models/mjc/Gait2354Simbody/gait2354_cvt3.xml

<mujoco model="template">
  <!-- This model has been converted from an OpenSim model. Model conversion by MyoConverter https://github.com/MyoHub/myoConverter. This model is licensed under Apache 2.0. -->
  <compiler angle="radian" autolimits="true"/>
  <option timestep="0.005" collision="predefined"/>
  <size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
  <visual>
    <scale framelength="0.5" framewidth="0.01"/>
  </visual>
  <default class="main">
    <joint limited="true" armature="1e-05" damping="0.05"/>
    <geom margin="0.001" rgba="0.8 0.6 0.4 1"/>
    <site size="0.001 0.005 0.005"/>
    <tendon width="0.005" rgba="0.95 0.3 0.3 1"/>
    <default class="muscle">
      <general ctrllimited="true" ctrlrange="0 1" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 0 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 200 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 200 0.5 1.6 1.5 1.3 1.2 0"/>
    </default>
    <default class="motor">
      <general gainprm="5 0 0 0 0 0 0 0 0 0"/>
    </default>
  </default>
  <asset>
    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
    <mesh name="pelvis_geom_1_sacrum" file="Geometry/sacrum.stl"/>
    <mesh name="pelvis_geom_2_pelvis" file="Geometry/pelvis.stl"/>
    <mesh name="pelvis_geom_3_l_pelvis" file="Geometry/l_pelvis.stl"/>
    <mesh name="femur_r_geom_1_femur_r" file="Geometry/femur_r.stl"/>
    <mesh name="tibia_r_geom_1_tibia_r" file="Geometry/tibia_r.stl"/>
    <mesh name="tibia_r_geom_2_fibula" file="Geometry/fibula.stl"/>
    <mesh name="talus_r_geom_1_talus" file="Geometry/talus.stl"/>
    <mesh name="calcn_r_geom_1_foot" file="Geometry/foot.stl"/>
    <mesh name="toes_r_geom_1_bofoot" file="Geometry/bofoot.stl"/>
    <mesh name="femur_l_geom_1_femur_l" file="Geometry/femur_l.stl"/>
    <mesh name="tibia_l_geom_1_tibia_l" file="Geometry/tibia_l.stl"/>
    <mesh name="tibia_l_geom_2_l_fibula" file="Geometry/l_fibula.stl"/>
    <mesh name="talus_l_geom_1_l_talus" file="Geometry/l_talus.stl"/>
    <mesh name="calcn_l_geom_1_l_foot" file="Geometry/l_foot.stl"/>
    <mesh name="toes_l_geom_1_l_bofoot" file="Geometry/l_bofoot.stl"/>
    <mesh name="torso_geom_1_hat_spine" file="Geometry/hat_spine.stl"/>
    <mesh name="torso_geom_2_hat_jaw" file="Geometry/hat_jaw.stl"/>
    <mesh name="torso_geom_3_hat_skull" file="Geometry/hat_skull.stl"/>
    <mesh name="torso_geom_4_hat_ribs" file="Geometry/hat_ribs.stl"/>
  </asset>
  <worldbody>
    <light pos="0 0 0" dir="0 0 -1" directional="true"/>
    <body name="ground" quat="0.707035 0.707179 0 0">
      <geom name="ground-plane" size="10 10 0.125" quat="0.707035 -0.707179 0 0" type="plane" rgba="1 0.7 0.4 1"/>
    </body>
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      <joint name="pelvis_ty" pos="0 0 0" axis="0 1 0" type="slide" range="-1 2" damping="0" user="0.95"/>
      <joint name="pelvis_tz" pos="0 0 0" axis="0 0 1" type="slide" range="-3 3" damping="0"/>
      <joint name="pelvis_tilt" pos="0 0 0" axis="0 0 1" range="-1.571 1.571" damping="0"/>
      <joint name="pelvis_list" pos="0 0 0" axis="1 0 0" range="-1.571 1.571" damping="0"/>
      <joint name="pelvis_rotation" pos="0 0 0" axis="0 1 0" range="-1.571 1.571" damping="0"/>
      <geom name="pelvis_geom_1" type="mesh" rgba="1 1 1 1" mesh="pelvis_geom_1_sacrum"/>
      <geom name="pelvis_geom_2" type="mesh" rgba="1 1 1 1" mesh="pelvis_geom_2_pelvis"/>
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        <site name="glut_max1_l_glut_max1_l-P4" pos="-0.0277 -0.0566 -0.047"/>
        <site name="glut_max2_l_glut_max2_l-P3" pos="-0.0426 -0.053 -0.0293"/>
        <site name="glut_max2_l_glut_max2_l-P4" pos="-0.0156 -0.1016 -0.0419"/>
        <site name="glut_max3_l_glut_max3_l-P3" pos="-0.0299 -0.1041 -0.0135"/>
        <site name="glut_max3_l_glut_max3_l-P4" pos="-0.006 -0.1419 -0.0411"/>
        <site name="iliacus_l_iliacus_l-P4" pos="0.0017 -0.0543 -0.0057"/>
        <site name="iliacus_l_iliacus_l-P5" pos="-0.0193 -0.0621 -0.0129"/>
        <site name="psoas_l_psoas_l-P4" pos="0.0016 -0.0507 -0.0038"/>
        <site name="psoas_l_psoas_l-P5" pos="-0.0188 -0.0597 -0.0104"/>
        <site name="quad_fem_l_quad_fem_l-P2" pos="-0.0381 -0.0359 -0.0366"/>
        <site name="gem_l_gem_l-P2" pos="-0.0142 -0.0033 -0.0443"/>
        <site name="peri_l_peri_l-P3" pos="-0.0148 -0.0036 -0.0437"/>
        <site name="rect_fem_l_rect_fem_l-P2" pos="0.0334 -0.403 -0.0019"/>
        <site name="vas_int_l_vas_int_l-P1" pos="0.029 -0.1924 -0.031"/>
        <site name="vas_int_l_vas_int_l-P2" pos="0.0335 -0.2084 -0.0285"/>
        <site name="med_gas_l_med_gas_l-P1" pos="-0.019 -0.3929 0.0235"/>
        <body name="tibia_l">
          <inertial pos="0 -0.1867 0" quat="0.5 0.5 -0.5 0.5" mass="3.7075" diaginertia="0.0511 0.0504 0.0051"/>
          <joint name="knee_l_translation1" pos="0 0 0" axis="1 0 0" type="slide" range="-0.005574 0.00411" user="-0.00363925"/>
          <joint name="knee_l_translation2" pos="0 0 0" axis="0 1 0" type="slide" range="-0.4226 -0.3953" user="-0.395713"/>
          <joint name="knee_angle_l" pos="0 0 0" axis="0 0 1" range="-2.094 0.1745"/>
          <geom name="tibia_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="tibia_l_geom_1_tibia_l"/>
          <geom name="tibia_l_geom_2" type="mesh" rgba="1 1 1 1" mesh="tibia_l_geom_2_l_fibula"/>
          <site name="bifemlh_l_bifemlh_l-P2" pos="-0.0301 -0.036 -0.02943"/>
          <site name="bifemlh_l_bifemlh_l-P3" pos="-0.0234 -0.0563 -0.0343"/>
          <site name="bifemsh_l_bifemsh_l-P2" pos="-0.0301 -0.036 -0.02943"/>
          <site name="bifemsh_l_bifemsh_l-P3" pos="-0.0234 -0.0563 -0.0343"/>
          <site name="sar_l_sar_l-P3" pos="-0.0056 -0.0419 0.0399"/>
          <site name="sar_l_sar_l-P4" pos="0.006 -0.0589 0.0383"/>
          <site name="sar_l_sar_l-P5" pos="0.0243 -0.084 0.0252"/>
          <site name="tfl_l_tfl_l-P4" pos="0.006 -0.0487 -0.0297"/>
          <site name="grac_l_grac_l-P3" pos="-0.01943 -0.05153 0.0358"/>
          <site name="grac_l_grac_l-P4" pos="0.006 -0.0836 0.0228"/>
          <site name="soleus_l_soleus_l-P1" pos="-0.0024 -0.1533 -0.0071"/>
          <site name="tib_post_l_tib_post_l-P1" pos="-0.0094 -0.1348 -0.0019"/>
          <site name="tib_post_l_tib_post_l-P2" pos="-0.0144 -0.4051 0.0229"/>
          <site name="tib_ant_l_tib_ant_l-P1" pos="0.0179 -0.1624 -0.0115"/>
          <site name="tib_ant_l_tib_ant_l-P2" pos="0.0329 -0.3951 0.0177"/>
          <body name="talus_l" pos="0 -0.43 0">
            <inertial pos="0 0 0" mass="0.1" diaginertia="0.001 0.001 0.001"/>
            <joint name="ankle_angle_l" pos="0 0 0" axis="0.105003 0.174005 0.979131" range="-1.571 1.571"/>
            <geom name="talus_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="talus_l_geom_1_l_talus"/>
            <body name="calcn_l" pos="-0.04877 -0.04195 -0.00792">
              <inertial pos="0.1 0.03 0" quat="0 0.707107 0 0.707107" mass="1.25" diaginertia="0.0041 0.0039 0.0014"/>
              <joint name="subtalar_angle_l" pos="0 0 0" axis="-0.787215 -0.604711 -0.120902" range="-1.571 1.571"/>
              <geom name="calcn_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="calcn_l_geom_1_l_foot"/>
              <site name="med_gas_l_med_gas_l-P3" pos="0 0.031 0.0053"/>
              <site name="soleus_l_soleus_l-P2" pos="0 0.031 0.0053"/>
              <site name="tib_post_l_tib_post_l-P3" pos="0.0417 0.0334 0.0286"/>
              <site name="tib_post_l_tib_post_l-P4" pos="0.0772 0.0159 0.0281"/>
              <site name="tib_ant_l_tib_ant_l-P3" pos="0.1166 0.0178 0.0305"/>
              <body name="toes_l" pos="0.1788 -0.002 -0.00108">
                <inertial pos="0.0346 0.006 0.0175" quat="0.707107 0 0 0.707107" mass="0.2166" diaginertia="0.001 0.001 0.001"/>
                <joint name="mtp_angle_l" pos="0 0 0" axis="0.581002 0 0.813902" range="-1.571 1.571"/>
                <geom name="toes_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="toes_l_geom_1_l_bofoot"/>
              </body>
            </body>
          </body>
          <body name="grac_l_grac_l-P2">
            <joint name="grac_l_grac_l-P2_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.02657 -0.01943"/>
            <joint name="grac_l_grac_l-P2_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.05153 -0.0319"/>
            <joint name="grac_l_grac_l-P2_z" pos="0 0 0" axis="0 0 1" type="slide" range="0.0358 0.03774"/>
            <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
            <site name="grac_l_grac_l-P2" pos="0 0 0"/>
          </body>
          <body name="rect_fem_l_rect_fem_l-P3" pos="0 0 -0.001401">
            <joint name="rect_fem_l_rect_fem_l-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="0.01558 0.0733"/>
            <joint name="rect_fem_l_rect_fem_l-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.06738 0.02531"/>
            <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
            <site name="rect_fem_l_rect_fem_l-P3" pos="0 0 0"/>
          </body>
          <body name="vas_int_l_vas_int_l-P4" pos="0 0 -0.001801">
            <joint name="vas_int_l_vas_int_l-P4_x" pos="0 0 0" axis="1 0 0" type="slide" range="0.008273 0.06844"/>
            <joint name="vas_int_l_vas_int_l-P4_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.06857 0.02752"/>
            <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
            <site name="vas_int_l_vas_int_l-P4" pos="0 0 0"/>
          </body>
        </body>
        <body name="vas_int_l_vas_int_l-P3" pos="0.0335 0 0">
          <joint name="vas_int_l_vas_int_l-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.403 -0.2084"/>
          <joint name="vas_int_l_vas_int_l-P3_z" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0285 -0.0055"/>
          <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
          <site name="vas_int_l_vas_int_l-P3" pos="0 0 0"/>
        </body>
        <body name="med_gas_l_med_gas_l-P2">
          <joint name="med_gas_l_med_gas_l-P2_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.03 -0.019"/>
          <joint name="med_gas_l_med_gas_l-P2_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.4022 -0.3929"/>
          <joint name="med_gas_l_med_gas_l-P2_z" pos="0 0 0" axis="0 0 1" type="slide" range="0.0235 0.0258"/>
          <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
          <site name="med_gas_l_med_gas_l-P2" pos="0 0 0"/>
        </body>
      </body>
      <body name="torso" pos="-0.1007 0.0815 0">
        <inertial pos="-0.03 0.32 0" quat="0.707107 0.707107 0 0" mass="34.2366" diaginertia="1.4745 1.4314 0.7555"/>
        <joint name="lumbar_extension" pos="0 0 0" axis="0 0 1" range="-1.571 1.571"/>
        <joint name="lumbar_bending" pos="0 0 0" axis="1 0 0" range="-1.571 1.571"/>
        <joint name="lumbar_rotation" pos="0 0 0" axis="0 1 0" range="-1.571 1.571"/>
        <geom name="torso_geom_1" type="mesh" rgba="1 1 1 1" mesh="torso_geom_1_hat_spine"/>
        <geom name="torso_geom_2" type="mesh" rgba="1 1 1 1" mesh="torso_geom_2_hat_jaw"/>
        <geom name="torso_geom_3" type="mesh" rgba="1 1 1 1" mesh="torso_geom_3_hat_skull"/>
        <geom name="torso_geom_4" type="mesh" rgba="1 1 1 1" mesh="torso_geom_4_hat_ribs"/>
        <site name="ercspn_r_ercspn_r-P2" pos="-0.055 0.11 0.0241"/>
        <site name="ercspn_l_ercspn_l-P2" pos="-0.055 0.11 -0.0241"/>
        <site name="intobl_r_intobl_r-P2" pos="0.07 0.16 0.015"/>
        <site name="intobl_l_intobl_l-P2" pos="0.07 0.16 -0.015"/>
        <site name="extobl_r_extobl_r-P2" pos="0.065 0.11 0.11"/>
        <site name="extobl_l_extobl_l-P2" pos="0.065 0.11 -0.11"/>
      </body>
      <body name="iliacus_r_iliacus_r-P3" pos="0 0 0.0811">
        <joint name="iliacus_r_iliacus_r-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.0288 -0.0258"/>
        <joint name="iliacus_r_iliacus_r-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.0805 -0.055"/>
        <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
        <site name="iliacus_r_iliacus_r-P3" pos="0 0 0"/>
      </body>
      <body name="psoas_r_psoas_r-P3">
        <joint name="psoas_r_psoas_r-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.0288 -0.0238"/>
        <joint name="psoas_r_psoas_r-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.0805 -0.057"/>
        <joint name="psoas_r_psoas_r-P3_z" pos="0 0 0" axis="0 0 1" type="slide" range="0.0759 0.0816"/>
        <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
        <site name="psoas_r_psoas_r-P3" pos="0 0 0"/>
      </body>
      <body name="iliacus_l_iliacus_l-P3" pos="0 0 -0.0816">
        <joint name="iliacus_l_iliacus_l-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.0288 -0.0258"/>
        <joint name="iliacus_l_iliacus_l-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.0805 -0.055"/>
        <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
        <site name="iliacus_l_iliacus_l-P3" pos="0 0 0"/>
      </body>
      <body name="psoas_l_psoas_l-P3">
        <joint name="psoas_l_psoas_l-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.0288 -0.0238"/>
        <joint name="psoas_l_psoas_l-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.0805 -0.057"/>
        <joint name="psoas_l_psoas_l-P3_z" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0816 -0.0759"/>
        <geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
        <site name="psoas_l_psoas_l-P3" pos="0 0 0"/>
      </body>
    </body>
  </worldbody>
  <contact>
    <pair geom1="ground-plane" geom2="pelvis_geom_1"/>
    <pair geom1="ground-plane" geom2="pelvis_geom_2"/>
    <pair geom1="ground-plane" geom2="pelvis_geom_3"/>
    <pair geom1="ground-plane" geom2="femur_r_geom_1"/>
    <pair geom1="ground-plane" geom2="tibia_r_geom_1"/>
    <pair geom1="ground-plane" geom2="tibia_r_geom_2"/>
    <pair geom1="ground-plane" geom2="talus_r_geom_1"/>
    <pair geom1="ground-plane" geom2="calcn_r_geom_1"/>
    <pair geom1="ground-plane" geom2="toes_r_geom_1"/>
    <pair geom1="ground-plane" geom2="femur_l_geom_1"/>
    <pair geom1="ground-plane" geom2="tibia_l_geom_1"/>
    <pair geom1="ground-plane" geom2="tibia_l_geom_2"/>
    <pair geom1="ground-plane" geom2="talus_l_geom_1"/>
    <pair geom1="ground-plane" geom2="calcn_l_geom_1"/>
    <pair geom1="ground-plane" geom2="toes_l_geom_1"/>
    <pair geom1="ground-plane" geom2="torso_geom_1"/>
    <pair geom1="ground-plane" geom2="torso_geom_2"/>
    <pair geom1="ground-plane" geom2="torso_geom_3"/>
    <pair geom1="ground-plane" geom2="torso_geom_4"/>
  </contact>
  <equality>
    <joint joint1="knee_r_translation1" joint2="knee_angle_r" polycoef="-0.003639 -0.006267 0.002807 0.00134 -0.0006776" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="knee_r_translation2" joint2="knee_angle_r" polycoef="-0.3957 0.003413 -0.005587 0.0006697 0.0005674" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="knee_l_translation1" joint2="knee_angle_l" polycoef="-0.003639 -0.006267 0.002807 0.00134 -0.0006776" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="knee_l_translation2" joint2="knee_angle_l" polycoef="-0.3957 0.003413 -0.005587 0.0006697 0.0005674" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="grac_r_grac_r-P2_x" joint2="knee_angle_r" polycoef="-0.02602 -0.003147 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="grac_r_grac_r-P2_y" joint2="knee_angle_r" polycoef="-0.03341 0.008653 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="grac_r_grac_r-P2_z" joint2="knee_angle_r" polycoef="-0.03759 -0.0008552 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="iliacus_r_iliacus_r-P3_x" joint2="hip_flexion_r" polycoef="-0.0288 0 0.0006842 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="iliacus_r_iliacus_r-P3_y" joint2="hip_flexion_r" polycoef="-0.0805 0 0.005815 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="psoas_r_psoas_r-P3_x" joint2="hip_flexion_r" polycoef="-0.0288 0 0.00114 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="psoas_r_psoas_r-P3_y" joint2="hip_flexion_r" polycoef="-0.0805 0 0.005359 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="psoas_r_psoas_r-P3_z" joint2="hip_flexion_r" polycoef="0.0816 0 -0.0013 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="rect_fem_r_rect_fem_r-P3_x" joint2="knee_angle_r" polycoef="0.06259 0.04199 0.01152 -0.007248 -0.004008" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="rect_fem_r_rect_fem_r-P3_y" joint2="knee_angle_r" polycoef="0.02032 -0.01159 -0.008624 -0.002308 -0.0002292" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_r_vas_int_r-P3_y" joint2="knee_angle_r" polycoef="-0.2234 0.08578 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_r_vas_int_r-P3_z" joint2="knee_angle_r" polycoef="0.02673 0.01014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_r_vas_int_r-P4_x" joint2="knee_angle_r" polycoef="0.05647 0.04555 0.01393 -0.007247 -0.004235" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_r_vas_int_r-P4_y" joint2="knee_angle_r" polycoef="0.02476 -0.006322 -0.00661 -0.003684 -0.0008973" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="med_gas_r_med_gas_r-P2_x" joint2="knee_angle_r" polycoef="-0.02915 -0.004849 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="med_gas_r_med_gas_r-P2_y" joint2="knee_angle_r" polycoef="-0.4015 -0.0041 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="med_gas_r_med_gas_r-P2_z" joint2="knee_angle_r" polycoef="-0.02562 -0.001014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="grac_l_grac_l-P2_x" joint2="knee_angle_l" polycoef="-0.02602 -0.003147 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="grac_l_grac_l-P2_y" joint2="knee_angle_l" polycoef="-0.03341 0.008653 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="grac_l_grac_l-P2_z" joint2="knee_angle_l" polycoef="0.03759 0.0008552 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="iliacus_l_iliacus_l-P3_x" joint2="hip_flexion_l" polycoef="-0.0288 0 0.0006842 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="iliacus_l_iliacus_l-P3_y" joint2="hip_flexion_l" polycoef="-0.0805 0 0.005815 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="psoas_l_psoas_l-P3_x" joint2="hip_flexion_l" polycoef="-0.0288 0 0.00114 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="psoas_l_psoas_l-P3_y" joint2="hip_flexion_l" polycoef="-0.0805 0 0.005359 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="psoas_l_psoas_l-P3_z" joint2="hip_flexion_l" polycoef="-0.0816 0 0.0013 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="rect_fem_l_rect_fem_l-P3_x" joint2="knee_angle_l" polycoef="0.06259 0.04199 0.01152 -0.007248 -0.004008" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="rect_fem_l_rect_fem_l-P3_y" joint2="knee_angle_l" polycoef="0.02032 -0.01159 -0.008624 -0.002308 -0.0002292" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_l_vas_int_l-P3_y" joint2="knee_angle_l" polycoef="-0.2234 0.08578 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_l_vas_int_l-P3_z" joint2="knee_angle_l" polycoef="-0.02673 -0.01014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_l_vas_int_l-P4_x" joint2="knee_angle_l" polycoef="0.05647 0.04555 0.01393 -0.007247 -0.004235" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="vas_int_l_vas_int_l-P4_y" joint2="knee_angle_l" polycoef="0.02476 -0.006322 -0.00661 -0.003684 -0.0008973" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="med_gas_l_med_gas_l-P2_x" joint2="knee_angle_l" polycoef="-0.02915 -0.004849 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="med_gas_l_med_gas_l-P2_y" joint2="knee_angle_l" polycoef="-0.4015 -0.0041 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
    <joint joint1="med_gas_l_med_gas_l-P2_z" joint2="knee_angle_l" polycoef="0.02562 0.001014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
  </equality>
  <tendon>
    <spatial name="glut_med1_r_tendon">
      <site site="glut_med1_r_glut_med1_r-P1"/>
      <site site="glut_med1_r_glut_med1_r-P2"/>
    </spatial>
    <spatial name="glut_med2_r_tendon">
      <site site="glut_med2_r_glut_med2_r-P1"/>
      <site site="glut_med2_r_glut_med2_r-P2"/>
    </spatial>
    <spatial name="glut_med3_r_tendon">
      <site site="glut_med3_r_glut_med3_r-P1"/>
      <site site="glut_med3_r_glut_med3_r-P2"/>
    </spatial>
    <spatial name="bifemlh_r_tendon">
      <site site="bifemlh_r_bifemlh_r-P1"/>
      <site site="bifemlh_r_bifemlh_r-P2"/>
      <site site="bifemlh_r_bifemlh_r-P3"/>
    </spatial>
    <spatial name="bifemsh_r_tendon">
      <site site="bifemsh_r_bifemsh_r-P1"/>
      <site site="bifemsh_r_bifemsh_r-P2"/>
      <site site="bifemsh_r_bifemsh_r-P3"/>
    </spatial>
    <spatial name="sar_r_tendon">
      <site site="sar_r_sar_r-P1"/>
      <site site="sar_r_sar_r-P2"/>
      <site site="sar_r_sar_r-P3"/>
      <site site="sar_r_sar_r-P4"/>
      <site site="sar_r_sar_r-P5"/>
    </spatial>
    <spatial name="add_mag2_r_tendon">
      <site site="add_mag2_r_add_mag2_r-P1"/>
      <site site="add_mag2_r_add_mag2_r-P2"/>
    </spatial>
    <spatial name="tfl_r_tendon">
      <site site="tfl_r_tfl_r-P1"/>
      <site site="tfl_r_tfl_r-P2"/>
      <site site="tfl_r_tfl_r-P3"/>
      <site site="tfl_r_tfl_r-P4"/>
    </spatial>
    <spatial name="pect_r_tendon">
      <site site="pect_r_pect_r-P1"/>
      <site site="pect_r_pect_r-P2"/>
    </spatial>
    <spatial name="grac_r_tendon">
      <site site="grac_r_grac_r-P1"/>
      <site site="grac_r_grac_r-P2"/>
      <site site="grac_r_grac_r-P3"/>
      <site site="grac_r_grac_r-P4"/>
    </spatial>
    <spatial name="glut_max1_r_tendon">
      <site site="glut_max1_r_glut_max1_r-P1"/>
      <site site="glut_max1_r_glut_max1_r-P2"/>
      <site site="glut_max1_r_glut_max1_r-P3"/>
      <site site="glut_max1_r_glut_max1_r-P4"/>
    </spatial>
    <spatial name="glut_max2_r_tendon">
      <site site="glut_max2_r_glut_max2_r-P1"/>
      <site site="glut_max2_r_glut_max2_r-P2"/>
      <site site="glut_max2_r_glut_max2_r-P3"/>
      <site site="glut_max2_r_glut_max2_r-P4"/>
    </spatial>
    <spatial name="glut_max3_r_tendon">
      <site site="glut_max3_r_glut_max3_r-P1"/>
      <site site="glut_max3_r_glut_max3_r-P2"/>
      <site site="glut_max3_r_glut_max3_r-P3"/>
      <site site="glut_max3_r_glut_max3_r-P4"/>
    </spatial>
    <spatial name="iliacus_r_tendon">
      <site site="iliacus_r_iliacus_r-P1"/>
      <site site="iliacus_r_iliacus_r-P2"/>
      <site site="iliacus_r_iliacus_r-P3"/>
      <site site="iliacus_r_iliacus_r-P4"/>
      <site site="iliacus_r_iliacus_r-P5"/>
    </spatial>
    <spatial name="psoas_r_tendon">
      <site site="psoas_r_psoas_r-P1"/>
      <site site="psoas_r_psoas_r-P2"/>
      <site site="psoas_r_psoas_r-P3"/>
      <site site="psoas_r_psoas_r-P4"/>
      <site site="psoas_r_psoas_r-P5"/>
    </spatial>
    <spatial name="quad_fem_r_tendon">
      <site site="quad_fem_r_quad_fem_r-P1"/>
      <site site="quad_fem_r_quad_fem_r-P2"/>
    </spatial>
    <spatial name="gem_r_tendon">
      <site site="gem_r_gem_r-P1"/>
      <site site="gem_r_gem_r-P2"/>
    </spatial>
    <spatial name="peri_r_tendon">
      <site site="peri_r_peri_r-P1"/>
      <site site="peri_r_peri_r-P2"/>
      <site site="peri_r_peri_r-P3"/>
    </spatial>
    <spatial name="rect_fem_r_tendon">
      <site site="rect_fem_r_rect_fem_r-P1"/>
      <site site="rect_fem_r_rect_fem_r-P2"/>
      <site site="rect_fem_r_rect_fem_r-P3"/>
    </spatial>
    <spatial name="vas_int_r_tendon">
      <site site="vas_int_r_vas_int_r-P1"/>
      <site site="vas_int_r_vas_int_r-P2"/>
      <site site="vas_int_r_vas_int_r-P3"/>
      <site site="vas_int_r_vas_int_r-P4"/>
    </spatial>
    <spatial name="med_gas_r_tendon">
      <site site="med_gas_r_med_gas_r-P1"/>
      <site site="med_gas_r_med_gas_r-P2"/>
      <site site="med_gas_r_med_gas_r-P3"/>
    </spatial>
    <spatial name="soleus_r_tendon">
      <site site="soleus_r_soleus_r-P1"/>
      <site site="soleus_r_soleus_r-P2"/>
    </spatial>
    <spatial name="tib_post_r_tendon">
      <site site="tib_post_r_tib_post_r-P1"/>
      <site site="tib_post_r_tib_post_r-P2"/>
      <site site="tib_post_r_tib_post_r-P3"/>
      <site site="tib_post_r_tib_post_r-P4"/>
    </spatial>
    <spatial name="tib_ant_r_tendon">
      <site site="tib_ant_r_tib_ant_r-P1"/>
      <site site="tib_ant_r_tib_ant_r-P2"/>
      <site site="tib_ant_r_tib_ant_r-P3"/>
    </spatial>
    <spatial name="glut_med1_l_tendon">
      <site site="glut_med1_l_glut_med1_l-P1"/>
      <site site="glut_med1_l_glut_med1_l-P2"/>
    </spatial>
    <spatial name="glut_med2_l_tendon">
      <site site="glut_med2_l_glut_med2_l-P1"/>
      <site site="glut_med2_l_glut_med2_l-P2"/>
    </spatial>
    <spatial name="glut_med3_l_tendon">
      <site site="glut_med3_l_glut_med3_l-P1"/>
      <site site="glut_med3_l_glut_med3_l-P2"/>
    </spatial>
    <spatial name="bifemlh_l_tendon">
      <site site="bifemlh_l_bifemlh_l-P1"/>
      <site site="bifemlh_l_bifemlh_l-P2"/>
      <site site="bifemlh_l_bifemlh_l-P3"/>
    </spatial>
    <spatial name="bifemsh_l_tendon">
      <site site="bifemsh_l_bifemsh_l-P1"/>
      <site site="bifemsh_l_bifemsh_l-P2"/>
      <site site="bifemsh_l_bifemsh_l-P3"/>
    </spatial>
    <spatial name="sar_l_tendon">
      <site site="sar_l_sar_l-P1"/>
      <site site="sar_l_sar_l-P2"/>
      <site site="sar_l_sar_l-P3"/>
      <site site="sar_l_sar_l-P4"/>
      <site site="sar_l_sar_l-P5"/>
    </spatial>
    <spatial name="add_mag2_l_tendon">
      <site site="add_mag2_l_add_mag2_l-P1"/>
      <site site="add_mag2_l_add_mag2_l-P2"/>
    </spatial>
    <spatial name="tfl_l_tendon">
      <site site="tfl_l_tfl_l-P1"/>
      <site site="tfl_l_tfl_l-P2"/>
      <site site="tfl_l_tfl_l-P3"/>
      <site site="tfl_l_tfl_l-P4"/>
    </spatial>
    <spatial name="pect_l_tendon">
      <site site="pect_l_pect_l-P1"/>
      <site site="pect_l_pect_l-P2"/>
    </spatial>
    <spatial name="grac_l_tendon">
      <site site="grac_l_grac_l-P1"/>
      <site site="grac_l_grac_l-P2"/>
      <site site="grac_l_grac_l-P3"/>
      <site site="grac_l_grac_l-P4"/>
    </spatial>
    <spatial name="glut_max1_l_tendon">
      <site site="glut_max1_l_glut_max1_l-P1"/>
      <site site="glut_max1_l_glut_max1_l-P2"/>
      <site site="glut_max1_l_glut_max1_l-P3"/>
      <site site="glut_max1_l_glut_max1_l-P4"/>
    </spatial>
    <spatial name="glut_max2_l_tendon">
      <site site="glut_max2_l_glut_max2_l-P1"/>
      <site site="glut_max2_l_glut_max2_l-P2"/>
      <site site="glut_max2_l_glut_max2_l-P3"/>
      <site site="glut_max2_l_glut_max2_l-P4"/>
    </spatial>
    <spatial name="glut_max3_l_tendon">
      <site site="glut_max3_l_glut_max3_l-P1"/>
      <site site="glut_max3_l_glut_max3_l-P2"/>
      <site site="glut_max3_l_glut_max3_l-P3"/>
      <site site="glut_max3_l_glut_max3_l-P4"/>
    </spatial>
    <spatial name="iliacus_l_tendon">
      <site site="iliacus_l_iliacus_l-P1"/>
      <site site="iliacus_l_iliacus_l-P2"/>
      <site site="iliacus_l_iliacus_l-P3"/>
      <site site="iliacus_l_iliacus_l-P4"/>
      <site site="iliacus_l_iliacus_l-P5"/>
    </spatial>
    <spatial name="psoas_l_tendon">
      <site site="psoas_l_psoas_l-P1"/>
      <site site="psoas_l_psoas_l-P2"/>
      <site site="psoas_l_psoas_l-P3"/>
      <site site="psoas_l_psoas_l-P4"/>
      <site site="psoas_l_psoas_l-P5"/>
    </spatial>
    <spatial name="quad_fem_l_tendon">
      <site site="quad_fem_l_quad_fem_l-P1"/>
      <site site="quad_fem_l_quad_fem_l-P2"/>
    </spatial>
    <spatial name="gem_l_tendon">
      <site site="gem_l_gem_l-P1"/>
      <site site="gem_l_gem_l-P2"/>
    </spatial>
    <spatial name="peri_l_tendon">
      <site site="peri_l_peri_l-P1"/>
      <site site="peri_l_peri_l-P2"/>
      <site site="peri_l_peri_l-P3"/>
    </spatial>
    <spatial name="rect_fem_l_tendon">
      <site site="rect_fem_l_rect_fem_l-P1"/>
      <site site="rect_fem_l_rect_fem_l-P2"/>
      <site site="rect_fem_l_rect_fem_l-P3"/>
    </spatial>
    <spatial name="vas_int_l_tendon">
      <site site="vas_int_l_vas_int_l-P1"/>
      <site site="vas_int_l_vas_int_l-P2"/>
      <site site="vas_int_l_vas_int_l-P3"/>
      <site site="vas_int_l_vas_int_l-P4"/>
    </spatial>
    <spatial name="med_gas_l_tendon">
      <site site="med_gas_l_med_gas_l-P1"/>
      <site site="med_gas_l_med_gas_l-P2"/>
      <site site="med_gas_l_med_gas_l-P3"/>
    </spatial>
    <spatial name="soleus_l_tendon">
      <site site="soleus_l_soleus_l-P1"/>
      <site site="soleus_l_soleus_l-P2"/>
    </spatial>
    <spatial name="tib_post_l_tendon">
      <site site="tib_post_l_tib_post_l-P1"/>
      <site site="tib_post_l_tib_post_l-P2"/>
      <site site="tib_post_l_tib_post_l-P3"/>
      <site site="tib_post_l_tib_post_l-P4"/>
    </spatial>
    <spatial name="tib_ant_l_tendon">
      <site site="tib_ant_l_tib_ant_l-P1"/>
      <site site="tib_ant_l_tib_ant_l-P2"/>
      <site site="tib_ant_l_tib_ant_l-P3"/>
    </spatial>
    <spatial name="ercspn_r_tendon">
      <site site="ercspn_r_ercspn_r-P1"/>
      <site site="ercspn_r_ercspn_r-P2"/>
    </spatial>
    <spatial name="ercspn_l_tendon">
      <site site="ercspn_l_ercspn_l-P1"/>
      <site site="ercspn_l_ercspn_l-P2"/>
    </spatial>
    <spatial name="intobl_r_tendon">
      <site site="intobl_r_intobl_r-P1"/>
      <site site="intobl_r_intobl_r-P2"/>
    </spatial>
    <spatial name="intobl_l_tendon">
      <site site="intobl_l_intobl_l-P1"/>
      <site site="intobl_l_intobl_l-P2"/>
    </spatial>
    <spatial name="extobl_r_tendon">
      <site site="extobl_r_extobl_r-P1"/>
      <site site="extobl_r_extobl_r-P2"/>
    </spatial>
    <spatial name="extobl_l_tendon">
      <site site="extobl_l_extobl_l-P1"/>
      <site site="extobl_l_extobl_l-P2"/>
    </spatial>
  </tendon>
  <actuator>
    <general name="glut_med1_r" class="muscle" tendon="glut_med1_r_tendon" lengthrange="0.0469632 0.168445" gainprm="0.0375901 1.346 984.114 1 0 2 10 3.73792 1.4 0" biasprm="0.0375901 1.346 984.114 1 0 2 10 3.73792 1.4 0"/>
    <general name="glut_med2_r" class="muscle" tendon="glut_med2_r_tendon" lengthrange="0.0552468 0.170754" gainprm="0.214321 1.31783 837.887 1 0 2 10 1.4565 1.4 0" biasprm="0.214321 1.31783 837.887 1 0 2 10 1.4565 1.4 0"/>
    <general name="glut_med3_r" class="muscle" tendon="glut_med3_r_tendon" lengthrange="0.034202 0.154398" gainprm="0.0914381 1.35737 879.926 1 0 2 10 2.48755 1.4 0" biasprm="0.0914381 1.35737 879.926 1 0 2 10 2.48755 1.4 0"/>
    <general name="bifemlh_r" class="muscle" tendon="bifemlh_r_tendon" lengthrange="0.335471 0.526997" gainprm="0.265063 1.47156 2517.17 1 0 2 10 3.22775 1.4 0" biasprm="0.265063 1.47156 2517.17 1 0 2 10 3.22775 1.4 0"/>
    <general name="bifemsh_r" class="muscle" tendon="bifemsh_r_tendon" lengthrange="0.191264 0.249268" gainprm="0.677839 1.4039 670.465 1 0 2 10 1.38869 1.4 0" biasprm="0.677839 1.4039 670.465 1 0 2 10 1.38869 1.4 0"/>
    <general name="sar_r" class="muscle" tendon="sar_r_tendon" lengthrange="0.384394 0.581501" gainprm="0.629197 1.25492 136.635 1 0 2 10 2.33181 1.4 0" biasprm="0.629197 1.25492 136.635 1 0 2 10 2.33181 1.4 0"/>
    <general name="add_mag2_r" class="muscle" tendon="add_mag2_r_tendon" lengthrange="0.154271 0.304177" gainprm="0.406844 1.24485 2327.98 1 0 2 10 1.40359 1.4 0" biasprm="0.406844 1.24485 2327.98 1 0 2 10 1.40359 1.4 0"/>
    <general name="tfl_r" class="muscle" tendon="tfl_r_tendon" lengthrange="0.368658 0.585301" gainprm="0.0904516 1.26331 194.517 1 0 2 10 4.13972 1.4 0" biasprm="0.0904516 1.26331 194.517 1 0 2 10 4.13972 1.4 0"/>
    <general name="pect_r" class="muscle" tendon="pect_r_tendon" lengthrange="0.0384406 0.135284" gainprm="0.216194 1.26778 225.271 1 0 2 10 2.4798 1.4 0" biasprm="0.216194 1.26778 225.271 1 0 2 10 2.4798 1.4 0"/>
    <general name="grac_r" class="muscle" tendon="grac_r_tendon" lengthrange="0.350469 0.573287" gainprm="0.666879 1.1737 159.718 1 0 2 10 1.29893 1.4 0" biasprm="0.666879 1.1737 159.718 1 0 2 10 1.29893 1.4 0"/>
    <general name="glut_max1_r" class="muscle" tendon="glut_max1_r_tendon" lengthrange="0.125622 0.254802" gainprm="0.120642 1.27197 433.074 1 0 2 10 3.27576 1.4 0" biasprm="0.120642 1.27197 433.074 1 0 2 10 3.27576 1.4 0"/>
    <general name="glut_max2_r" class="muscle" tendon="glut_max2_r_tendon" lengthrange="0.143338 0.27783" gainprm="0.265606 1.36683 652.878 1 0 2 10 2.05531 1.4 0" biasprm="0.265606 1.36683 652.878 1 0 2 10 2.05531 1.4 0"/>
    <general name="glut_max3_r" class="muscle" tendon="glut_max3_r_tendon" lengthrange="0.144372 0.343714" gainprm="0.200895 1.20831 531.571 1 0 2 10 1.8193 1.4 0" biasprm="0.200895 1.20831 531.571 1 0 2 10 1.8193 1.4 0"/>
    <general name="iliacus_r" class="muscle" tendon="iliacus_r_tendon" lengthrange="0.136305 0.236117" gainprm="0.466152 1.30217 976.091 1 0 2 10 1.85692 1.4 0" biasprm="0.466152 1.30217 976.091 1 0 2 10 1.85692 1.4 0"/>
    <general name="psoas_r" class="muscle" tendon="psoas_r_tendon" lengthrange="0.196298 0.290278" gainprm="0.420731 1.1791 1078.26 1 0 2 10 0.868604 1.4 0" biasprm="0.420731 1.1791 1078.26 1 0 2 10 0.868604 1.4 0"/>
    <general name="quad_fem_r" class="muscle" tendon="quad_fem_r_tendon" lengthrange="0.00903833 0.1362" gainprm="0.0399403 1.76878 599.655 1 0 2 10 4.5777 1.4 0" biasprm="0.0399403 1.76878 599.655 1 0 2 10 4.5777 1.4 0"/>
    <general name="gem_r" class="muscle" tendon="gem_r_tendon" lengthrange="0.00600155 0.0936369" gainprm="0.0183306 1.78403 223.033 1 0 2 10 4.35987 1.4 0" biasprm="0.0183306 1.78403 223.033 1 0 2 10 4.35987 1.4 0"/>
    <general name="peri_r" class="muscle" tendon="peri_r_tendon" lengthrange="0.0740756 0.165184" gainprm="0.0240571 1.76613 222 1 0 2 10 2.95692 1.4 0" biasprm="0.0240571 1.76613 222 1 0 2 10 2.95692 1.4 0"/>
    <general name="rect_fem_r" class="muscle" tendon="rect_fem_r_tendon" lengthrange="0.397186 0.509011" gainprm="0.333337 1.37904 1066.01 1 0 2 10 3.46925 1.4 0" biasprm="0.333337 1.37904 1066.01 1 0 2 10 3.46925 1.4 0"/>
    <general name="vas_int_r" class="muscle" tendon="vas_int_r_tendon" lengthrange="0.173169 0.25581" gainprm="0.561357 1.24339 4899.23 1 0 2 10 1.15861 1.4 0" biasprm="0.561357 1.24339 4899.23 1 0 2 10 1.15861 1.4 0"/>
    <general name="med_gas_r" class="muscle" tendon="med_gas_r_tendon" lengthrange="0.355749 0.493428" gainprm="0.0652186 1.38201 2244.27 1 0 2 10 1.477 1.4 0" biasprm="0.0652186 1.38201 2244.27 1 0 2 10 1.477 1.4 0"/>
    <general name="soleus_r" class="muscle" tendon="soleus_r_tendon" lengthrange="0.229787 0.326724" gainprm="0.121988 1.04138 3615.29 1 0 2 10 3.77911 1.4 0" biasprm="0.121988 1.04138 3615.29 1 0 2 10 3.77911 1.4 0"/>
    <general name="tib_post_r" class="muscle" tendon="tib_post_r_tendon" lengthrange="0.325571 0.371613" gainprm="0.393386 1.8256 3233.85 1 0 2 10 1.24251 1.4 0" biasprm="0.393386 1.8256 3233.85 1 0 2 10 1.24251 1.4 0"/>
    <general name="tib_ant_r" class="muscle" tendon="tib_ant_r_tendon" lengthrange="0.259088 0.355378" gainprm="0.413057 1.60346 2723.52 1 0 2 10 1.14575 1.4 0" biasprm="0.413057 1.60346 2723.52 1 0 2 10 1.14575 1.4 0"/>
    <general name="glut_med1_l" class="muscle" tendon="glut_med1_l_tendon" lengthrange="0.0469632 0.168445" gainprm="0.03507 1.34739 981.012 1 0 2 10 3.93046 1.4 0" biasprm="0.03507 1.34739 981.012 1 0 2 10 3.93046 1.4 0"/>
    <general name="glut_med2_l" class="muscle" tendon="glut_med2_l_tendon" lengthrange="0.0552468 0.170754" gainprm="0.265895 1.12256 860.978 1 0 2 10 3.22161 1.4 0" biasprm="0.265895 1.12256 860.978 1 0 2 10 3.22161 1.4 0"/>
    <general name="glut_med3_l" class="muscle" tendon="glut_med3_l_tendon" lengthrange="0.034202 0.154398" gainprm="0.039639 1.21233 965.671 1 0 2 10 4.70547 1.4 0" biasprm="0.039639 1.21233 965.671 1 0 2 10 4.70547 1.4 0"/>
    <general name="bifemlh_l" class="muscle" tendon="bifemlh_l_tendon" lengthrange="0.335471 0.526997" gainprm="0.252523 1.43525 2520.4 1 0 2 10 3.66024 1.4 0" biasprm="0.252523 1.43525 2520.4 1 0 2 10 3.66024 1.4 0"/>
    <general name="bifemsh_l" class="muscle" tendon="bifemsh_l_tendon" lengthrange="0.191264 0.249268" gainprm="0.675227 1.48812 666.658 1 0 2 10 1.27997 1.4 0" biasprm="0.675227 1.48812 666.658 1 0 2 10 1.27997 1.4 0"/>
    <general name="sar_l" class="muscle" tendon="sar_l_tendon" lengthrange="0.384394 0.581501" gainprm="0.624842 1.28042 136.314 1 0 2 10 2.07609 1.4 0" biasprm="0.624842 1.28042 136.314 1 0 2 10 2.07609 1.4 0"/>
    <general name="add_mag2_l" class="muscle" tendon="add_mag2_l_tendon" lengthrange="0.154271 0.304177" gainprm="0.421561 1.14578 2350.63 1 0 2 10 3.56042 1.4 0" biasprm="0.421561 1.14578 2350.63 1 0 2 10 3.56042 1.4 0"/>
    <general name="tfl_l" class="muscle" tendon="tfl_l_tendon" lengthrange="0.368658 0.585301" gainprm="0.0178652 1.15405 225.982 1 0 2 10 1.49385 1.4 0" biasprm="0.0178652 1.15405 225.982 1 0 2 10 1.49385 1.4 0"/>
    <general name="pect_l" class="muscle" tendon="pect_l_tendon" lengthrange="0.0384406 0.135284" gainprm="0.236924 1.01846 255.359 1 0 2 10 0.84035 1.4 0" biasprm="0.236924 1.01846 255.359 1 0 2 10 0.84035 1.4 0"/>
    <general name="grac_l" class="muscle" tendon="grac_l_tendon" lengthrange="0.350469 0.573287" gainprm="0.671652 1.09726 160.861 1 0 2 10 2.47776 1.4 0" biasprm="0.671652 1.09726 160.861 1 0 2 10 2.47776 1.4 0"/>
    <general name="glut_max1_l" class="muscle" tendon="glut_max1_l_tendon" lengthrange="0.125622 0.254802" gainprm="0.118959 1.22526 457.51 1 0 2 10 2.78832 1.4 0" biasprm="0.118959 1.22526 457.51 1 0 2 10 2.78832 1.4 0"/>
    <general name="glut_max2_l" class="muscle" tendon="glut_max2_l_tendon" lengthrange="0.143338 0.27783" gainprm="0.252099 1.20717 710.559 1 0 2 10 2.36803 1.4 0" biasprm="0.252099 1.20717 710.559 1 0 2 10 2.36803 1.4 0"/>
    <general name="glut_max3_l" class="muscle" tendon="glut_max3_l_tendon" lengthrange="0.144372 0.343714" gainprm="0.213013 1.114 550.028 1 0 2 10 2.73217 1.4 0" biasprm="0.213013 1.114 550.028 1 0 2 10 2.73217 1.4 0"/>
    <general name="iliacus_l" class="muscle" tendon="iliacus_l_tendon" lengthrange="0.136765 0.236122" gainprm="0.4306 1.39269 1003.06 1 0 2 10 1.1884 1.4 0" biasprm="0.4306 1.39269 1003.06 1 0 2 10 1.1884 1.4 0"/>
    <general name="psoas_l" class="muscle" tendon="psoas_l_tendon" lengthrange="0.196298 0.290278" gainprm="0.442261 1.07427 1094.29 1 0 2 10 2.73142 1.4 0" biasprm="0.442261 1.07427 1094.29 1 0 2 10 2.73142 1.4 0"/>
    <general name="quad_fem_l" class="muscle" tendon="quad_fem_l_tendon" lengthrange="0.00903833 0.1362" gainprm="0.368169 1.72856 547.376 1 0 2 10 4.729 1.4 0" biasprm="0.368169 1.72856 547.376 1 0 2 10 4.729 1.4 0"/>
    <general name="gem_l" class="muscle" tendon="gem_l_tendon" lengthrange="0.00600155 0.0936369" gainprm="0.019638 1.63398 283.76 1 0 2 10 4.79812 1.4 0" biasprm="0.019638 1.63398 283.76 1 0 2 10 4.79812 1.4 0"/>
    <general name="peri_l" class="muscle" tendon="peri_l_tendon" lengthrange="0.0740756 0.165184" gainprm="0.158184 1.64171 228.553 1 0 2 10 4.2063 1.4 0" biasprm="0.158184 1.64171 228.553 1 0 2 10 4.2063 1.4 0"/>
    <general name="rect_fem_l" class="muscle" tendon="rect_fem_l_tendon" lengthrange="0.397186 0.509011" gainprm="0.325511 1.59555 999.286 1 0 2 10 2.16927 1.4 0" biasprm="0.325511 1.59555 999.286 1 0 2 10 2.16927 1.4 0"/>
    <general name="vas_int_l" class="muscle" tendon="vas_int_l_tendon" lengthrange="0.173168 0.25581" gainprm="0.57576 1.10266 4976.49 1 0 2 10 2.23162 1.4 0" biasprm="0.57576 1.10266 4976.49 1 0 2 10 2.23162 1.4 0"/>
    <general name="med_gas_l" class="muscle" tendon="med_gas_l_tendon" lengthrange="0.355749 0.493428" gainprm="0.143304 1.12307 2414.63 1 0 2 10 3.25941 1.4 0" biasprm="0.143304 1.12307 2414.63 1 0 2 10 3.25941 1.4 0"/>
    <general name="soleus_l" class="muscle" tendon="soleus_l_tendon" lengthrange="0.229787 0.326724" gainprm="0.0151228 1.03435 3845.31 1 0 2 10 3.34362 1.4 0" biasprm="0.0151228 1.03435 3845.31 1 0 2 10 3.34362 1.4 0"/>
    <general name="tib_post_l" class="muscle" tendon="tib_post_l_tendon" lengthrange="0.325571 0.371613" gainprm="0.427861 1.28823 3476.67 1 0 2 10 3.45411 1.4 0" biasprm="0.427861 1.28823 3476.67 1 0 2 10 3.45411 1.4 0"/>
    <general name="tib_ant_l" class="muscle" tendon="tib_ant_l_tendon" lengthrange="0.259088 0.355378" gainprm="0.433888 1.14162 2961.84 1 0 2 10 1.10517 1.4 0" biasprm="0.433888 1.14162 2961.84 1 0 2 10 1.10517 1.4 0"/>
    <general name="ercspn_r" class="muscle" tendon="ercspn_r_tendon" lengthrange="0.0572059 0.194745" gainprm="0.38455 1.14598 2479.27 1 0 2 10 1.78575 1.4 0" biasprm="0.38455 1.14598 2479.27 1 0 2 10 1.78575 1.4 0"/>
    <general name="ercspn_l" class="muscle" tendon="ercspn_l_tendon" lengthrange="0.0572059 0.194745" gainprm="0.369409 1.20764 2478.56 1 0 2 10 0.772959 1.4 0" biasprm="0.369409 1.20764 2478.56 1 0 2 10 0.772959 1.4 0"/>
    <general name="intobl_r" class="muscle" tendon="intobl_r_tendon" lengthrange="0.0454006 0.306151" gainprm="0.0370999 1.87208 1009.24 1 0 2 10 3.59701 1.4 0" biasprm="0.0370999 1.87208 1009.24 1 0 2 10 3.59701 1.4 0"/>
    <general name="intobl_l" class="muscle" tendon="intobl_l_tendon" lengthrange="0.0454006 0.306151" gainprm="0.142277 1.80507 937.571 1 0 2 10 4.23388 1.4 0" biasprm="0.142277 1.80507 937.571 1 0 2 10 4.23388 1.4 0"/>
    <general name="extobl_r" class="muscle" tendon="extobl_r_tendon" lengthrange="0.0444131 0.329629" gainprm="0.0104015 1.22048 791.748 1 0 2 10 4.15152 1.4 0" biasprm="0.0104015 1.22048 791.748 1 0 2 10 4.15152 1.4 0"/>
    <general name="extobl_l" class="muscle" tendon="extobl_l_tendon" lengthrange="0.0444131 0.329629" gainprm="0.0107644 1.05013 907.466 1 0 2 10 3.89179 1.4 0" biasprm="0.0107644 1.05013 907.466 1 0 2 10 3.89179 1.4 0"/>
  </actuator>
  <keyframe>
    <key name="default-pose" qpos="0 0.95 0 0 0 0 0 0 0 -0.003639 -0.3957 0 0 0 0 -0.02602 -0.03341 -0.03759 0.06259 0.02032 0.05647 0.02476 -0.2234 0.02673 -0.02915 -0.4015 -0.02562 0 0 0 -0.003639 -0.3957 0 0 0 0 -0.02602 -0.03341 0.03759 0.06259 0.02032 0.05647 0.02476 -0.2234 -0.02673 -0.02915 -0.4015 0.02562 0 0 0 -0.0288 -0.0805 -0.0288 -0.0805 0.0816 -0.0288 -0.0805 -0.0288 -0.0805 -0.0816"/>
  </keyframe>
</mujoco>