten_r-P5">
+									<location> 0.0027 -0.0956 -0.0193</location>
+									<body>tibia_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>410</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.201</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.2555</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="bifemlh_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="bifemlh_r-P1">
+									<location> -0.12596 -0.10257 0.06944</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="bifemlh_r-P2">
+									<location> -0.0301 -0.036 0.02943</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="bifemlh_r-P3">
+									<location> -0.0234 -0.0563 0.0343</location>
+									<body>tibia_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>896</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.109</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.326</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="bifemsh_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="bifemsh_r-P1">
+									<location> 0.005 -0.2111 0.0234</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="bifemsh_r-P2">
+									<location> -0.0301 -0.036 0.02943</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="bifemsh_r-P3">
+									<location> -0.0234 -0.0563 0.0343</location>
+									<body>tibia_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>804</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.173</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.089</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="sar_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="sar_r-P1">
+									<location> -0.0153 -0.0013 0.1242</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="sar_r-P2">
+									<location> -0.003 -0.3568 -0.0421</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="sar_r-P3">
+									<location> -0.0056 -0.0419 -0.0399</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="sar_r-P4">
+									<location> 0.006 -0.0589 -0.0383</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="sar_r-P5">
+									<location> 0.0243 -0.084 -0.0252</location>
+									<body>tibia_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>156</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.52</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_long_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_long_r-P1">
+									<location> -0.0316 -0.0836 0.0169</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_long_r-P2">
+									<location> 0.005 -0.2111 0.0234</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>627</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.138</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.11</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_brev_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_brev_r-P1">
+									<location> -0.0587 -0.0915 0.0164</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_brev_r-P2">
+									<location> 0.0009 -0.1196 0.0294</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>429</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.133</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.02</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_mag1_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_mag1_r-P1">
+									<location> -0.0732 -0.1174 0.0255</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_mag1_r-P2">
+									<location> -0.0045 -0.1211 0.0339</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>381</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.087</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.06</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_mag2_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_mag2_r-P1">
+									<location> -0.0831 -0.1192 0.0308</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_mag2_r-P2">
+									<location> 0.0054 -0.2285 0.0227</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>343</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.121</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.12</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_mag3_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_mag3_r-P1">
+									<location> -0.11108 -0.11413 0.04882</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_mag3_r-P2">
+									<location> 0.007 -0.3837 -0.0266</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>488</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.131</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.249</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="tfl_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="tfl_r-P1">
+									<location> -0.0311 0.0214 0.1241</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="tfl_r-P2">
+									<location> 0.0294 -0.0995 0.0597</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="tfl_r-P3">
+									<location> 0.0054 -0.4049 0.0357</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="tfl_r-P4">
+									<location> 0.006 -0.0487 0.0297</location>
+									<body>tibia_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>233</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.095</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.425</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="pect_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="pect_r-P1">
+									<location> -0.0431 -0.0768 0.0451</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="pect_r-P2">
+									<location> -0.0122 -0.0822 0.0253</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>266</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.033</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="grac_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="grac_r-P1">
+									<location> -0.07401 -0.1187 0.02794</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="grac_r-P2">
+									<location> -0.02657 -0.0319 -0.03774</location>
+									<body>tibia_r</body>
+									<range> -0.436332 0.174533</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="grac_r-P3">
+									<location> -0.01943 -0.05153 -0.0358</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="grac_r-P4">
+									<location> 0.006 -0.0836 -0.0228</location>
+									<body>tibia_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>162</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.352</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.126</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_max1_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_max1_r-P1">
+									<location> -0.1195 0.0612 0.07</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max1_r-P2">
+									<location> -0.1291 0.0012 0.0886</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max1_r-P3">
+									<location> -0.0457 -0.0248 0.0392</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="glut_max1_r-P4">
+									<location> -0.0277 -0.0566 0.047</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>4</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>573</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.142</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.125</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_max2_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_max2_r-P1">
+									<location> -0.1349 0.0176 0.0563</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max2_r-P2">
+									<location> -0.1376 -0.052 0.0914</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max2_r-P3">
+									<location> -0.0426 -0.053 0.0293</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="glut_max2_r-P4">
+									<location> -0.0156 -0.1016 0.0419</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>819</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.147</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.127</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_max3_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_max3_r-P1">
+									<location> -0.1556 -0.0314 0.0058</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max3_r-P2">
+									<location> -0.1529 -0.1052 0.0403</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max3_r-P3">
+									<location> -0.0299 -0.1041 0.0135</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="glut_max3_r-P4">
+									<location> -0.006 -0.1419 0.0411</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>552</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.144</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.145</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="iliacus_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="iliacus_r-P1">
+									<location> -0.0674 0.0365 0.0854</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="iliacus_r-P2">
+									<location> -0.0258 -0.055 0.0811</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="iliacus_r-P3">
+									<location> -0.0288 -0.0805 0.0816</location>
+									<body>pelvis</body>
+									<range> -1.5708 0.785398</range>
+									<coordinate>hip_flexion_r</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="iliacus_r-P4">
+									<location> 0.0017 -0.0543 0.0057</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="iliacus_r-P5">
+									<location> -0.0193 -0.0621 0.0129</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1073</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="psoas_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="psoas_r-P1">
+									<location> -0.0647 0.0887 0.0289</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="psoas_r-P2">
+									<location> -0.0238 -0.057 0.0759</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="psoas_r-P3">
+									<location> -0.0288 -0.0805 0.0816</location>
+									<body>pelvis</body>
+									<range> -1.5708 0.785398</range>
+									<coordinate>hip_flexion_r</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="psoas_r-P4">
+									<location> 0.0016 -0.0507 0.0038</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="psoas_r-P5">
+									<location> -0.0188 -0.0597 0.0104</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1113</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.16</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="quad_fem_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="quad_fem_r-P1">
+									<location> -0.1143 -0.1151 0.052</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="quad_fem_r-P2">
+									<location> -0.0381 -0.0359 0.0366</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>381</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.054</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.024</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="gem_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="gem_r-P1">
+									<location> -0.1133 -0.082 0.0714</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="gem_r-P2">
+									<location> -0.0142 -0.0033 0.0443</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>164</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.024</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.039</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="peri_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="peri_r-P1">
+									<location> -0.1396 0.0003 0.0235</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="peri_r-P2">
+									<location> -0.1193 -0.0276 0.0657</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="peri_r-P3">
+									<location> -0.0148 -0.0036 0.0437</location>
+									<body>femur_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>444</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.026</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.115</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="rect_fem_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="rect_fem_r-P1">
+									<location> -0.0295 -0.0311 0.0968</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="rect_fem_r-P2">
+									<location> 0.0334 -0.403 0.0019</location>
+									<body>femur_r</body>
+									<range> -2.61799 -1.45997</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="rect_fem_r-P3">
+									<location> 0.0617576 0.020984 0.0014</location>
+									<body>tibia_r</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_r</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_r</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 0.1745</x>
+											<y> 0.0014 0.0014</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_r</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1169</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.114</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.31</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="vas_med_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="vas_med_r-P1">
+									<location> 0.014 -0.2099 0.0188</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="vas_med_r-P2">
+									<location> 0.0356 -0.2769 0.0009</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<ConditionalPathPoint name="vas_med_r-P3">
+									<location> 0.037 -0.4048 -0.0125</location>
+									<body>femur_r</body>
+									<range> -2.61799 -1.21004</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<ConditionalPathPoint name="vas_med_r-P4">
+									<location> 0.0274 -0.4255 -0.0131</location>
+									<body>femur_r</body>
+									<range> -2.61799 -1.78006</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="vas_med_r-P5">
+									<location> 0.0559586 0.0217917 -0.0146</location>
+									<body>tibia_r</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.00981097 0.0122243 0.0217371 0.0238851 0.0249902 0.0307959 0.0364187 0.0392871 0.0425654 0.0475764 0.0559586 0.0559681 0.0559776 0.0575419 0.0613368 0.0679503 0.0629332</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_r</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0224154 0.0227651 0.0241265 0.0242933 0.0243287 0.0239462 0.0233593 0.0230677 0.0228342 0.0226362 0.0217917 0.0217903 0.0217889 0.0215365 0.0206842 0.0183269 -0.0656205</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_r</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 2.0944</x>
+											<y> -0.0146 -0.0146</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_r</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1294</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.089</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.126</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="vas_int_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="vas_int_r-P1">
+									<location> 0.029 -0.1924 0.031</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="vas_int_r-P2">
+									<location> 0.0335 -0.2084 0.0285</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<ConditionalPathPoint name="vas_int_r-P3">
+									<location> 0.0343 -0.403 0.0055</location>
+									<body>femur_r</body>
+									<range> -2.61799 -1.42</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="vas_int_r-P4">
+									<location> 0.0554632 0.0252923 0.0018</location>
+									<body>tibia_r</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_r</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_r</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 2.0944</x>
+											<y> 0.0018 0.0018</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_r</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1365</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.087</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.136</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="vas_lat_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="vas_lat_r-P1">
+									<location> 0.0048 -0.1854 0.0349</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<PathPoint name="vas_lat_r-P2">
+									<location> 0.0269 -0.2591 0.0409</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<ConditionalPathPoint name="vas_lat_r-P3">
+									<location> 0.0361 -0.403 0.0205</location>
+									<body>femur_r</body>
+									<range> -2.61799 -1.21004</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<ConditionalPathPoint name="vas_lat_r-P4">
+									<location> 0.0253 -0.4243 0.0184</location>
+									<body>femur_r</body>
+									<range> -2.61799 -1.92004</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="vas_lat_r-P5">
+									<location> 0.0599557 0.0195864 0.0165</location>
+									<body>tibia_r</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_r</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_r</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 2.0944</x>
+											<y> 0.0165 0.0165</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_r</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1871</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.084</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.157</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="med_gas_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="med_gas_r-P1">
+									<location> -0.019 -0.3929 -0.0235</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<ConditionalPathPoint name="med_gas_r-P2">
+									<location> -0.03 -0.4022 -0.0258</location>
+									<body>femur_r</body>
+									<range> -0.785398 0.174533</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="med_gas_r-P3">
+									<location> 0 0.031 -0.0053</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1558</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.06</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.39</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="lat_gas_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="lat_gas_r-P1">
+									<location> -0.022 -0.3946 0.0272</location>
+									<body>femur_r</body>
+								</PathPoint>
+								<ConditionalPathPoint name="lat_gas_r-P2">
+									<location> -0.03 -0.4018 0.0274</location>
+									<body>femur_r</body>
+									<range> -0.785398 0.174533</range>
+									<coordinate>knee_angle_r</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="lat_gas_r-P3">
+									<location> 0 0.031 -0.0053</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>683</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.064</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.38</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="soleus_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="soleus_r-P1">
+									<location> -0.0024 -0.1533 0.0071</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="soleus_r-P2">
+									<location> 0 0.031 -0.0053</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>3549</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.05</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.25</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="tib_post_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="tib_post_r-P1">
+									<location> -0.0094 -0.1348 0.0019</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="tib_post_r-P2">
+									<location> -0.0144 -0.4051 -0.0229</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="tib_post_r-P3">
+									<location> 0.0417 0.0334 -0.0286</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="tib_post_r-P4">
+									<location> 0.0772 0.0159 -0.0281</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1588</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.031</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.31</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="flex_dig_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="flex_dig_r-P1">
+									<location> -0.0083 -0.2046 -0.0018</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_r-P2">
+									<location> -0.0154 -0.4051 -0.0196</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_r-P3">
+									<location> 0.0436 0.0315 -0.028</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_r-P4">
+									<location> 0.0708 0.0176 -0.0263</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_r-P5">
+									<location> 0.1658 -0.0081 0.0116</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_r-P6">
+									<location> -0.0019 -0.0078 0.0147</location>
+									<body>toes_r</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_r-P7">
+									<location> 0.0285 -0.0071 0.0215</location>
+									<body>toes_r</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_r-P8">
+									<location> 0.0441 -0.006 0.0242</location>
+									<body>toes_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>310</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.034</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.4</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="flex_hal_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="flex_hal_r-P1">
+									<location> -0.0079 -0.2334 0.0244</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_r-P2">
+									<location> -0.0186 -0.4079 -0.0174</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_r-P3">
+									<location> 0.0374 0.0276 -0.0241</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_r-P4">
+									<location> 0.1038 0.0068 -0.0256</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_r-P5">
+									<location> 0.1726 -0.0053 -0.0269</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_r-P6">
+									<location> 0.0155 -0.0064 -0.0265</location>
+									<body>toes_r</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_r-P7">
+									<location> 0.0562 -0.0102 -0.0181</location>
+									<body>toes_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>322</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.043</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.38</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="tib_ant_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="tib_ant_r-P1">
+									<location> 0.0179 -0.1624 0.0115</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="tib_ant_r-P2">
+									<location> 0.0329 -0.3951 -0.0177</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="tib_ant_r-P3">
+									<location> 0.1166 0.0178 -0.0305</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>905</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.098</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.223</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="per_brev_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="per_brev_r-P1">
+									<location> -0.007 -0.2646 0.0325</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_brev_r-P2">
+									<location> -0.0198 -0.4184 0.0283</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_brev_r-P3">
+									<location> -0.0144 -0.4295 0.0289</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_brev_r-P4">
+									<location> 0.0471 0.027 0.0233</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="per_brev_r-P5">
+									<location> 0.0677 0.0219 0.0343</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>435</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.05</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.161</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="per_long_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="per_long_r-P1">
+									<location> 0.0005 -0.1568 0.0362</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_long_r-P2">
+									<location> -0.0207 -0.4205 0.0286</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_long_r-P3">
+									<location> -0.0162 -0.4319 0.0289</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_long_r-P4">
+									<location> 0.0438 0.023 0.0221</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="per_long_r-P5">
+									<location> 0.0681 0.0106 0.0284</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="per_long_r-P6">
+									<location> 0.0852 0.0069 0.0118</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="per_long_r-P7">
+									<location> 0.1203 0.0085 -0.0184</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>943</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.049</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.345</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="per_tert_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="per_tert_r-P1">
+									<location> 0.001 -0.2804 0.0231</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_tert_r-P2">
+									<location> 0.0229 -0.4069 0.0159</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="per_tert_r-P3">
+									<location> 0.0857 0.0228 0.0299</location>
+									<body>calcn_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>180</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.079</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.2268928</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="ext_dig_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="ext_dig_r-P1">
+									<location> 0.0032 -0.1381 0.0276</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_r-P2">
+									<location> 0.0289 -0.4007 0.0072</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_r-P3">
+									<location> 0.0922 0.0388 -0.0001</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_r-P4">
+									<location> 0.1616 0.0055 0.013</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_r-P5">
+									<location> 0.0003 0.0047 0.0153</location>
+									<body>toes_r</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_r-P6">
+									<location> 0.0443 -0.0004 0.025</location>
+									<body>toes_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>512</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.102</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.345</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="ext_hal_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="ext_hal_r-P1">
+									<location> 0.0012 -0.1767 0.0228</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_r-P2">
+									<location> 0.0326 -0.3985 -0.0085</location>
+									<body>tibia_r</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_r-P3">
+									<location> 0.097 0.0389 -0.0211</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_r-P4">
+									<location> 0.1293 0.0309 -0.0257</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_r-P5">
+									<location> 0.1734 0.0139 -0.028</location>
+									<body>calcn_r</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_r-P6">
+									<location> 0.0298 0.0041 -0.0245</location>
+									<body>toes_r</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_r-P7">
+									<location> 0.0563 0.0034 -0.0186</location>
+									<body>toes_r</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>162</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.111</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.305</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_med1_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_med1_l-P1">
+									<location> -0.0408 0.0304 -0.1209</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_med1_l-P2">
+									<location> -0.0218 -0.0117 -0.0555</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>819</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.0535</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.078</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_med2_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_med2_l-P1">
+									<location> -0.0855 0.0445 -0.0766</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_med2_l-P2">
+									<location> -0.0258 -0.0058 -0.0527</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>573</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.0845</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.053</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_med3_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_med3_l-P1">
+									<location> -0.1223 0.0105 -0.0648</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_med3_l-P2">
+									<location> -0.0309 -0.0047 -0.0518</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>653</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.0646</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.053</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.33161256</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_min1_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_min1_l-P1">
+									<location> -0.0467 -0.008 -0.1056</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_min1_l-P2">
+									<location> -0.0072 -0.0104 -0.056</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>270</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.068</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.016</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_min2_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_min2_l-P1">
+									<location> -0.0633 -0.0065 -0.0991</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_min2_l-P2">
+									<location> -0.0096 -0.0104 -0.056</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>285</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.056</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.026</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_min3_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_min3_l-P1">
+									<location> -0.0834 -0.0063 -0.0856</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_min3_l-P2">
+									<location> -0.0135 -0.0083 -0.055</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>323</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.038</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.051</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.01745329</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="semimem_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="semimem_l-P1">
+									<location> -0.1192 -0.09747 -0.07151</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="semimem_l-P2">
+									<location> -0.0348 -0.03519 0.01891</location>
+									<body>tibia_l</body>
+									<range> -0.558505 0.174533</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="semimem_l-P3">
+									<location> -0.027 -0.04771 0.01957</location>
+									<body>tibia_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1288</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.08</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.359</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.26179939</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="semiten_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="semiten_l-P1">
+									<location> -0.12635 -0.10988 -0.06039</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="semiten_l-P2">
+									<location> -0.04203 -0.02859 0.02277</location>
+									<body>tibia_l</body>
+									<range> -0.331613 0.174533</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="semiten_l-P3">
+									<location> -0.03322 -0.05282 0.02288</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="semiten_l-P4">
+									<location> -0.0113 -0.0746 0.0245</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="semiten_l-P5">
+									<location> 0.0027 -0.0956 0.0193</location>
+									<body>tibia_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>410</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.201</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.2555</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="bifemlh_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="bifemlh_l-P1">
+									<location> -0.12596 -0.10257 -0.06944</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="bifemlh_l-P2">
+									<location> -0.0301 -0.036 -0.02943</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="bifemlh_l-P3">
+									<location> -0.0234 -0.0563 -0.0343</location>
+									<body>tibia_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>896</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.109</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.326</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="bifemsh_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="bifemsh_l-P1">
+									<location> 0.005 -0.2111 -0.0234</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="bifemsh_l-P2">
+									<location> -0.0301 -0.036 -0.02943</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="bifemsh_l-P3">
+									<location> -0.0234 -0.0563 -0.0343</location>
+									<body>tibia_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>804</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.173</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.089</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.40142573</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="sar_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="sar_l-P1">
+									<location> -0.0153 -0.0013 -0.1242</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="sar_l-P2">
+									<location> -0.003 -0.3568 0.0421</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="sar_l-P3">
+									<location> -0.0056 -0.0419 0.0399</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="sar_l-P4">
+									<location> 0.006 -0.0589 0.0383</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="sar_l-P5">
+									<location> 0.0243 -0.084 0.0252</location>
+									<body>tibia_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>156</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.52</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_long_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_long_l-P1">
+									<location> -0.0316 -0.0836 -0.0169</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_long_l-P2">
+									<location> 0.005 -0.2111 -0.0234</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>627</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.138</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.11</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_brev_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_brev_l-P1">
+									<location> -0.0587 -0.0915 -0.0164</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_brev_l-P2">
+									<location> 0.0009 -0.1196 -0.0294</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>429</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.133</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.02</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_mag1_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_mag1_l-P1">
+									<location> -0.0732 -0.1174 -0.0255</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_mag1_l-P2">
+									<location> -0.0045 -0.1211 -0.0339</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>381</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.087</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.06</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_mag2_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_mag2_l-P1">
+									<location> -0.0831 -0.1192 -0.0308</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_mag2_l-P2">
+									<location> 0.0054 -0.2285 -0.0227</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>343</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.121</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.12</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="add_mag3_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="add_mag3_l-P1">
+									<location> -0.11108 -0.11413 -0.04882</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="add_mag3_l-P2">
+									<location> 0.007 -0.3837 0.0266</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>488</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.131</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.249</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="tfl_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="tfl_l-P1">
+									<location> -0.0311 0.0214 -0.1241</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="tfl_l-P2">
+									<location> 0.0294 -0.0995 -0.0597</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="tfl_l-P3">
+									<location> 0.0054 -0.4049 -0.0357</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="tfl_l-P4">
+									<location> 0.006 -0.0487 -0.0297</location>
+									<body>tibia_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>233</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.095</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.425</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="pect_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="pect_l-P1">
+									<location> -0.0431 -0.0768 -0.0451</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="pect_l-P2">
+									<location> -0.0122 -0.0822 -0.0253</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>266</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.033</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="grac_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="grac_l-P1">
+									<location> -0.07401 -0.1187 -0.02794</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="grac_l-P2">
+									<location> -0.02657 -0.0319 0.03774</location>
+									<body>tibia_l</body>
+									<range> -0.436332 0.174533</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="grac_l-P3">
+									<location> -0.01943 -0.05153 0.0358</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="grac_l-P4">
+									<location> 0.006 -0.0836 0.0228</location>
+									<body>tibia_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>162</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.352</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.126</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_max1_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_max1_l-P1">
+									<location> -0.1195 0.0612 -0.07</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max1_l-P2">
+									<location> -0.1291 0.0012 -0.0886</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max1_l-P3">
+									<location> -0.0457 -0.0248 -0.0392</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="glut_max1_l-P4">
+									<location> -0.0277 -0.0566 -0.047</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>573</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.142</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.125</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_max2_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_max2_l-P1">
+									<location> -0.1349 0.0176 -0.0563</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max2_l-P2">
+									<location> -0.1376 -0.052 -0.0914</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max2_l-P3">
+									<location> -0.0426 -0.053 -0.0293</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="glut_max2_l-P4">
+									<location> -0.0156 -0.1016 -0.0419</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>819</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.147</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.127</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="glut_max3_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="glut_max3_l-P1">
+									<location> -0.1556 -0.0314 -0.0058</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max3_l-P2">
+									<location> -0.1529 -0.1052 -0.0403</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="glut_max3_l-P3">
+									<location> -0.0299 -0.1041 -0.0135</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="glut_max3_l-P4">
+									<location> -0.006 -0.1419 -0.0411</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>552</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.144</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.145</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="iliacus_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="iliacus_l-P1">
+									<location> -0.0674 0.0365 -0.0854</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="iliacus_l-P2">
+									<location> -0.0258 -0.055 -0.0811</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="iliacus_l-P3">
+									<location> -0.0288 -0.0805 -0.0816</location>
+									<body>pelvis</body>
+									<range> -1.5708 0.785398</range>
+									<coordinate>hip_flexion_l</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="iliacus_l-P4">
+									<location> 0.0017 -0.0543 -0.0057</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="iliacus_l-P5">
+									<location> -0.0193 -0.0621 -0.0129</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1073</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="psoas_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="psoas_l-P1">
+									<location> -0.0647 0.0887 -0.0289</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="psoas_l-P2">
+									<location> -0.0238 -0.057 -0.0759</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="psoas_l-P3">
+									<location> -0.0288 -0.0805 -0.0816</location>
+									<body>pelvis</body>
+									<range> -1.5708 0.785398</range>
+									<coordinate>hip_flexion_l</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="psoas_l-P4">
+									<location> 0.0016 -0.0507 -0.0038</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="psoas_l-P5">
+									<location> -0.0188 -0.0597 -0.0104</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1113</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.16</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="quad_fem_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="quad_fem_l-P1">
+									<location> -0.1143 -0.1151 -0.052</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="quad_fem_l-P2">
+									<location> -0.0381 -0.0359 -0.0366</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>381</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.054</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.024</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="gem_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="gem_l-P1">
+									<location> -0.1133 -0.082 -0.0714</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="gem_l-P2">
+									<location> -0.0142 -0.0033 -0.0443</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>164</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.024</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.039</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="peri_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="peri_l-P1">
+									<location> -0.1396 0.0003 -0.0235</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="peri_l-P2">
+									<location> -0.1193 -0.0276 -0.0657</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="peri_l-P3">
+									<location> -0.0148 -0.0036 -0.0437</location>
+									<body>femur_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>444</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.026</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.115</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="rect_fem_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="rect_fem_l-P1">
+									<location> -0.0295 -0.0311 -0.0968</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<ConditionalPathPoint name="rect_fem_l-P2">
+									<location> 0.0334 -0.403 -0.0019</location>
+									<body>femur_l</body>
+									<range> -2.61799 -1.45997</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="rect_fem_l-P3">
+									<location> 0.0617576 0.020984 -0.0014</location>
+									<body>tibia_l</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_l</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_l</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 0.1745</x>
+											<y> -0.0014 -0.0014</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_l</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1169</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.114</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.31</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="vas_med_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="vas_med_l-P1">
+									<location> 0.014 -0.2099 -0.0188</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="vas_med_l-P2">
+									<location> 0.0356 -0.2769 -0.0009</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<ConditionalPathPoint name="vas_med_l-P3">
+									<location> 0.037 -0.4048 0.0125</location>
+									<body>femur_l</body>
+									<range> -2.61799 -1.21004</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<ConditionalPathPoint name="vas_med_l-P4">
+									<location> 0.0274 -0.4255 0.0131</location>
+									<body>femur_l</body>
+									<range> -2.61799 -1.78006</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="vas_med_l-P5">
+									<location> 0.0559586 0.0217917 0.0146</location>
+									<body>tibia_l</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.00981097 0.0122243 0.0217371 0.0238851 0.0249902 0.0307959 0.0364187 0.0392871 0.0425654 0.0475764 0.0559586 0.0559681 0.0559776 0.0575419 0.0613368 0.0679503 0.0629332</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_l</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0224154 0.0227651 0.0241265 0.0242933 0.0243287 0.0239462 0.0233593 0.0230677 0.0228342 0.0226362 0.0217917 0.0217903 0.0217889 0.0215365 0.0206842 0.0183269 -0.0656205</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_l</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 2.0944</x>
+											<y> 0.0146 0.0146</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_l</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1294</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.089</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.126</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="vas_int_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="vas_int_l-P1">
+									<location> 0.029 -0.1924 -0.031</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="vas_int_l-P2">
+									<location> 0.0335 -0.2084 -0.0285</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<ConditionalPathPoint name="vas_int_l-P3">
+									<location> 0.0343 -0.403 -0.0055</location>
+									<body>femur_l</body>
+									<range> -2.61799 -1.42</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="vas_int_l-P4">
+									<location> 0.0617576 0.020984 -0.0014</location>
+									<body>tibia_l</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_l</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_l</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 0.1745</x>
+											<y> -0.0014 -0.0014</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_l</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1365</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.087</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.136</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.05235988</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="vas_lat_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="vas_lat_l-P1">
+									<location> 0.0048 -0.1854 -0.0349</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<PathPoint name="vas_lat_l-P2">
+									<location> 0.0269 -0.2591 -0.0409</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<ConditionalPathPoint name="vas_lat_l-P3">
+									<location> 0.0361 -0.403 -0.0205</location>
+									<body>femur_l</body>
+									<range> -2.61799 -1.21004</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<ConditionalPathPoint name="vas_lat_l-P4">
+									<location> 0.0253 -0.4243 -0.0184</location>
+									<body>femur_l</body>
+									<range> -2.61799 -1.92004</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<MovingPathPoint name="vas_lat_l-P5">
+									<location> 0.0599557 0.0195864 -0.0165</location>
+									<body>tibia_l</body>
+									<x_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0142897 0.016703 0.0262145 0.0283623 0.0294674 0.0352709 0.0408785 0.0437291 0.0469704 0.0518742 0.0599557 0.0599647 0.0599738 0.0614577 0.0650351 0.0711867 0.0583766</y>
+										</SimmSpline>
+									</x_location>
+									<x_coordinate>knee_angle_l</x_coordinate>
+									<y_location>
+										<SimmSpline>
+											<x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+											<y> 0.0215318 0.0218815 0.0232362 0.0234019 0.0234371 0.0230439 0.0223842 0.0220151 0.0216359 0.0210971 0.0195864 0.0195842 0.019582 0.01919 0.018008 0.0151073 -0.0653421</y>
+										</SimmSpline>
+									</y_location>
+									<y_coordinate>knee_angle_l</y_coordinate>
+									<z_location>
+										<SimmSpline>
+											<x> -2.0944 2.0944</x>
+											<y> -0.0165 -0.0165</y>
+										</SimmSpline>
+									</z_location>
+									<z_coordinate>knee_angle_l</z_coordinate>
+								</MovingPathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1871</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.084</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.157</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="med_gas_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="med_gas_l-P1">
+									<location> -0.019 -0.3929 0.0235</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<ConditionalPathPoint name="med_gas_l-P2">
+									<location> -0.03 -0.4022 0.0258</location>
+									<body>femur_l</body>
+									<range> -0.785398 0.174533</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="med_gas_l-P3">
+									<location> 0 0.031 0.0053</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1558</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.06</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.39</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.29670597</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="lat_gas_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="lat_gas_l-P1">
+									<location> -0.022 -0.3946 -0.0272</location>
+									<body>femur_l</body>
+								</PathPoint>
+								<ConditionalPathPoint name="lat_gas_l-P2">
+									<location> -0.03 -0.4018 -0.0274</location>
+									<body>femur_l</body>
+									<range> -0.785398 0.174533</range>
+									<coordinate>knee_angle_l</coordinate>
+								</ConditionalPathPoint>
+								<PathPoint name="lat_gas_l-P3">
+									<location> 0 0.031 0.0053</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>683</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.064</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.38</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="soleus_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="soleus_l-P1">
+									<location> -0.0024 -0.1533 -0.0071</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="soleus_l-P2">
+									<location> 0 0.031 0.0053</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>3549</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.05</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.25</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="tib_post_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="tib_post_l-P1">
+									<location> -0.0094 -0.1348 -0.0019</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="tib_post_l-P2">
+									<location> -0.0144 -0.4051 0.0229</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="tib_post_l-P3">
+									<location> 0.0417 0.0334 0.0286</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="tib_post_l-P4">
+									<location> 0.0772 0.0159 0.0281</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>1588</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.031</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.31</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.20943951</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="flex_dig_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="flex_dig_l-P1">
+									<location> -0.0083 -0.2046 0.0018</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_l-P2">
+									<location> -0.0154 -0.4051 0.0196</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_l-P3">
+									<location> 0.0436 0.0315 0.028</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_l-P4">
+									<location> 0.0708 0.0176 0.0263</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_l-P5">
+									<location> 0.1658 -0.0081 -0.0116</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_l-P6">
+									<location> -0.0019 -0.0078 -0.0147</location>
+									<body>toes_l</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_l-P7">
+									<location> 0.0285 -0.0071 -0.0215</location>
+									<body>toes_l</body>
+								</PathPoint>
+								<PathPoint name="flex_dig_l-P8">
+									<location> 0.0441 -0.006 -0.0242</location>
+									<body>toes_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>310</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.034</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.4</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.12217305</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="flex_hal_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="flex_hal_l-P1">
+									<location> -0.0079 -0.2334 -0.0244</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_l-P2">
+									<location> -0.0186 -0.4079 0.0174</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_l-P3">
+									<location> 0.0374 0.0276 0.0241</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_l-P4">
+									<location> 0.1038 0.0068 0.0256</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_l-P5">
+									<location> 0.1726 -0.0053 0.0269</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_l-P6">
+									<location> 0.0155 -0.0064 0.0265</location>
+									<body>toes_l</body>
+								</PathPoint>
+								<PathPoint name="flex_hal_l-P7">
+									<location> 0.0562 -0.0102 0.0181</location>
+									<body>toes_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>322</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.043</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.38</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="tib_ant_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="tib_ant_l-P1">
+									<location> 0.0179 -0.1624 -0.0115</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="tib_ant_l-P2">
+									<location> 0.0329 -0.3951 0.0177</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="tib_ant_l-P3">
+									<location> 0.1166 0.0178 0.0305</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>905</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.098</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.223</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="per_brev_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="per_brev_l-P1">
+									<location> -0.007 -0.2646 -0.0325</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_brev_l-P2">
+									<location> -0.0198 -0.4184 -0.0283</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_brev_l-P3">
+									<location> -0.0144 -0.4295 -0.0289</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_brev_l-P4">
+									<location> 0.0471 0.027 -0.0233</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="per_brev_l-P5">
+									<location> 0.0677 0.0219 -0.0343</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>435</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.05</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.161</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.08726646</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="per_long_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="per_long_l-P1">
+									<location> 0.0005 -0.1568 -0.0362</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_long_l-P2">
+									<location> -0.0207 -0.4205 -0.0286</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_long_l-P3">
+									<location> -0.0162 -0.4319 -0.0289</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_long_l-P4">
+									<location> 0.0438 0.023 -0.0221</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="per_long_l-P5">
+									<location> 0.0681 0.0106 -0.0284</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="per_long_l-P6">
+									<location> 0.0852 0.0069 -0.0118</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="per_long_l-P7">
+									<location> 0.1203 0.0085 0.0184</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>943</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.049</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.345</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="per_tert_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="per_tert_l-P1">
+									<location> 0.001 -0.2804 -0.0231</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_tert_l-P2">
+									<location> 0.0229 -0.4069 -0.0159</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="per_tert_l-P3">
+									<location> 0.0857 0.0228 -0.0299</location>
+									<body>calcn_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>180</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.079</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.2268928</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="ext_dig_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="ext_dig_l-P1">
+									<location> 0.0032 -0.1381 -0.0276</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_l-P2">
+									<location> 0.0289 -0.4007 -0.0072</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_l-P3">
+									<location> 0.0922 0.0388 0.0001</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_l-P4">
+									<location> 0.1616 0.0055 -0.013</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_l-P5">
+									<location> 0.0003 0.0047 -0.0153</location>
+									<body>toes_l</body>
+								</PathPoint>
+								<PathPoint name="ext_dig_l-P6">
+									<location> 0.0443 -0.0004 -0.025</location>
+									<body>toes_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>512</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.102</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.345</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.13962634</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="ext_hal_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="ext_hal_l-P1">
+									<location> 0.0012 -0.1767 -0.0228</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_l-P2">
+									<location> 0.0326 -0.3985 0.0085</location>
+									<body>tibia_l</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_l-P3">
+									<location> 0.097 0.0389 0.0211</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_l-P4">
+									<location> 0.1293 0.0309 0.0257</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_l-P5">
+									<location> 0.1734 0.0139 0.028</location>
+									<body>calcn_l</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_l-P6">
+									<location> 0.0298 0.0041 0.0245</location>
+									<body>toes_l</body>
+								</PathPoint>
+								<PathPoint name="ext_hal_l-P7">
+									<location> 0.0563 0.0034 0.0186</location>
+									<body>toes_l</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>162</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.111</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.305</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0.10471976</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="ercspn_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="ercspn_r-P1">
+									<location> -0.14 0.0439 0.0436</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="ercspn_r-P2">
+									<location> -0.055 0.11 0.0241</location>
+									<body>torso</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>2500</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.12</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.03</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="ercspn_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="ercspn_l-P1">
+									<location> -0.14 0.0439 -0.0436</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="ercspn_l-P2">
+									<location> -0.055 0.11 -0.0241</location>
+									<body>torso</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>2500</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.12</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.03</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="intobl_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="intobl_r-P1">
+									<location> -0.04 0.07 0.1157</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="intobl_r-P2">
+									<location> 0.07 0.16 0.015</location>
+									<body>torso</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>900</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="intobl_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="intobl_l-P1">
+									<location> -0.04 0.07 -0.1157</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="intobl_l-P2">
+									<location> 0.07 0.16 -0.015</location>
+									<body>torso</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>900</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.1</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="extobl_r">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="extobl_r-P1">
+									<location> -0.03 -0.0636 0.01</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="extobl_r-P2">
+									<location> 0.065 0.11 0.11</location>
+									<body>torso</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>900</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.12</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.14</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+				<Thelen2003Muscle name="extobl_l">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<PathPointSet>
+							<objects>
+								<PathPoint name="extobl_l-P1">
+									<location> -0.03 -0.0636 -0.01</location>
+									<body>pelvis</body>
+								</PathPoint>
+								<PathPoint name="extobl_l-P2">
+									<location> 0.065 0.11 -0.11</location>
+									<body>torso</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<VisibleObject>
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> -0 0 -0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>0</display_preference>
+						</VisibleObject>
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+					</GeometryPath>
+					<!--The maximum force this actuator can produce.-->
+					<optimal_force>1</optimal_force>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>900</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.12</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.14</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+			</objects>
+			<groups>
+				<ObjectGroup name="R_hip_abd">
+					<members> glut_max1_r glut_med1_r glut_med2_r glut_med3_r glut_min1_r glut_min2_r glut_min3_r peri_r sar_r tfl_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_hip_flex">
+					<members> add_brev_r add_long_r glut_med1_r glut_min1_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 glut_min1_r iliacus_r psoas_r tfl_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_hip_exrot">
+					<members> gem_r glut_med3_r glut_min3_r peri_r quad_fem_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_hip_ext">
+					<members> add_long_r add_mag1_r add_mag2_r add_mag3_r bifemlh_r glut_max1_r glut_max2_r glut_max3_r glut_med3_r glut_min3_r semimem_r semiten_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_hip_add">
+					<members> add_brev_r add_long_r add_mag1_r add_mag2_r add_mag3_r bifemlh_r grac_r pect_r semimem_r semiten_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_knee_bend">
+					<members> bifemlh_r bifemsh_r grac_r lat_gas_r med_gas_r sar_r semimem_r semiten_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_knee_ext">
+					<members> rect_fem_r vas_int_r vas_lat_r vas_med_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_ankle_pf">
+					<members> flex_dig_r flex_hal_r lat_gas_r med_gas_r per_brev_r per_long_r soleus_r tib_post_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_inverter">
+					<members> ext_hal_r flex_dig_r flex_hal_r tib_ant_r tib_post_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_ankle_df">
+					<members> ext_dig_r ext_hal_r per_tert_r tib_ant_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="R_everter">
+					<members> ext_dig_r per_brev_r per_long_r per_tert_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_hip_abd">
+					<members> glut_max1_l glut_med1_l glut_med2_l glut_med3_l glut_min1_l glut_min2_l glut_min3_l peri_l sar_l tfl_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_hip_flex">
+					<members> add_brev_l add_long_l glut_med1_l glut_min1_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 glut_min1_l iliacus_l psoas_l tfl_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_hip_exrot">
+					<members> gem_l glut_med3_l glut_min3_l peri_l quad_fem_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_hip_ext">
+					<members> add_long_l add_mag1_l add_mag2_l add_mag3_l bifemlh_l glut_max1_l glut_max2_l glut_max3_l glut_med3_l glut_min3_l semimem_l semiten_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_hip_add">
+					<members> add_brev_l add_long_l add_mag1_l add_mag2_l add_mag3_l bifemlh_l grac_l pect_l semimem_l semiten_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_knee_bend">
+					<members> bifemlh_l bifemsh_l grac_l lat_gas_l med_gas_l sar_l semimem_l semiten_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_knee_ext">
+					<members> rect_fem_l vas_int_l vas_lat_l vas_med_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_ankle_pf">
+					<members> flex_dig_l flex_hal_l lat_gas_l med_gas_l per_brev_l per_long_l soleus_l tib_post_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_inverter">
+					<members> ext_hal_l flex_dig_l flex_hal_l tib_ant_l tib_post_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_ankle_df">
+					<members> ext_dig_l ext_hal_l per_tert_l tib_ant_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="L_everter">
+					<members> ext_dig_l per_brev_l per_long_l per_tert_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="back_ext">
+					<members> ercspn_l ercspn_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="back_rlb">
+					<members> ercspn_r extobl_r intobl_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="back_introt">
+					<members> ercspn_r extobl_l intobl_r</members>
+				</ObjectGroup>
+				<ObjectGroup name="back_llb">
+					<members> ercspn_l extobl_l intobl_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="back_extrot">
+					<members> ercspn_l extobl_r intobl_l</members>
+				</ObjectGroup>
+				<ObjectGroup name="back_flex">
+					<members> extobl_l extobl_r intobl_l intobl_r</members>
+				</ObjectGroup>
+			</groups>
+		</ForceSet>
+		<!--Markers in the model.-->
+		<MarkerSet>
+			<objects />
+			<groups />
+		</MarkerSet>
+		<!--ContactGeometries  in the model.-->
+		<ContactGeometrySet>
+			<objects />
+			<groups />
+		</ContactGeometrySet>
+		<!--Controllers in the model.-->
+		<ControllerSet name="Controllers">
+			<objects />
+			<groups />
+		</ControllerSet>
+		<!--Additional components in the model.-->
+		<ComponentSet name="MiscComponents">
+			<objects />
+			<groups />
+		</ComponentSet>
+		<!--Probes in the model.-->
+		<ProbeSet>
+			<objects />
+			<groups />
+		</ProbeSet>
+	</Model>
+</OpenSimDocument>
author	Tobias Klauser <tklauser@distanz.ch>	2012-11-26 15:49:22 +0100
committer	Tobias Klauser <tklauser@distanz.ch>	2012-11-26 15:49:22 +0100
commit	9ad11e249b843b54abe32368087f369c3539dafa (patch)
tree	acebafea2708c518fe58c3b93877e097f1b8d31f
parent	e9f4f691e554000f9decf84da56568d6150badb2 (diff)