<NME> IMU.h
<BEF> #ifndef OPENSIM_IMU_H_
#define OPENSIM_IMU_H_
/* -------------------------------------------------------------------------- *
*                        OpenSim:           IMU.h                            *
* -------------------------------------------------------------------------- *
* The OpenSim API is a toolkit for musculoskeletal modeling and simulation.  *
* See http://opensim.stanford.edu and the NOTICE file for more information.  *
* OpenSim is developed at Stanford University and supported by the US        *
* National Institutes of Health (U54 GM072970, R24 HD065690) and by DARPA    *
* through the Warrior Web program.                                           *
*                                                                            *
* Copyright (c) 2005-2021 Stanford University and the Authors                *
* Author(s): Ayman Habib                                                     *
*                                                                            *
* Licensed under the Apache License, Version 2.0 (the "License"); you may    *
* not use this file except in compliance with the License. You may obtain a  *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
*                                                                            *
* Unless required by applicable law or agreed to in writing, software        *
* distributed under the License is distributed on an "AS IS" BASIS,          *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
* See the License for the specific language governing permissions and        *
* limitations under the License.                                             *
* -------------------------------------------------------------------------- */

#include <OpenSim/Simulation/Model/ModelComponent.h>
#include <OpenSim/Simulation/Model/PhysicalFrame.h>


namespace OpenSim {
//=============================================================================
//                               IMU
//=============================================================================
/**
IMU is a Model Component that represents an IMU along with its Geometry
for visualization.
@todo add noise model, limits/saturation, as needed.


@authors Ayman Habib
**/
class OSIMSIMULATION_API IMU : public ModelComponent {
    OpenSim_DECLARE_CONCRETE_OBJECT(IMU, ModelComponent);

public:
    IMU() = default;
    virtual ~IMU() = default;
    IMU(const IMU&) = default;
    IMU(IMU&&) = default;
    IMU& operator=(const IMU&) = default;
    IMU& operator=(IMU&&) = default;

    // Attachment frame for placement/visualization
    OpenSim_DECLARE_SOCKET(
            frame, PhysicalFrame, "The frame to which the IMU is attached.");

    OpenSim_DECLARE_OUTPUT(orientation_as_quaternion, SimTK::Quaternion,
            calcOrientationAsQuaternion,
    OpenSim_DECLARE_OUTPUT(gyroscope_signal, SimTK::Vec3,
            calcGyroscopeSignal, SimTK::Stage::Velocity);
    OpenSim_DECLARE_OUTPUT(accelerometer_signal, SimTK::Vec3,
            calcAccelerometerSignal, SimTK::Stage::Dynamics);
    // Outputs
    SimTK::Transform calcTransformInGround(const SimTK::State& s) const {
        return get_frame().getTransformInGround(s);
    SimTK::Transform calcTransformInGround(const SimTK::State& s) const {
        return get_frame().getTransformInGround(s);
    }
    /// Report the orientation of this IMU in ground frame expressed as Quaternion
    SimTK::Quaternion calcOrientationAsQuaternion(const SimTK::State& s) const {
        return SimTK::Quaternion(calcTransformInGround(s).R());
    }
    /// Report the angular velocity of the frame to which this IMU is attached
    /// in ground frame
    SimTK::Vec3 calcGyroscopeSignal(const SimTK::State& s) const {
        return get_frame().getAngularVelocityInGround(s);
    }
    /// Report the linear acceleration of the frame to which this IMU is attached in Ground.
    /// Gravity is subtracted and result expressed in the frame to which the IMU is attached.
    SimTK::Vec3 calcAccelerometerSignal(
            const SimTK::State& s) const {
        const auto& model = getModel();
        const auto& ground = model.getGround();
        const auto& gravity = model.getGravity();
        SimTK::Vec3 linearAcceleration =
                get_frame().getLinearAccelerationInGround(s);
        return ground.expressVectorInAnotherFrame(
                s, linearAcceleration - gravity, get_frame());
    }
    void generateDecorations(bool fixed, const ModelDisplayHints& hints,
        const SimTK::State& state,
        SimTK::Array_<SimTK::DecorativeGeometry>& appendToThis)
        const override {
        if (!fixed) return;

        // @TODO default color, size, shape should be obtained from hints
        const OpenSim::PhysicalFrame& physFrame = this->get_frame();
        SimTK::Transform relativeXform = physFrame.findTransformInBaseFrame();
        appendToThis.push_back(
                SimTK::DecorativeBrick(SimTK::Vec3(0.02, 0.01, 0.005))
                        .setBodyId(physFrame.getMobilizedBodyIndex())
                                        .setColor(SimTK::Orange)
                        .setTransform(relativeXform));
    }

private:
 
    const PhysicalFrame& get_frame() const {
        return getSocket<PhysicalFrame>("frame").getConnectee();
    }
}; // End of class IMU

}
#endif // OPENSIM_IMU_H_

<MSG> Merge branch 'master' into move_positionmotion_2simulation

<DFF> @@ -59,7 +59,7 @@ public:
     OpenSim_DECLARE_OUTPUT(gyroscope_signal, SimTK::Vec3,
             calcGyroscopeSignal, SimTK::Stage::Velocity);
     OpenSim_DECLARE_OUTPUT(accelerometer_signal, SimTK::Vec3,
-            calcAccelerometerSignal, SimTK::Stage::Dynamics);
+            calcAccelerometerSignal, SimTK::Stage::Acceleration);
     // Outputs
     SimTK::Transform calcTransformInGround(const SimTK::State& s) const {
         return get_frame().getTransformInGround(s);

{'commit': 'diff --git a/.github/workflows/continuous_integration.yml b/.github/workflows/continuous_integration.yml\nindex fab1fb714..f324cbd72 100644\n--- a/.github/workflows/continuous_integration.yml\n+++ b/.github/workflows/continuous_integration.yml\n@@ -33,11 +33,11 @@ jobs:\n     - name: Install Python packages\n       uses: actions/setup-python@v2\n       with:\n-        python-version: \'3.7\'\n+        python-version: \'3.8\'\n         \n     - name: Install numpy\n       #Need numpy to use SWIG numpy typemaps.\n-      run: python -m pip install numpy==1.19.3\n+      run: python -m pip install numpy==1.20.2\n \n     - name: Install SWIG\n       run: choco install swig --version 4.0.0 --yes --limit-output --allow-downgrade\n@@ -92,7 +92,7 @@ jobs:\n     - name: Test opensim-core\n       run: |\n         chdir $env:GITHUB_WORKSPACE\\\\build\n-        ctest --parallel 4 --output-on-failure --build-config Release\n+        ctest --parallel 4 --output-on-failure --build-config Release -E python.*\n \n     - name: Install opensim-core\n       # TODO: This is where we wish to do the installing, but it\'s done above for now.\n@@ -104,10 +104,10 @@ jobs:\n \n     - name: Test Python bindings\n       run: |\n-        $env:PATH += ";$env:USERPROFILE/opensim-core-install/bin"\n-        $env:PATH\n+        echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV\n         # Move to the installed location of the python package.\n         cd ~/opensim-core-install/sdk/python\n+        python setup_win_python38.py\n         # Run python tests.\n         python -m unittest discover --start-directory opensim/tests --verbose\n \n@@ -162,9 +162,9 @@ jobs:\n     - name: Install Homebrew packages\n       # Save the gfortran version to a file so we can use it in the cache key.\n       run: |\n-        brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen python@3.7\n+        brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen python@3.8\n         brew reinstall gcc\n-        pip3 install numpy==1.19.3\n+        pip3 install numpy==1.20.2\n         gfortran -v\n         mkdir gfortran_version\n         gfortran -v &> gfortran_version/gfortran_version.txt\ndiff --git a/Bindings/Java/Matlab/CMakeLists.txt b/Bindings/Java/Matlab/CMakeLists.txt\nindex 2746cb9bd..c77d0ff19 100644\n--- a/Bindings/Java/Matlab/CMakeLists.txt\n+++ b/Bindings/Java/Matlab/CMakeLists.txt\n@@ -61,6 +61,19 @@ file(COPY "examples/Moco/exampleSquatToStand/squatToStand_3dof9musc.osim"\n         DESTINATION\n         "${CMAKE_BINARY_DIR}/Examples/Moco/exampleSquatToStand")\n \n+# Copy Geometry folder for squat-to-stand examples\n+install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/OpenSenseExample/Geometry/"\n+        DESTINATION\n+        "${OPENSIM_INSTALL_MATLABEXDIR}/Moco/exampleSquatToStand/Geometry/")\n+install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/OpenSenseExample/Geometry/"\n+        DESTINATION\n+        "${OPENSIM_INSTALL_PYTHONEXDIR}/Moco/exampleSquatToStand/Geometry/")\n+        \n+# Copy Geometry folder for Moco 2D walking examples\n+install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/OpenSenseExample/Geometry/"\n+        DESTINATION\n+        "${OPENSIM_INSTALL_MATLABEXDIR}/Moco/example2DWalking/Geometry/")\n+\n # The configureOpenSim.m script contains paths into the OpenSim installation\n # that may be different on different platforms, so we configure it with CMake\n # variables.\ndiff --git a/Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalking.m b/Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalking.m\nindex 3fe633d62..0642d6806 100644\n--- a/Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalking.m\n+++ b/Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalking.m\n@@ -97,13 +97,19 @@ problem = study.updProblem();\n % Goals\n % =====\n \n-% Symmetry (to permit simulating only one step)\n+% Symmetry\n+% --------\n+% This goal allows us to simulate only one step with left-right symmetry\n+% that we can then double to create a full gait cycle.\n symmetryGoal = MocoPeriodicityGoal(\'symmetryGoal\');\n problem.addGoal(symmetryGoal);\n model = modelProcessor.process();\n model.initSystem();\n \n-% Symmetric coordinate values (except for pelvis_tx) and speeds\n+% Symmetric coordinate values (except for pelvis_tx) and speeds. Here, we \n+% constrain final coordinate values of one leg to match the initial value of the \n+% other leg. Or, in the case of the pelvis_tx value, we constrain the final \n+% value to be the same as the initial value.\n for i = 1:model.getNumStateVariables()\n     currentStateName = string(model.getStateVariableNames().getitem(i-1));\n     if startsWith(currentStateName , \'/jointset\')\n@@ -126,7 +132,8 @@ for i = 1:model.getNumStateVariables()\n     end\n end\n \n-% Symmetric muscle activations\n+% Symmetric muscle activations. Here, we constrain final muscle activation \n+% values of one leg to match the initial activation values of the other leg.\n for i = 1:model.getNumStateVariables()\n     currentStateName = string(model.getStateVariableNames().getitem(i-1));\n     if endsWith(currentStateName,\'/activation\')\n@@ -143,7 +150,7 @@ for i = 1:model.getNumStateVariables()\n     end\n end\n \n-% Symmetric coordinate actuator controls\n+% The lumbar coordinate actuator control is symmetric.\n symmetryGoal.addControlPair(MocoPeriodicityGoalPair(\'/lumbarAct\'));\n \n % Get a reference to the MocoControlGoal that is added to every MocoTrack\n@@ -326,7 +333,6 @@ solver.set_optim_constraint_tolerance(1e-4);\n solver.set_optim_max_iterations(1000);\n solver.setGuess(gaitTrackingSolution); % Use tracking solution as initial guess\n \n-\n % Solve problem\n % =============\n gaitPredictionSolution = study.solve();\n@@ -336,9 +342,8 @@ gaitPredictionSolution = study.solve();\n fullStride = opensimMoco.createPeriodicTrajectory(gaitPredictionSolution);\n fullStride.write(\'gaitPrediction_solution_fullStride.sto\');\n \n-% Uncomment next line to visualize the result\n-% study.visualize(fullStride);\n-\n+% Visualize the result.\n+study.visualize(fullStride);\n \n % Extract ground reaction forces\n % ==============================\n@@ -356,7 +361,4 @@ contact_l.add(\'contactFront_l\');\n externalForcesTableFlat = opensimMoco.createExternalLoadsTableForGait(model, ...\n                              fullStride, contact_r, contact_l);\n STOFileAdapter.write(externalForcesTableFlat, ...\n-                             \'gaitPrediction_solutionGRF_fullStride.sto\');\n-\n-\n-\n+                             \'gaitPrediction_solutionGRF_fullStride.sto\');\n\\ No newline at end of file\ndiff --git a/Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalkingMetabolics.m b/Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalkingMetabolics.m\nnew file mode 100644\nindex 000000000..5039b124f\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/example2DWalking/example2DWalkingMetabolics.m\n@@ -0,0 +1,251 @@\n+% -------------------------------------------------------------------------- %\n+% OpenSim Moco: example2DWalkingMetabolics.m                                 %\n+% -------------------------------------------------------------------------- %\n+% Copyright (c) 2021 Stanford University and the Authors                     %\n+%                                                                            %\n+% Author(s): Brian Umberger                                                  %\n+%                                                                            %\n+% Licensed under the Apache License, Version 2.0 (the "License"); you may    %\n+% not use this file except in compliance with the License. You may obtain a  %\n+% copy of the License at http://www.apache.org/licenses/LICENSE-2.0          %\n+%                                                                            %\n+% Unless required by applicable law or agreed to in writing, software        %\n+% distributed under the License is distributed on an "AS IS" BASIS,          %\n+% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   %\n+% See the License for the specific language governing permissions and        %\n+% limitations under the License.                                             %\n+% -------------------------------------------------------------------------- %\n+\n+% This is a Matlab implementation of an example optimal control\n+% problem (2-D walking) orginally created in C++ by Antoine Falisse\n+% (see: example2DWalkingMetabolics.cpp).\n+%\n+% This example features a tracking simulation of walking that includes\n+% minimization of the metabolic cost of transport computed using a smooth\n+% approximation of the metabolic energy model of Bhargava et al (2004).\n+%\n+% The code is inspired from Falisse A, Serrancoli G, Dembia C, Gillis J,\n+% De Groote F: Algorithmic differentiation improves the computational\n+% efficiency of OpenSim-based trajectory optimization of human movement.\n+% PLOS One, 2019.\n+%\n+% Model\n+% -----\n+% The model described in the file \'2D_gait.osim\' included in this file is a\n+% modified version of the \'gait10dof18musc.osim\' available within OpenSim. We\n+% replaced the moving knee flexion axis by a fixed flexion axis, replaced the\n+% Millard2012EquilibriumMuscles by DeGrooteFregly2016Muscles, and added\n+% SmoothSphereHalfSpaceForces (two contacts per foot) to model the\n+% contact interactions between the feet and the ground.\n+%\n+% Data\n+% ----\n+% The coordinate data included in the \'referenceCoordinates.sto\' comes from\n+% predictive simulations generated in Falisse et al. 2019.\n+\n+clear;\n+\n+% Load the Moco libraries\n+import org.opensim.modeling.*;\n+\n+% Set a coordinate tracking problem where the goal is to minimize the\n+% difference between provided and simulated coordinate values and speeds\n+% as well as to minimize an effort cost (squared controls) and a metabolic\n+% cost (metabolic energy normalized by distance traveled and body mass;\n+% the metabolics model is based on a smooth approximation of the\n+% phenomenological model described by Bhargava et al. (2004)). The provided\n+% data represents half a gait cycle. Endpoint constraints enforce periodicity\n+% of the coordinate values (except for pelvis tx) and speeds, coordinate\n+% actuator controls, and muscle activations.\n+\n+track = MocoTrack();\n+track.setName(\'gaitTrackingMetCost\');\n+\n+% Define the optimal control problem\n+% ==================================\n+model = Model(\'2D_gait.osim\');\n+\n+% Add metabolic cost model\n+metabolics = Bhargava2004SmoothedMuscleMetabolics();\n+metabolics.setName(\'metabolic_cost\');\n+metabolics.set_use_smoothing(true);\n+\n+% This next part can easily be put in a loop for models with more muscles\n+metabolics.addMuscle(\'hamstrings_r\', Muscle.safeDownCast(model.getComponent(\'hamstrings_r\')));\n+metabolics.addMuscle(\'hamstrings_l\', Muscle.safeDownCast(model.getComponent(\'hamstrings_l\')));\n+metabolics.addMuscle(\'bifemsh_r\', Muscle.safeDownCast(model.getComponent(\'bifemsh_r\')));\n+metabolics.addMuscle(\'bifemsh_l\', Muscle.safeDownCast(model.getComponent(\'bifemsh_l\')));\n+metabolics.addMuscle(\'glut_max_r\', Muscle.safeDownCast(model.getComponent(\'glut_max_r\')));\n+metabolics.addMuscle(\'glut_max_l\', Muscle.safeDownCast(model.getComponent(\'glut_max_l\')));\n+metabolics.addMuscle(\'iliopsoas_r\', Muscle.safeDownCast(model.getComponent(\'iliopsoas_r\')));\n+metabolics.addMuscle(\'iliopsoas_l\', Muscle.safeDownCast(model.getComponent(\'iliopsoas_l\')));\n+metabolics.addMuscle(\'rect_fem_r\', Muscle.safeDownCast(model.getComponent(\'rect_fem_r\')));\n+metabolics.addMuscle(\'rect_fem_l\', Muscle.safeDownCast(model.getComponent(\'rect_fem_l\')));\n+metabolics.addMuscle(\'vasti_r\', Muscle.safeDownCast(model.getComponent(\'vasti_r\')));\n+metabolics.addMuscle(\'vasti_l\', Muscle.safeDownCast(model.getComponent(\'vasti_l\')));\n+metabolics.addMuscle(\'gastroc_r\', Muscle.safeDownCast(model.getComponent(\'gastroc_r\')));\n+metabolics.addMuscle(\'gastroc_l\', Muscle.safeDownCast(model.getComponent(\'gastroc_l\')));\n+metabolics.addMuscle(\'soleus_r\', Muscle.safeDownCast(model.getComponent(\'soleus_r\')));\n+metabolics.addMuscle(\'soleus_l\', Muscle.safeDownCast(model.getComponent(\'soleus_l\')));\n+metabolics.addMuscle(\'tib_ant_r\', Muscle.safeDownCast(model.getComponent(\'tib_ant_r\')));\n+metabolics.addMuscle(\'tib_ant_l\', Muscle.safeDownCast(model.getComponent(\'tib_ant_l\')));\n+\n+model.addComponent(metabolics);\n+model.finalizeConnections();\n+\n+% Pass the model to MocoTrack\n+modelProcessor = ModelProcessor(model);\n+track.setModel(modelProcessor);\n+\n+% Reference data for tracking problem\n+tableProcessor = TableProcessor(\'referenceCoordinates.sto\');\n+tableProcessor.append(TabOpLowPassFilter(6));\n+track.setStatesReference(tableProcessor);\n+\n+% Provide the remaining necesssary MocoTrack settings.\n+track.set_states_global_tracking_weight(30);\n+track.set_allow_unused_references(true);\n+track.set_track_reference_position_derivatives(true);\n+track.set_apply_tracked_states_to_guess(true);\n+track.set_initial_time(0.0);\n+track.set_final_time(0.47008941);\n+\n+% Call initialize() to get the internal MocoStudy. This will allow us to\n+% make further modifications to the MocoProblem.\n+study = track.initialize();\n+problem = study.updProblem();\n+\n+% Goals\n+% =====\n+\n+% Symmetry\n+% --------\n+% This goal allows us to simulate only one step with left-right symmetry\n+% that we can then double to create a full gait cycle.\n+symmetryGoal = MocoPeriodicityGoal(\'symmetryGoal\');\n+problem.addGoal(symmetryGoal);\n+model = modelProcessor.process();\n+model.initSystem();\n+\n+% Symmetric coordinate values (except for pelvis_tx) and speeds. Here, we \n+% constrain final coordinate values of one leg to match the initial value of the \n+% other leg. Or, in the case of the pelvis_tx value, we constrain the final \n+% value to be the same as the initial value.\n+for i = 1:model.getNumStateVariables()\n+    currentStateName = string(model.getStateVariableNames().getitem(i-1));\n+    if startsWith(currentStateName , \'/jointset\')\n+        if contains(currentStateName,\'_r\')\n+            pair = MocoPeriodicityGoalPair(currentStateName, ...\n+                           regexprep(currentStateName,\'_r\',\'_l\'));\n+            symmetryGoal.addStatePair(pair);\n+        end\n+        if contains(currentStateName,\'_l\')\n+            pair = MocoPeriodicityGoalPair(currentStateName, ...\n+                           regexprep(currentStateName,\'_l\',\'_r\'));\n+            symmetryGoal.addStatePair(pair);\n+        end\n+        if (~contains(currentStateName,\'_r\') && ...\n+            ~contains(currentStateName,\'_l\') && ...\n+            ~contains(currentStateName,\'pelvis_tx/value\') && ...\n+            ~contains(currentStateName,\'/activation\'))\n+            symmetryGoal.addStatePair(MocoPeriodicityGoalPair(currentStateName));\n+        end\n+    end\n+end\n+\n+% Symmetric muscle activations. Here, we constrain final muscle activation \n+% values of one leg to match the initial activation values of the other leg.\n+for i = 1:model.getNumStateVariables()\n+    currentStateName = string(model.getStateVariableNames().getitem(i-1));\n+    if endsWith(currentStateName,\'/activation\')\n+        if contains(currentStateName,\'_r\')\n+            pair = MocoPeriodicityGoalPair(currentStateName, ...\n+                         regexprep(currentStateName,\'_r\',\'_l\'));\n+            symmetryGoal.addStatePair(pair);\n+        end\n+        if contains(currentStateName,\'_l\')\n+            pair = MocoPeriodicityGoalPair(currentStateName, ...\n+                         regexprep(currentStateName,\'_l\',\'_r\'));\n+            symmetryGoal.addStatePair(pair);\n+        end\n+    end\n+end\n+\n+% The lumbar coordinate actuator control is symmetric.\n+symmetryGoal.addControlPair(MocoPeriodicityGoalPair(\'/lumbarAct\'));\n+\n+% Get a reference to the MocoControlGoal that is added to every MocoTrack\n+% problem by default and change the weight\n+effort = MocoControlGoal.safeDownCast(problem.updGoal(\'control_effort\'));\n+effort.setWeight(0.1);\n+\n+% Metabolic cost; total metabolic rate includes activation heat rate,\n+% maintenance heat rate, shortening heat rate, mechanical work rate, and\n+% basal metabolic rate.\n+metGoal = MocoOutputGoal(\'met\',0.1);\n+problem.addGoal(metGoal);\n+metGoal.setOutputPath(\'/metabolic_cost|total_metabolic_rate\');\n+metGoal.setDivideByDisplacement(true);\n+metGoal.setDivideByMass(true);\n+\n+% Bounds\n+% ======\n+problem.setStateInfo(\'/jointset/groundPelvis/pelvis_tilt/value\', [-20*pi/180, -10*pi/180]);\n+problem.setStateInfo(\'/jointset/groundPelvis/pelvis_tx/value\', [0, 1]);\n+problem.setStateInfo(\'/jointset/groundPelvis/pelvis_ty/value\', [0.75, 1.25]);\n+problem.setStateInfo(\'/jointset/hip_l/hip_flexion_l/value\', [-10*pi/180, 60*pi/180]);\n+problem.setStateInfo(\'/jointset/hip_r/hip_flexion_r/value\', [-10*pi/180, 60*pi/180]);\n+problem.setStateInfo(\'/jointset/knee_l/knee_angle_l/value\', [-50*pi/180, 0]);\n+problem.setStateInfo(\'/jointset/knee_r/knee_angle_r/value\', [-50*pi/180, 0]);\n+problem.setStateInfo(\'/jointset/ankle_l/ankle_angle_l/value\', [-15*pi/180, 25*pi/180]);\n+problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', [-15*pi/180, 25*pi/180]);\n+problem.setStateInfo(\'/jointset/lumbar/lumbar/value\', [0, 20*pi/180]);\n+\n+% Configure the solver.\n+% =====================\n+solver = MocoCasADiSolver.safeDownCast(study.updSolver());\n+solver.resetProblem(problem);\n+solver.set_num_mesh_intervals(50);\n+solver.set_verbosity(2);\n+solver.set_optim_solver("ipopt");\n+solver.set_optim_convergence_tolerance(1e-4);\n+solver.set_optim_constraint_tolerance(1e-4);\n+solver.set_optim_max_iterations(10000);\n+\n+% Solve the problem\n+% =================\n+solution = study.solve();\n+\n+% Create a full stride from the periodic single step solution.\n+% For details, view the Doxygen documentation for createPeriodicTrajectory().\n+fullStride = opensimMoco.createPeriodicTrajectory(solution);\n+fullStride.write(\'gaitTrackingMetCost_solution_fullcycle.sto\');\n+\n+% To report the COT we multiply the metabolic cost objective term by 10 because\n+% it had been scaled by 0.1\n+disp(\'   \')\n+disp( [\'The metabolic cost of transport is: \'  ...\n+      num2str(10*solution.getObjectiveTerm(\'met\')) ...\n+      \' J/kg/m\'])\n+disp(\'   \')\n+\n+% Visualize the result.\n+study.visualize(fullStride);\n+\n+% Extract ground reaction forces\n+% ==============================\n+contact_r = StdVectorString();\n+contact_l = StdVectorString();\n+contact_r.add(\'contactHeel_r\');\n+contact_r.add(\'contactFront_r\');\n+contact_l.add(\'contactHeel_l\');\n+contact_l.add(\'contactFront_l\');\n+\n+% Create a conventional ground reaction forces file by summing the contact\n+% forces of contact spheres on each foot.\n+% For details, view the Doxygen documentation for\n+% createExternalLoadsTableForGait().\n+externalForcesTableFlat = opensimMoco.createExternalLoadsTableForGait(model, ...\n+                             fullStride, contact_r, contact_l);\n+STOFileAdapter.write(externalForcesTableFlat, ...\n+                             \'gaitTrackingMetCost_solutionGRF_fullStride.sto\');\n\\ No newline at end of file\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/coordinates.mot b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/coordinates.mot\nnew file mode 100644\nindex 000000000..c666caf37\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/coordinates.mot\n@@ -0,0 +1,245 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--git a/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/exampleEMGTracking.m b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/exampleEMGTracking.m\nnew file mode 100644\nindex 000000000..1f5db3e39\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/exampleEMGTracking.m\n@@ -0,0 +1,264 @@\n+function exampleEMGTracking\n+clear; close all; clc;\n+\n+%% Part 0: Load the OpenSim and Moco libraries.\n+import org.opensim.modeling.*;\n+\n+%% Part 1: Muscle redundancy problem: effort minimization.\n+% Solve the muscle redundancy problem while minimizing muscle excitations\n+% squared using the MocoInverse tool. \n+\n+% Part 1a: Load a 19 degree-of-freedom model with 18 lower-limb, \n+% sagittal-plane muscles and a torque-actuated torso. This includes a set of \n+% ground reaction forces applied to the model via ExternalLoads, which is \n+% necessary for the muscle redundancy problem. See the function definition \n+% at the bottom of this file to see how the model is loaded and constructed.\n+model = getWalkingModel();  \n+\n+% Part 1a: Create the MocoInverse tool and set the Model.\n+\n+\n+% Part 1b: Create a TableProcessor using the coordinates file from inverse\n+% kinematics.\n+\n+\n+% Part 1c: Set the kinematics reference for MocoInverse using the \n+% TableProcessor we just created.\n+\n+\n+% Part 1d: Provide the solver settings: initial and final time, the mesh \n+% interval, and the constraint and convergence tolerances.\n+\n+\n+if ~exist(\'effortSolution.sto\', \'file\')\n+    % Part 1e: Solve the problem!\n+\n+\n+end\n+\n+%% Part 2: Plot the muscle redundancy problem solution.\n+% Load the experimental electromyography data and compare \n+% the effort minimization solution against this data. We will also use\n+% it later for the EMG-tracking problem. Each column in emg.sto is \n+% normalized so the maximum value for each signal is 1.0.\n+emgReference = TimeSeriesTable(\'emg.sto\');\n+compareSolutionToEMG(emgReference, \'effortSolution.sto\');\n+\n+%% Part 3: Muscle redundancy problem: EMG-tracking.\n+% Modify the existing problem we created with the MocoInverse tool to solve\n+% a new problem where we will track electromyography (EMG) data. \n+\n+% Part 3a: Call initialize() to get access to the MocoStudy contained within\n+% the MocoInverse instance. This will allow us to make additional\n+% modifications to the problem not provided by MocoInverse.\n+\n+\n+% Part 3b: Create a MocoControlTrackingGoal, set its weight, and provide\n+% the EMG data as the tracking reference. We also need to specify the \n+% reference labels for the four muscles whose EMG we will track.\n+\n+\n+% Part 3c: The EMG signals in the tracking are all normalized to have\n+% a maximum value of 1, but the magnitudes of the excitations from the \n+% effort minimization solution suggest that these signals should be\n+% rescaled. Use addScaleFactor() to add a MocoParameter to the problem that\n+% will scale the reference data for the muscles in the tracking cost.\n+\n+\n+% Part 3d: Add the tracking goal to the problem.\n+\n+\n+% Part 3e: Update the MocoCasADiSolver with the updated MocoProblem using \n+% resetProblem().\n+\n+\n+% Part 3f: Tell MocoCasADiSolver that the MocoParameters we added to the \n+% problem via addScaleFactor() above do not require initSystem() calls on\n+% the model. This provides a large speed-up.\n+\n+\n+if ~exist(\'trackingSolution.sto\', \'file\')\n+    % Part 3g: Solve the problem!\n+\n+\n+end\n+\n+% Part 3h: Get the values of the optimized scale factors.\n+\n+\n+\n+%% Part 4: Plot the EMG-tracking muscle redundancy problem solution.\n+% Part 4a: Print the scale factor values to the command window.\n+fprintf(\'\\n\')\n+fprintf(\'Optimized scale factor values: \\n\')\n+fprintf(\'------------------------------ \\n\')\n+fprintf([\'gastrocnemius = \' num2str(gastroc_factor) \'\\n\'])\n+fprintf([\'tibialis anterior = \' num2str(tibant_factor) \'\\n\'])\n+fprintf([\'biceps femoris short head = \' num2str(bifem_factor) \'\\n\'])\n+fprintf([\'gluteus = \' num2str(gluteus_factor) \'\\n\'])\n+fprintf(\'\\n\')\n+\n+% Part 4b: Re-scale the reference data using the optimized scale factors.\n+gastroc = emgReference.updDependentColumn(\'gastrocnemius\');\n+tibant = emgReference.updDependentColumn(\'tibialis_anterior\');\n+bifem = emgReference.updDependentColumn(\'biceps_femoris\');\n+gluteus = emgReference.updDependentColumn(\'gluteus\');\n+for t = 0:emgReference.getNumRows() - 1\n+    gastroc.set(t, gastroc_factor * gastroc.get(t));\n+    tibant.set(t, tibant_factor * tibant.get(t));\n+    bifem.set(t, bifem_factor * bifem.get(t));\n+    gluteus.set(t, gluteus_factor * gluteus.get(t));\n+end\n+\n+% Part 4c: Generate the plots. Compare results to the effort minimization \n+% solution.\n+compareSolutionToEMG(emgReference, \'effortSolution.sto\', ... \n+    \'trackingSolution.sto\');\n+\n+end\n+\n+% Add a CoordinateActuator to the provided model with a specified optimal\n+% force. \n+function addCoordinateActuator(model, coordinateName, optForce)\n+\n+import org.opensim.modeling.*;\n+\n+coordSet = model.getCoordinateSet();\n+\n+actu = CoordinateActuator();\n+actu.setName([\'torque_\' coordinateName]);\n+actu.setCoordinate(coordSet.get(coordinateName));\n+actu.setOptimalForce(optForce);\n+actu.setMinControl(-1);\n+actu.setMaxControl(1);\n+\n+% Add to ForceSet\n+model.addForce(actu);\n+\n+end\n+\n+function [modelProcessor] = getWalkingModel()\n+\n+import org.opensim.modeling.*;\n+\n+% Load the 19 DOF, 18 muscle model from file.\n+model = Model(\'subject_walk_armless_18musc.osim\');\n+\n+% Add actuators representing the pelvis residual actuators and lumbar\n+% torques. These actuators are only as strong as they need to be for the\n+% problem to converge.\n+addCoordinateActuator(model, \'pelvis_tx\', 60)\n+addCoordinateActuator(model, \'pelvis_ty\', 300)\n+addCoordinateActuator(model, \'pelvis_tz\', 35)\n+addCoordinateActuator(model, \'pelvis_tilt\', 60)\n+addCoordinateActuator(model, \'pelvis_list\', 35)\n+addCoordinateActuator(model, \'pelvis_rotation\', 25)\n+addCoordinateActuator(model, \'lumbar_bending\', 40)\n+addCoordinateActuator(model, \'lumbar_extension\', 40)\n+addCoordinateActuator(model, \'lumbar_rotation\', 25)\n+\n+% We need additional actuators for hip rotation and hip adduction since the\n+% existing muscle act primarily in the sagittal plane.\n+addCoordinateActuator(model, \'hip_rotation_r\', 100)\n+addCoordinateActuator(model, \'hip_rotation_l\', 100)\n+addCoordinateActuator(model, \'hip_adduction_r\', 100)\n+addCoordinateActuator(model, \'hip_adduction_l\', 100)\n+\n+% Create a ModelProcessor to make additional modifications to the model.\n+modelProcessor = ModelProcessor(model);\n+% Weld the subtalar and toe joints.\n+jointsToWeld = StdVectorString();\n+jointsToWeld.add(\'subtalar_r\');\n+jointsToWeld.add(\'subtalar_l\');\n+jointsToWeld.add(\'mtp_r\');\n+jointsToWeld.add(\'mtp_l\');\n+modelProcessor.append(ModOpReplaceJointsWithWelds(jointsToWeld));\n+% Apply the ground reaction forces to the model.\n+modelProcessor.append(ModOpAddExternalLoads(\'external_loads.xml\'));\n+% Update the muscles: ignore tendon compliance and passive forces, replace \n+% muscle types with the DeGrooteFregly2016Muscle type, and scale the width\n+% of the active force length curve.\n+modelProcessor.append(ModOpIgnoreTendonCompliance());\n+modelProcessor.append(ModOpReplaceMusclesWithDeGrooteFregly2016());\n+modelProcessor.append(ModOpIgnorePassiveFiberForcesDGF());\n+modelProcessor.append(ModOpScaleActiveFiberForceCurveWidthDGF(1.5));\n+% Add a set a weak reserves to the sagittal-plane joints in the model.\n+modelProcessor.append(ModOpAddReserves(1.0));\n+\n+end\n+\n+function compareSolutionToEMG(varargin)\n+\n+import org.opensim.modeling.*;\n+\n+% Retrieve the inputs.\n+emgReference = varargin{1};\n+effortSolution = MocoTrajectory(varargin{2});\n+if nargin > 2\n+   trackingSolution = MocoTrajectory(varargin{3}); \n+end\n+\n+% Create a time vector for the EMG data that is consistent with the problem\n+% time range.\n+time = effortSolution.getTimeMat();\n+startIndex = emgReference.getNearestRowIndexForTime(time(1)) + 1;\n+endIndex = emgReference.getNearestRowIndexForTime(time(end)) + 1;\n+emgTime = linspace(time(1), time(end), endIndex - startIndex + 1);\n+\n+% Plot results from the muscles in the left leg. \n+titles = {\'soleus\', \'gastroc.\', \'tib. ant.\', \'hamstrings\', ...\n+          \'bi. fem. sh.\', \'vastus\', \'rec. fem.\', \'gluteus\', \'psoas\'};\n+emgSignals = {\'soleus\',\t\'gastrocnemius\', \'tibialis_anterior\', ... \n+              \'hamstrings\', \'biceps_femoris\', \'vastus\', ...\n+              \'rectus_femoris\', \'gluteus\', \'none\'};\n+muscles = {\'soleus_l\', \'gasmed_l\', \'tibant_l\', \'semimem_l\', \'bfsh_l\', ...\n+           \'vasint_l\', \'recfem_l\', \'glmax2_l\', \'psoas_l\'};     \n+figure;\n+for i = 1:length(titles)\n+    subplot(3,3,i)\n+    \n+    % If it exists, plot the EMG signal for this muscle.\n+    if ~strcmp(emgSignals{i}, \'none\')\n+        col = emgReference.getDependentColumn(emgSignals{i}).getAsMat();\n+        emg = col(startIndex:endIndex)\';\n+        patch([emgTime fliplr(emgTime)], [emg fliplr(zeros(size(emg)))], ...\n+            [0.7 0.7 0.7])\n+        alpha(0.5);\n+    end\n+    hold on\n+    \n+    % Plot the control from the muscle effort solution.\n+    control = effortSolution.getControlMat([\'/forceset/\' muscles{i}]);\n+    plot(time, control, \'-k\', \'linewidth\', 2)\n+    \n+    % If provided, plot the control from the tracking solution.\n+    if nargin > 2\n+        control = trackingSolution.getControlMat([\'/forceset/\' muscles{i}]);\n+        plot(time, control, \'-r\', \'linewidth\', 2)\n+    end\n+    \n+    % Plot formatting.\n+    title(titles{i})\n+    xlim([0.83 2.0])\n+    ylim([0 1])\n+    if i == 1\n+        if nargin > 2\n+            legend(\'EMG\', \'effort\', \'tracking\', \'location\', \'best\')\n+        else\n+            legend(\'EMG\', \'effort\', \'location\', \'best\')\n+        end\n+    end\n+    if i > 6\n+        xlabel(\'time (s)\')\n+    else\n+        xticklabels([])\n+    end\n+    if ~mod(i-1, 3)\n+        ylabel(\'excitation\')\n+    else\n+        yticklabels([])\n+    end\n+end\n+\n+\n+end\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/exampleEMGTracking_answers.m b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/exampleEMGTracking_answers.m\nnew file mode 100644\nindex 000000000..31258954d\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/exampleEMGTracking_answers.m\n@@ -0,0 +1,287 @@\n+function exampleEMGTracking_answers\n+clear; close all; clc;\n+\n+%% Part 0: Load the OpenSim and Moco libraries.\n+import org.opensim.modeling.*;\n+\n+%% Part 1: Muscle redundancy problem: effort minimization.\n+% Solve the muscle redundancy problem while minimizing muscle excitations\n+% squared using the MocoInverse tool. \n+\n+% Part 1a: Load a 19 degree-of-freedom model with 18 lower-limb, \n+% sagittal-plane muscles and a torque-actuated torso. This includes a set of \n+% ground reaction forces applied to the model via ExternalLoads, which is \n+% necessary for the muscle redundancy problem. See the function definition \n+% at the bottom of this file to see how the model is loaded and constructed.\n+model = getWalkingModel(); \n+\n+% Part 1b: Create the MocoInverse tool and set the Model.\n+inverse = MocoInverse();\n+inverse.setModel(model);\n+\n+% Part 1c: Create a TableProcessor using the coordinates file from inverse\n+% kinematics.\n+coordinates = TableProcessor(\'coordinates.mot\');\n+coordinates.append(TabOpLowPassFilter(6));\n+coordinates.append(TabOpUseAbsoluteStateNames());\n+\n+% Part 1d: Set the kinematics reference for MocoInverse using the \n+% TableProcessor we just created.\n+inverse.setKinematics(coordinates);\n+inverse.set_kinematics_allow_extra_columns(true);\n+\n+% Part 1e: Provide the solver settings: initial and final time, the mesh \n+% interval, and the constraint and convergence tolerances.\n+inverse.set_initial_time(0.83);\n+inverse.set_final_time(2.0);\n+inverse.set_mesh_interval(0.04);\n+inverse.set_constraint_tolerance(1e-3);\n+inverse.set_convergence_tolerance(1e-3);\n+\n+if ~exist(\'effortSolution.sto\', \'file\')\n+    % Part 1f: Solve the problem!\n+    inverseSolution = inverse.solve();\n+    solution = inverseSolution.getMocoSolution();\n+    solution.write(\'effortSolution.sto\');\n+end\n+\n+%% Part 2: Plot the muscle redundancy problem solution.\n+% Load the experimental electromyography data and compare \n+% the effort minimization solution against this data. We will also use\n+% it later for the EMG-tracking problem. Each column in emg.sto is \n+% normalized so the maximum value for each signal is 1.0.\n+emgReference = TimeSeriesTable(\'emg.sto\');\n+compareSolutionToEMG(emgReference, \'effortSolution.sto\');\n+\n+%% Part 3: Muscle redundancy problem: EMG-tracking.\n+% Modify the existing problem we created with the MocoInverse tool to solve\n+% a new problem where we will track electromyography (EMG) data. \n+\n+% Part 3a: Call initialize() to get access to the MocoStudy contained within\n+% the MocoInverse instance. This will allow us to make additional\n+% modifications to the problem not provided by MocoInverse.\n+study = inverse.initialize();\n+problem = study.updProblem();\n+\n+% Part 3b: Create a MocoControlTrackingGoal, set its weight, and provide\n+% the EMG data as the tracking reference. We also need to specify the \n+% reference labels for the four muscles whose EMG we will track.\n+tracking = MocoControlTrackingGoal(\'emg_tracking\');\n+tracking.setWeight(5);\n+tracking.setReference(TableProcessor(emgReference));\n+tracking.setReferenceLabel(\'/forceset/gasmed_l\', \'gastrocnemius\');\n+tracking.setReferenceLabel(\'/forceset/tibant_l\', \'tibialis_anterior\');\n+tracking.setReferenceLabel(\'/forceset/bfsh_l\', \'biceps_femoris\');\n+tracking.setReferenceLabel(\'/forceset/glmax2_l\', \'gluteus\');\n+\n+% Part 3c: The EMG signals in the tracking are all normalized to have\n+% a maximum value of 1, but the magnitudes of the excitations from the \n+% effort minimization solution suggest that these signals should be\n+% rescaled. Use addScaleFactor() to add a MocoParameter to the problem that\n+% will scale the reference data for the muscles in the tracking cost.\n+tracking.addScaleFactor(\'gastroc_factor\', \'/forceset/gasmed_l\', [0.01 1.0]); \n+tracking.addScaleFactor(\'tibant_factor\', \'/forceset/tibant_l\', [0.01 1.0]); \n+tracking.addScaleFactor(\'bifem_factor\', \'/forceset/bfsh_l\', [0.01 1.0]); \n+tracking.addScaleFactor(\'gluteus_factor\', \'/forceset/glmax2_l\', [0.01 1.0]); \n+\n+% Part 3d: Add the tracking goal to the problem.\n+problem.addGoal(tracking)\n+\n+% Part 3e: Update the MocoCasADiSolver with the updated MocoProblem using \n+% resetProblem().\n+solver = MocoCasADiSolver.safeDownCast(study.updSolver());\n+solver.resetProblem(problem);\n+\n+% Part 3f: Tell MocoCasADiSolver that the MocoParameters we added to the \n+% problem via addScaleFactor() above do not require initSystem() calls on\n+% the model. This provides a large speed-up.\n+solver.set_parameters_require_initsystem(false);\n+\n+if ~exist(\'trackingSolution.sto\', \'file\')\n+    % Part 3g: Solve the problem!\n+    solution = study.solve();\n+    solution.write(\'trackingSolution.sto\');\n+end\n+\n+% Part 3h: Get the values of the optimized scale factors.\n+trackingSolution = MocoTrajectory(\'trackingSolution.sto\');\n+gastroc_factor = trackingSolution.getParameter(\'gastroc_factor\');\n+tibant_factor = trackingSolution.getParameter(\'tibant_factor\');\n+bifem_factor = trackingSolution.getParameter(\'bifem_factor\');\n+gluteus_factor = trackingSolution.getParameter(\'gluteus_factor\');\n+\n+%% Part 4: Plot the EMG-tracking muscle redundancy problem solution.\n+% Part 4a: Print the scale factor values to the command window.\n+fprintf(\'\\n\')\n+fprintf(\'Optimized scale factor values: \\n\')\n+fprintf(\'------------------------------ \\n\')\n+fprintf([\'gastrocnemius = \' num2str(gastroc_factor) \'\\n\'])\n+fprintf([\'tibialis anterior = \' num2str(tibant_factor) \'\\n\'])\n+fprintf([\'biceps femoris short head = \' num2str(bifem_factor) \'\\n\'])\n+fprintf([\'gluteus = \' num2str(gluteus_factor) \'\\n\'])\n+fprintf(\'\\n\')\n+\n+% Part 4b: Re-scale the reference data using the optimized scale factors.\n+gastroc = emgReference.updDependentColumn(\'gastrocnemius\');\n+tibant = emgReference.updDependentColumn(\'tibialis_anterior\');\n+bifem = emgReference.updDependentColumn(\'biceps_femoris\');\n+gluteus = emgReference.updDependentColumn(\'gluteus\');\n+for t = 0:emgReference.getNumRows() - 1\n+    gastroc.set(t, gastroc_factor * gastroc.get(t));\n+    tibant.set(t, tibant_factor * tibant.get(t));\n+    bifem.set(t, bifem_factor * bifem.get(t));\n+    gluteus.set(t, gluteus_factor * gluteus.get(t));\n+end\n+\n+% Part 4c: Generate the plots. Compare results to the effort minimization \n+% solution.\n+compareSolutionToEMG(emgReference, \'effortSolution.sto\', ... \n+    \'trackingSolution.sto\');\n+\n+end\n+\n+% Add a CoordinateActuator to the provided model with a specified optimal\n+% force. \n+function addCoordinateActuator(model, coordinateName, optForce)\n+\n+import org.opensim.modeling.*;\n+\n+coordSet = model.getCoordinateSet();\n+\n+actu = CoordinateActuator();\n+actu.setName([\'torque_\' coordinateName]);\n+actu.setCoordinate(coordSet.get(coordinateName));\n+actu.setOptimalForce(optForce);\n+actu.setMinControl(-1);\n+actu.setMaxControl(1);\n+\n+% Add to ForceSet\n+model.addForce(actu);\n+\n+end\n+\n+function [modelProcessor] = getWalkingModel()\n+\n+import org.opensim.modeling.*;\n+\n+% Load the 19 DOF, 18 muscle model from file.\n+model = Model(\'subject_walk_armless_18musc.osim\');\n+\n+% Add actuators representing the pelvis residual actuators and lumbar\n+% torques. These actuators are only as strong as they need to be for the\n+% problem to converge.\n+addCoordinateActuator(model, \'pelvis_tx\', 60)\n+addCoordinateActuator(model, \'pelvis_ty\', 300)\n+addCoordinateActuator(model, \'pelvis_tz\', 35)\n+addCoordinateActuator(model, \'pelvis_tilt\', 60)\n+addCoordinateActuator(model, \'pelvis_list\', 35)\n+addCoordinateActuator(model, \'pelvis_rotation\', 25)\n+addCoordinateActuator(model, \'lumbar_bending\', 40)\n+addCoordinateActuator(model, \'lumbar_extension\', 40)\n+addCoordinateActuator(model, \'lumbar_rotation\', 25)\n+\n+% We need additional actuators for hip rotation and hip adduction since the\n+% existing muscle act primarily in the sagittal plane.\n+addCoordinateActuator(model, \'hip_rotation_r\', 100)\n+addCoordinateActuator(model, \'hip_rotation_l\', 100)\n+addCoordinateActuator(model, \'hip_adduction_r\', 100)\n+addCoordinateActuator(model, \'hip_adduction_l\', 100)\n+\n+% Create a ModelProcessor to make additional modifications to the model.\n+modelProcessor = ModelProcessor(model);\n+% Weld the subtalar and toe joints.\n+jointsToWeld = StdVectorString();\n+jointsToWeld.add(\'subtalar_r\');\n+jointsToWeld.add(\'subtalar_l\');\n+jointsToWeld.add(\'mtp_r\');\n+jointsToWeld.add(\'mtp_l\');\n+modelProcessor.append(ModOpReplaceJointsWithWelds(jointsToWeld));\n+% Apply the ground reaction forces to the model.\n+modelProcessor.append(ModOpAddExternalLoads(\'external_loads.xml\'));\n+% Update the muscles: ignore tendon compliance and passive forces, replace \n+% muscle types with the DeGrooteFregly2016Muscle type, and scale the width\n+% of the active force length curve.\n+modelProcessor.append(ModOpIgnoreTendonCompliance());\n+modelProcessor.append(ModOpReplaceMusclesWithDeGrooteFregly2016());\n+modelProcessor.append(ModOpIgnorePassiveFiberForcesDGF());\n+modelProcessor.append(ModOpScaleActiveFiberForceCurveWidthDGF(1.5));\n+% Add a set a weak reserves to the sagittal-plane joints in the model.\n+modelProcessor.append(ModOpAddReserves(1.0));\n+\n+end\n+\n+function compareSolutionToEMG(varargin)\n+\n+import org.opensim.modeling.*;\n+\n+% Retrieve the inputs.\n+emgReference = varargin{1};\n+effortSolution = MocoTrajectory(varargin{2});\n+if nargin > 2\n+   trackingSolution = MocoTrajectory(varargin{3}); \n+end\n+\n+% Create a time vector for the EMG data that is consistent with the problem\n+% time range.\n+time = effortSolution.getTimeMat();\n+startIndex = emgReference.getNearestRowIndexForTime(time(1)) + 1;\n+endIndex = emgReference.getNearestRowIndexForTime(time(end)) + 1;\n+emgTime = linspace(time(1), time(end), endIndex - startIndex + 1);\n+\n+% Plot results from the muscles in the left leg. \n+titles = {\'soleus\', \'gastroc.\', \'tib. ant.\', \'hamstrings\', ...\n+          \'bi. fem. sh.\', \'vastus\', \'rec. fem.\', \'gluteus\', \'psoas\'};\n+emgSignals = {\'soleus\',\t\'gastrocnemius\', \'tibialis_anterior\', ... \n+              \'hamstrings\', \'biceps_femoris\', \'vastus\', ...\n+              \'rectus_femoris\', \'gluteus\', \'none\'};\n+muscles = {\'soleus_l\', \'gasmed_l\', \'tibant_l\', \'semimem_l\', \'bfsh_l\', ...\n+           \'vasint_l\', \'recfem_l\', \'glmax2_l\', \'psoas_l\'};     \n+figure;\n+for i = 1:length(titles)\n+    subplot(3,3,i)\n+    \n+    % If it exists, plot the EMG signal for this muscle.\n+    if ~strcmp(emgSignals{i}, \'none\')\n+        col = emgReference.getDependentColumn(emgSignals{i}).getAsMat();\n+        emg = col(startIndex:endIndex)\';\n+        patch([emgTime fliplr(emgTime)], [emg fliplr(zeros(size(emg)))], ...\n+            [0.7 0.7 0.7])\n+        alpha(0.5);\n+    end\n+    hold on\n+    \n+    % Plot the control from the muscle effort solution.\n+    control = effortSolution.getControlMat([\'/forceset/\' muscles{i}]);\n+    plot(time, control, \'-k\', \'linewidth\', 2)\n+    \n+    % If provided, plot the control from the tracking solution.\n+    if nargin > 2\n+        control = trackingSolution.getControlMat([\'/forceset/\' muscles{i}]);\n+        plot(time, control, \'-r\', \'linewidth\', 2)\n+    end\n+    \n+    % Plot formatting.\n+    title(titles{i})\n+    xlim([0.83 2.0])\n+    ylim([0 1])\n+    if i == 1\n+        if nargin > 2\n+            legend(\'EMG\', \'effort\', \'tracking\', \'location\', \'best\')\n+        else\n+            legend(\'EMG\', \'effort\', \'location\', \'best\')\n+        end\n+    end\n+    if i > 6\n+        xlabel(\'time (s)\')\n+    else\n+        xticklabels([])\n+    end\n+    if ~mod(i-1, 3)\n+        ylabel(\'excitation\')\n+    else\n+        yticklabels([])\n+    end\n+end\n+\n+\n+end\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/external_loads.xml b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/external_loads.xml\nnew file mode 100644\nindex 000000000..2f25247e9\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/external_loads.xml\n@@ -0,0 +1,36 @@\n+<?xml version="1.0" encoding="UTF-8" ?>\n+<OpenSimDocument Version="30000">\n+\t<ExternalLoads name="grf_walk">\n+\t\t<objects>\n+\t\t\t<ExternalForce name="Right_GRF">\n+\t\t\t\t<!--Name of the body the force is applied to.-->\n+\t\t\t\t<applied_to_body>calcn_r</applied_to_body>\n+\t\t\t\t<!--Name of the body the force is expressed in (default is ground).-->\n+\t\t\t\t<force_expressed_in_body>ground</force_expressed_in_body>\n+\t\t\t\t<!--Name of the body the point is expressed in (default is ground).-->\n+\t\t\t\t<point_expressed_in_body>ground</point_expressed_in_body>\n+\t\t\t\t<!--Identifier (string) to locate the force to be applied in the data source.-->\n+\t\t\t\t<force_identifier>ground_force_r_v</force_identifier>\n+\t\t\t\t<!--Identifier (string) to locate the point to be applied in the data source.-->\n+\t\t\t\t<point_identifier>ground_force_r_p</point_identifier>\n+\t\t\t\t<!--Identifier (string) to locate the torque to be applied in the data source.-->\n+\t\t\t\t<torque_identifier>ground_torque_r_</torque_identifier>\n+\t\t\t</ExternalForce>\n+\t\t\t<ExternalForce name="Left_GRF">\n+\t\t\t\t<applied_to_body>calcn_l</applied_to_body>\n+\t\t\t\t<force_expressed_in_body>ground</force_expressed_in_body>\n+\t\t\t\t<point_expressed_in_body>ground</point_expressed_in_body>\n+\t\t\t\t<force_identifier>ground_force_l_v</force_identifier>\n+\t\t\t\t<point_identifier>ground_force_l_p</point_identifier>\n+\t\t\t\t<torque_identifier>ground_torque_l_</torque_identifier>\n+\t\t\t</ExternalForce>\n+\t\t</objects>\n+\t\t<groups />\n+\t\t<!--Storage file (.sto) containing (3) components of force and/or torque and point of application.Note: this file overrides the data source specified by the individual external forces if specified.-->\n+        <datafile>grf.mot</datafile>\n+\t\t<!--Optional motion file (.mot) or storage file (.sto) containing the model kinematics used to transform a point expressed in ground to the body of force application.If the point is not expressed in ground, the point is not transformed-->\n+        <external_loads_model_kinematics_file></external_loads_model_kinematics_file>\n+\t\t<!--Optional low-pass cut-off frequency for filtering the model kinematics corresponding used to transform the point of application. A negative value results in no filtering. The default value is -1.0, so no filtering.-->\n+\t\t<lowpass_cutoff_frequency_for_load_kinematics>6</lowpass_cutoff_frequency_for_load_kinematics>\n+\t</ExternalLoads>\n+</OpenSimDocument>\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/grf.mot b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/grf.mot\nnew file mode 100644\nindex 000000000..1bc15aa7e\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/grf.mot\n@@ -0,0 +1,4785 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--git a/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/subject_walk_armless_18musc.osim b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/subject_walk_armless_18musc.osim\nnew file mode 100644\nindex 000000000..98418fe53\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleEMGTracking/subject_walk_armless_18musc.osim\n@@ -0,0 +1,5467 @@\n+<?xml version="1.0" encoding="UTF-8" ?>\n+<OpenSimDocument Version="30000">\n+\t<Model name="subject_scale_walk">\n+\t\t<defaults>\n+\t\t\t<ControlLinear name="default">\n+\t\t\t\t<is_model_control>true</is_model_control>\n+\t\t\t\t<extrapolate>true</extrapolate>\n+\t\t\t\t<default_min>-1</default_min>\n+\t\t\t\t<default_max>1</default_max>\n+\t\t\t\t<filter_on>false</filter_on>\n+\t\t\t\t<use_steps>false</use_steps>\n+\t\t\t\t<x_nodes />\n+\t\t\t\t<min_nodes />\n+\t\t\t\t<max_nodes />\n+\t\t\t\t<kp>100</kp>\n+\t\t\t\t<kv>20</kv>\n+\t\t\t</ControlLinear>\n+\t\t\t<CoordinateActuator name="default">\n+\t\t\t\t<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->\n+\t\t\t\t<isDisabled>false</isDisabled>\n+\t\t\t\t<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<min_control>-Inf</min_control>\n+\t\t\t\t<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<max_control>Inf</max_control>\n+\t\t\t\t<!--Name of the generalized coordinate to which the actuator applies.-->\n+\t\t\t\t<coordinate>Unassigned</coordinate>\n+\t\t\t\t<!--The maximum generalized force produced by this actuator.-->\n+\t\t\t\t<optimal_force>300</optimal_force>\n+\t\t\t</CoordinateActuator>\n+\t\t\t<PointActuator name="default">\n+\t\t\t\t<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->\n+\t\t\t\t<isDisabled>false</isDisabled>\n+\t\t\t\t<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<min_control>-Inf</min_control>\n+\t\t\t\t<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<max_control>Inf</max_control>\n+\t\t\t\t<!--Name of Body to which this actuator is applied.-->\n+\t\t\t\t<body></body>\n+\t\t\t\t<!--Location of application point; in body frame unless point_is_global=true-->\n+\t\t\t\t<point>0 0 0</point>\n+\t\t\t\t<!--Interpret point in Ground frame if true; otherwise, body frame.-->\n+\t\t\t\t<point_is_global>false</point_is_global>\n+\t\t\t\t<!--Force application direction; in body frame unless force_is_global=true.-->\n+\t\t\t\t<direction>-1 -0 -0</direction>\n+\t\t\t\t<!--Interpret direction in Ground frame if true; otherwise, body frame.-->\n+\t\t\t\t<force_is_global>true</force_is_global>\n+\t\t\t\t<!--The maximum force produced by this actuator when fully activated.-->\n+\t\t\t\t<optimal_force>1000</optimal_force>\n+\t\t\t</PointActuator>\n+\t\t\t<TorqueActuator name="default">\n+\t\t\t\t<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->\n+\t\t\t\t<isDisabled>false</isDisabled>\n+\t\t\t\t<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<min_control>-Inf</min_control>\n+\t\t\t\t<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<max_control>Inf</max_control>\n+\t\t\t\t<!--Name of Body to which the torque actuator is applied.-->\n+\t\t\t\t<bodyA>Unassigned</bodyA>\n+\t\t\t\t<!--Name of Body to which the equal and opposite torque is applied.-->\n+\t\t\t\t<bodyB>Unassigned</bodyB>\n+\t\t\t\t<!--Interpret axis in Ground frame if true; otherwise, body A\'s frame.-->\n+\t\t\t\t<torque_is_global>true</torque_is_global>\n+\t\t\t\t<!--Fixed direction about which torque is applied, in Ground or body A frame depending on \'torque_is_global\' property.-->\n+\t\t\t\t<axis>-1 -0 -0</axis>\n+\t\t\t\t<!--The maximum torque produced by this actuator when fully activated.-->\n+\t\t\t\t<optimal_force>1</optimal_force>\n+\t\t\t</TorqueActuator>\n+\t\t\t<Millard2012EquilibriumMuscle name="default">\n+\t\t\t\t<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->\n+\t\t\t\t<isDisabled>false</isDisabled>\n+\t\t\t\t<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<min_control>0.01</min_control>\n+\t\t\t\t<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->\n+\t\t\t\t<max_control>1</max_control>\n+\t\t\t\t<!--The set of points defining the path of the muscle.-->\n+\t\t\t\t<GeometryPath>\n+\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t<!--The wrap objecs that are associated with this path-->\n+\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t<!--Used to display the path in the 3D window-->\n+\t\t\t\t\t<VisibleObject name="display">\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t</GeometryPath>\n+\t\t\t\t<!--The maximum force this actuator can produce.-->\n+\t\t\t\t<optimal_force>1</optimal_force>\n+\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t<max_isometric_force>546</max_isometric_force>\n+\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t<optimal_fiber_length>0.0535</optimal_fiber_length>\n+\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t<tendon_slack_length>0.078</tendon_slack_length>\n+\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t<pennation_angle_at_optimal>0</pennation_angle_at_optimal>\n+\t\t\t\t<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->\n+\t\t\t\t<max_contraction_velocity>10</max_contraction_velocity>\n+\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t<CMC_Joint name="default">\n+\t\t\t\t<!--Flag (true or false) indicating whether or not a task is enabled.-->\n+\t\t\t\t<on>false</on>\n+\t\t\t\t<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->\n+\t\t\t\t<weight> 1 1 1</weight>\n+\t\t\t\t<!--Name of body frame with respect to which a tracking objective is specified. The special name \'center_of_mass\' refers to the system center of mass. This property is not used for tracking joint angles.-->\n+\t\t\t\t<wrt_body>-1</wrt_body>\n+\t\t\t\t<!--Name of body frame in which the tracking objectives are expressed.  This property is not used for tracking joint angles.-->\n+\t\t\t\t<express_body>-1</express_body>\n+\t\t\t\t<!--Array of 3 flags (each true or false) specifying whether a component of a task is active.  For example, tracking the trajectory of a point in space could have three components (x,y,z).  This allows each of those to be made active (true) or inactive (false).  A task for tracking a joint coordinate only has one component.-->\n+\t\t\t\t<active>false false false </active>\n+\t\t\t\t<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->\n+\t\t\t\t<kp> 1 1 1</kp>\n+\t\t\t\t<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->\n+\t\t\t\t<kv> 1 1 1</kv>\n+\t\t\t\t<!--Feedforward acceleration gain.  This is normally set to 1.0, so no gain.-->\n+\t\t\t\t<ka> 1 1 1</ka>\n+\t\t\t\t<!--Direction vector[3] for component 0 of a task. Joint tasks do not use this propery.-->\n+\t\t\t\t<r0> 0 0 0</r0>\n+\t\t\t\t<!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->\n+\t\t\t\t<r1> 0 0 0</r1>\n+\t\t\t\t<!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->\n+\t\t\t\t<r2> 0 0 0</r2>\n+\t\t\t\t<!--Name of the coordinate to be tracked.-->\n+\t\t\t\t<coordinate />\n+\t\t\t\t<!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->\n+\t\t\t\t<limit>0</limit>\n+\t\t\t</CMC_Joint>\n+\t\t</defaults>\n+\t\t<credits>Arnold, E.M., Hamner, S.R., Ward, S.R., Lieber, R. L., and Delp, S.L.</credits>\n+\t\t<publications />\n+\t\t<length_units>meters</length_units>\n+\t\t<force_units>N</force_units>\n+\t\t<!--Acceleration due to gravity.-->\n+\t\t<gravity> 0 -9.80665 0</gravity>\n+\t\t<assembly_accuracy>1e-7</assembly_accuracy>\n+\t\t<!--Bodies in the model.-->\n+\t\t<BodySet>\n+\t\t\t<objects>\n+\t\t\t\t<Body name="ground">\n+\t\t\t\t\t<mass>0</mass>\n+\t\t\t\t\t<mass_center> 0 0 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint />\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="pelvis">\n+\t\t\t\t\t<mass>28.99324795832066</mass>\n+\t\t\t\t\t<mass_center> -0.0879955 0 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.160303735977798</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.160303735977798</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.0815069876033182</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="ground_pelvis">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>ground</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>0 0 0</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>0 0 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>0 0 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="pelvis_tilt">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-1.57079633 1.57079633</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="pelvis_list">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-1.57079633 1.57079633</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="pelvis_rotation">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-1.57079633 1.57079633</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="pelvis_tx">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>translational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-5 5</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="pelvis_ty">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>translational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0.93</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-1 2</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="pelvis_tz">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>translational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-3 3</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>pelvis_tilt</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>pelvis_list</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>pelvis_rotation</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>pelvis_tx</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>pelvis_ty</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>pelvis_tz</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>r_pelvis.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>l_pelvis.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>sacrum.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.24463 1.00167 1.19736</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gmax1_at_pelvis_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -0.6 0.45 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0958367 -0.0991651 0.0730389</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-x</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -0.6 0.45 0 -0.0958367 -0.0991651 0.0730389</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.045864767578382</radius>\n+\t\t\t\t\t\t\t\t<length>0.173913788063297</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gmax2_at_pelvis_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -0.75 0.39 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0995706 -0.0831384 0.0814204</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -0.75 0.39 0 -0.0995706 -0.0831384 0.0814204</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0464624777683262</radius>\n+\t\t\t\t\t\t\t\t<length>0.113106554794118</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gmax3_at_pelvis_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -0.1 0 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.103304 -0.0881467 0.0814204</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -0.1 0 0 -0.103304 -0.0881467 0.0814204</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0449687604532561</radius>\n+\t\t\t\t\t\t\t\t<length>0.119556584859476</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gmax1_at_pelvis_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0.6 -0.45 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0958367 -0.0991651 -0.0730389</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-x</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0.6 -0.45 0 -0.0958367 -0.0991651 -0.0730389</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.045864767578382</radius>\n+\t\t\t\t\t\t\t\t<length>0.173913788063297</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gmax2_at_pelvis_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0.75 -0.39 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0995706 -0.0831384 -0.0814204</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0.75 -0.39 0 -0.0995706 -0.0831384 -0.0814204</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0464624777683262</radius>\n+\t\t\t\t\t\t\t\t<length>0.113106554794118</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gmax3_at_pelvis_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0.1 0 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.103304 -0.0881467 -0.0814204</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0.1 0 0 -0.103304 -0.0881467 -0.0814204</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0449687604532561</radius>\n+\t\t\t\t\t\t\t\t<length>0.119556584859476</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="PS_at_brim_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -0.25 -0.27 0.1</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0921028 -0.0601 0.0785467</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -0.25 -0.27 0.1 -0.0921028 -0.0601 0.0785467</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0564057132839332</radius>\n+\t\t\t\t\t\t\t\t<length>0.119055194893193</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="PS_at_brim_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0.25 0.27 0.1</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0921028 -0.0601 -0.0785467</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0.25 0.27 0.1 -0.0921028 -0.0601 -0.0785467</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0564057132839332</radius>\n+\t\t\t\t\t\t\t\t<length>0.119055194893193</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="IL_at_brim_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -0.32 -0.24 0.9</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0883689 -0.0651084 0.0905203</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -0.32 -0.24 0.9 -0.0883689 -0.0651084 0.0905203</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0623935974772375</radius>\n+\t\t\t\t\t\t\t\t<length>0.118322164173781</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="IL_at_brim_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0.32 0.24 0.9</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0883689 -0.0651084 -0.0905203</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0.32 0.24 0.9 -0.0883689 -0.0651084 -0.0905203</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0623935974772375</radius>\n+\t\t\t\t\t\t\t\t<length>0.118322164173781</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="femur_r">\n+\t\t\t\t\t<mass>10.5006540206963</mass>\n+\t\t\t\t\t<mass_center> 0 -0.16286 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.138759705383189</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.0363739033528747</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.146324648245752</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="hip_r">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>pelvis</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.0700429068100282 -0.0786208787567514 0.0925078946514201</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>0 0 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>0 0 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="hip_flexion_r">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.52359878 2.0943951</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="hip_adduction_r">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.87266463 0.52359878</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="hip_rotation_r">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.6981317 0.6981317</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>hip_flexion_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>hip_adduction_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>hip_rotation_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.24463193563914</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.00166745772393</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.19735820154569</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>femur_r.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 0.958 0.958 0.958</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gastroc_at_condyles_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 0 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.00479 -0.39278 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0.00479 -0.39278 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.02395</radius>\n+\t\t\t\t\t\t\t\t<length>0.0958</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="KnExt_at_fem_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -0.0623366 0.0507601 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.00343757 -0.385817 0.00200328</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -0.0623366 0.0507601 0 0.00343757 -0.385817 0.00200328</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.02395</radius>\n+\t\t\t\t\t\t\t\t<length>0.0958</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AB_at_femshaft_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 1.66157 0.186644 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.0140284 -0.107866 0.0223837</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 1.66157 0.186644 0 0.0140284 -0.107866 0.0223837</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.015807</radius>\n+\t\t\t\t\t\t\t\t<length>0.06706</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AL_at_femshaft_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 1.77711 0.136489 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.0294419 -0.222169 0.0144789</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 1.77711 0.136489 0 0.0294419 -0.222169 0.0144789</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0192558</radius>\n+\t\t\t\t\t\t\t\t<length>0.0958</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMprox_at_femshaft_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 1.61126 0.18656 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.0049653 -0.0698332 0.0243361</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 1.61126 0.18656 0 0.0049653 -0.0698332 0.0243361</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0202138</radius>\n+\t\t\t\t\t\t\t\t<length>0.06706</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMmid_at_femshaft_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 1.61139 0.13656 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.022046 -0.153961 0.0197197</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 1.61139 0.13656 0 0.022046 -0.153961 0.0197197</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0205012</radius>\n+\t\t\t\t\t\t\t\t<length>0.11496</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMdist_at_femshaft_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 1.71188 0.186636 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.030279 -0.249785 0.00897129</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 1.71188 0.186636 0 0.030279 -0.249785 0.00897129</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0208844</radius>\n+\t\t\t\t\t\t\t\t<length>0.1916</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMisch_at_condyles_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 1.71115 -0.463363 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0216998 -0.361004 -0.00302189</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 1.71115 -0.463363 0 -0.0216998 -0.361004 -0.00302189</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.03832</radius>\n+\t\t\t\t\t\t\t\t<length>0.22992</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="PECT_at_femshaft_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 1.81295 0.276344 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.00583013 -0.0809538 0.029162</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 1.81295 0.276344 0 0.00583013 -0.0809538 0.029162</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.01437</radius>\n+\t\t\t\t\t\t\t\t<length>0.0479</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="tibia_r">\n+\t\t\t\t\t<mass>4.18551774805208</mass>\n+\t\t\t\t\t<mass_center> 0 -0.214518 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.0751315533019727</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.00760259765555677</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.0761750470978335</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="walker_knee_r">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>femur_r</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.00775022 -0.39082568 -0.0026345</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>-1.64156849 1.4461808 1.57079633</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>-0.00929488146 -0.0040614852 -0.00170596626</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>-1.64156849 1.4461808 1.57079633</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="knee_angle_r">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>0 2.0944</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t<y> 0 0.0126809 0.0226969 0.0296054 0.0332049 0.0335354 0.0308779 0.0257548 0.0189295 0.011407 0.00443314 -0.00050475 -0.0016782</y>\n+\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t<y> 0 0.059461 0.109399 0.150618 0.18392 0.210107 0.229983 0.24435 0.254012 0.25977 0.262428 0.262788 0.261654</y>\n+\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> 0 0.000479 0.000835 0.001086 0.001251 0.001346 0.001391 0.001403 0.0014 0.0014 0.001421 0.001481 0.001599</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> 0 0.000988 0.001899 0.002734 0.003492 0.004173 0.004777 0.005305 0.005756 0.00613 0.006427 0.006648 0.006792</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>tibia_r.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>fibula_r.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.149 1.149 1.149</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t<WrapCylinder name="GasLat_at_shank_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 2.96723 -0.279725 -1.47812</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0085026 -0.085026 -0.0037917</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 2.96723 -0.279725 -1.47812 -0.0085026 -0.085026 -0.0037917</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.063195</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="GasMed_at_shank_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 2.96723 0.0279725 -1.47812</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0085026 -0.085026 -0.0037917</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 2.96723 0.0279725 -1.47812 -0.0085026 -0.085026 -0.0037917</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.063195</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="GR_at_condyles_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 -0.4 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.003447 -0.02298 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 -0.4 0 -0.003447 -0.02298 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.041364</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="SM_at_condyles_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 -0.1 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.001149 -0.02298 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 -0.1 0 -0.001149 -0.02298 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0404448</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="ST_at_condyles_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 -0.2 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.002298 -0.0235545 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 -0.2 0 -0.002298 -0.0235545 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0488325</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="BF_at_gastroc_r">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 0 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.066642 -0.06894 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 -0.066642 -0.06894 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.03447</radius>\n+\t\t\t\t\t\t\t\t<length>0.17235</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="patella_r">\n+\t\t\t\t\t<mass>0.0973139932251086</mass>\n+\t\t\t\t\t<mass_center> 0.0017244 0.0252912 0</mass_center>\n+\t\t\t\t\t<inertia_xx>2.97416246788463e-006</inertia_xx>\n+\t\t\t\t\t<inertia_yy>1.35858083463301e-005</inertia_yy>\n+\t\t\t\t\t<inertia_zz>1.35858083463301e-005</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="patellofemoral_r">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>femur_r</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.00775022 -0.39082568 -0.0026345</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>0 0 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>0 0 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="knee_angle_r_beta">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>Coupled</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-99999.9 99999.9</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>false</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r_beta</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<SimmSpline name="f11">\n+\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t<y> 0.00113686 -0.00629212 -0.105582 -0.253683 -0.414245 -0.579047 -0.747244 -0.91799 -1.09044 -1.26379 -1.43763 -1.61186 -1.78634</y>\n+\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r_beta</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline name="f9">\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> 0.0524 0.0488 0.0437 0.0371 0.0296 0.0216 0.0136 0.0057 -0.0019 -0.0088 -0.0148 -0.0196 -0.0227</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_r_beta</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline name="f10">\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> -0.0108 -0.019 -0.0263 -0.0322 -0.0367 -0.0395 -0.0408 -0.0404 -0.0384 -0.0349 -0.0301 -0.0245 -0.0187</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0.00275</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>r_patella.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 0.958 0.958 0.958</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="talus_r">\n+\t\t\t\t\t<mass>0.112893263602215</mass>\n+\t\t\t\t\t<mass_center> 0 0 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.00280823736985198</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.00214190803190811</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.00214190803190811</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<PinJoint name="ankle_r">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>tibia_r</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.01149 -0.4596 0</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>0.17589522912764 -0.10520801930018 0.0186621863143491</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>0.17589522912764 -0.10520801930018 0.0186621863143491</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="ankle_angle_r">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.6981317 0.52359878</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t</PinJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>r_talus.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.14316 1.66076 1.49753</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="calcn_r">\n+\t\t\t\t\t<mass>1.41116579502767</mass>\n+\t\t\t\t\t<mass_center> 0.114316 0.0498228 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.00393153231779277</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.00668761797958195</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.00668761797958195</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<PinJoint name="subtalar_r">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>talus_r</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.0557516925480177 -0.0696689194495066 0.0118604211987851</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>-1.76819124429091 0.906223037055776 1.81960249671312</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>-1.76819124429091 0.906223037055776 1.81960249671312</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="subtalar_angle_r">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.34906585 0.34906585</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>true</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t</PinJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>r_foot.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.14316 1.66076 1.49753</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="toes_r">\n+\t\t\t\t\t<mass>0.244526808962396</mass>\n+\t\t\t\t\t<mass_center> 0.0395532 0.00996457 -0.0262067</mass_center>\n+\t\t\t\t\t<inertia_xx>0.000280823736985198</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.000361748672587235</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.000361748672587235</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<PinJoint name="mtp_r">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>calcn_r</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>0.204396199048299 -0.00332152178543535 0.0016173301634707</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>-3.14159265358979 0.619900514052744 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>-3.14159265358979 0.619900514052744 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="mtp_angle_r">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.52359878 0.52359878</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>true</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t</PinJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>r_bofoot.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.14316 1.66076 1.49753</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="femur_l">\n+\t\t\t\t\t<mass>10.5006540206963</mass>\n+\t\t\t\t\t<mass_center> 0 -0.16286 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.138759705383189</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.0363739033528747</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.146324648245752</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="hip_l">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>pelvis</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.0700429068100282 -0.0786208787567514 -0.0925078946514201</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>0 0 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>0 0 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="hip_flexion_l">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.52359878 2.0943951</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="hip_adduction_l">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.87266463 0.52359878</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="hip_rotation_l">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.6981317 0.6981317</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>hip_flexion_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>hip_adduction_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> -1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>hip_rotation_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> -1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.24463193563914</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.00166745772393</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.19735820154569</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>femur_l.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 0.958 0.958 0.958</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t<WrapCylinder name="Gastroc_at_condyles_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 0 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.00479 -0.39278 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0.00479 -0.39278 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.02395</radius>\n+\t\t\t\t\t\t\t\t<length>0.0958</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="KnExt_at_fem_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0.0623366 -0.0507601 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.00343757 -0.385817 -0.00200328</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0.0623366 -0.0507601 0 0.00343757 -0.385817 -0.00200328</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.02395</radius>\n+\t\t\t\t\t\t\t\t<length>0.0958</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AB_at_femshaft_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -1.66157 -0.186644 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.0140284 -0.107866 -0.0223837</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -1.66157 -0.186644 0 0.0140284 -0.107866 -0.0223837</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.015807</radius>\n+\t\t\t\t\t\t\t\t<length>0.06706</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AL_at_femshaft_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -1.77711 -0.136489 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.0294419 -0.222169 -0.0144789</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -1.77711 -0.136489 0 0.0294419 -0.222169 -0.0144789</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0192558</radius>\n+\t\t\t\t\t\t\t\t<length>0.0958</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMprox_at_femshaft_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -1.61126 -0.18656 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.0049653 -0.0698332 -0.0243361</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -1.61126 -0.18656 0 0.0049653 -0.0698332 -0.0243361</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0202138</radius>\n+\t\t\t\t\t\t\t\t<length>0.06706</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMmid_at_femshaft_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -1.61139 -0.13656 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.022046 -0.153961 -0.0197197</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -1.61139 -0.13656 0 0.022046 -0.153961 -0.0197197</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0205012</radius>\n+\t\t\t\t\t\t\t\t<length>0.11496</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMdist_at_femshaft_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -1.71188 -0.186636 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.030279 -0.249785 -0.00897129</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -1.71188 -0.186636 0 0.030279 -0.249785 -0.00897129</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0208844</radius>\n+\t\t\t\t\t\t\t\t<length>0.1916</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="AMisch_at_condyles_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -1.71115 0.463363 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0216998 -0.361004 0.00302189</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -1.71115 0.463363 0 -0.0216998 -0.361004 0.00302189</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.03832</radius>\n+\t\t\t\t\t\t\t\t<length>0.22992</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="PECT_at_femshaft_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -1.81295 -0.276344 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> 0.00583013 -0.0809538 -0.029162</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -1.81295 -0.276344 0 0.00583013 -0.0809538 -0.029162</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.01437</radius>\n+\t\t\t\t\t\t\t\t<length>0.0479</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="tibia_l">\n+\t\t\t\t\t<mass>4.18551774805208</mass>\n+\t\t\t\t\t<mass_center> 0 -0.214518 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.0751315533019727</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.00760259765555677</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.0761750470978335</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="walker_knee_l">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>femur_l</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.00775022 -0.39082568 0.0026345</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>1.64156849 -1.4461808 1.57079633</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>-0.00929488146 -0.0040614852 0.00170596626</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>1.64156849 -1.4461808 1.57079633</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="knee_angle_l">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>0 2.0944</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>-1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t<y> 0 0.0126809 0.0226969 0.0296054 0.0332049 0.0335354 0.0308779 0.0257548 0.0189295 0.011407 0.00443314 -0.00050475 -0.0016782</y>\n+\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t<y> 0 -0.059461 -0.109399 -0.150618 -0.18392 -0.210107 -0.229983 -0.24435 -0.254012 -0.25977 -0.262428 -0.262788 -0.261654</y>\n+\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> 0 0.000479 0.000835 0.001086 0.001251 0.001346 0.001391 0.001403 0.0014 0.0014 0.001421 0.001481 0.001599</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> 0 -0.000988 -0.001899 -0.002734 -0.003492 -0.004173 -0.004777 -0.005305 -0.005756 -0.00613 -0.006427 -0.006648 -0.006792</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>tibia_l.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>fibula_l.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.149 1.149 1.149</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t<WrapCylinder name="GasLat_at_shank_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -2.96723 0.279725 -1.47812</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0085026 -0.085026 0.0037917</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -2.96723 0.279725 -1.47812 -0.0085026 -0.085026 0.0037917</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.063195</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="GasMed_at_shank_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> -2.96723 -0.0279725 -1.47812</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.0085026 -0.085026 0.0037917</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>-y</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> -2.96723 -0.0279725 -1.47812 -0.0085026 -0.085026 0.0037917</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.063195</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="GR_at_condyles_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 0.4 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.003447 -0.02298 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0.4 0 -0.003447 -0.02298 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.041364</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="SM_at_condyles_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 0.1 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.001149 -0.02298 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0.1 0 -0.001149 -0.02298 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0404448</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="ST_at_condyles_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 0.2 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.002298 -0.0235545 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0.2 0 -0.002298 -0.0235545 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.0488325</radius>\n+\t\t\t\t\t\t\t\t<length>0.1149</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t\t<WrapCylinder name="BF_at_gastroc_l">\n+\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t<xyz_body_rotation> 0 0 0</xyz_body_rotation>\n+\t\t\t\t\t\t\t\t<translation> -0.066642 -0.06894 0</translation>\n+\t\t\t\t\t\t\t\t<active>true</active>\n+\t\t\t\t\t\t\t\t<quadrant>all</quadrant>\n+\t\t\t\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 -0.066642 -0.06894 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t\t\t\t<radius>0.03447</radius>\n+\t\t\t\t\t\t\t\t<length>0.17235</length>\n+\t\t\t\t\t\t\t</WrapCylinder>\n+\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="patella_l">\n+\t\t\t\t\t<mass>0.0973139932251086</mass>\n+\t\t\t\t\t<mass_center> 0.0017244 0.0252912 0</mass_center>\n+\t\t\t\t\t<inertia_xx>2.97416246788463e-006</inertia_xx>\n+\t\t\t\t\t<inertia_yy>1.35858083463301e-005</inertia_yy>\n+\t\t\t\t\t<inertia_zz>1.35858083463301e-005</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="patellofemoral_l">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>femur_l</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.00775022 -0.39082568 0.0026345</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>0 0 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>0 0 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="knee_angle_l_beta">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>Coupled</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-99999.9 99999.9</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>false</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l_beta</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<SimmSpline name="f25">\n+\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t<y> 0.00113686 -0.00629212 -0.105582 -0.253683 -0.414245 -0.579047 -0.747244 -0.91799 -1.09044 -1.26379 -1.43763 -1.61186 -1.78634</y>\n+\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l_beta</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline name="f23">\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> 0.0524 0.0488 0.0437 0.0371 0.0296 0.0216 0.0136 0.0057 -0.0019 -0.0088 -0.0148 -0.0196 -0.0227</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>knee_angle_l_beta</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<SimmSpline name="f24">\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<x> 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.0472 1.22173 1.39626 1.5708 1.74533 1.91986 2.0944</x>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<y> -0.0108 -0.019 -0.0263 -0.0322 -0.0367 -0.0395 -0.0408 -0.0404 -0.0384 -0.0349 -0.0301 -0.0245 -0.0187</y>\n+\t\t\t\t\t\t\t\t\t\t\t\t</SimmSpline>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>-0.00275</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>0.958</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>l_pat.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 0.958 0.958 0.958</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="talus_l">\n+\t\t\t\t\t<mass>0.112893263602215</mass>\n+\t\t\t\t\t<mass_center> 0 0 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.00280823736985198</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.00214190803190811</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.00214190803190811</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<PinJoint name="ankle_l">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>tibia_l</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.01149 -0.4596 0</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>-0.17589522912764 0.10520801930018 0.0186621863143491</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>-0.17589522912764 0.10520801930018 0.0186621863143491</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="ankle_angle_l">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.6981317 0.52359878</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t</PinJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>l_talus.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.14316 1.66076 1.49753</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>0</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="calcn_l">\n+\t\t\t\t\t<mass>1.41116579502767</mass>\n+\t\t\t\t\t<mass_center> 0.114316 0.0498228 0</mass_center>\n+\t\t\t\t\t<inertia_xx>0.00393153231779277</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.00668761797958195</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.00668761797958195</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<PinJoint name="subtalar_l">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>talus_l</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.0557516925480177 -0.0696689194495066 -0.0118604211987851</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>1.76819124429091 -0.906223037055776 1.81960249671312</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>1.76819124429091 -0.906223037055776 1.81960249671312</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="subtalar_angle_l">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.34906585 0.34906585</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>true</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t</PinJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>l_foot.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.14316 1.66076 1.49753</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="toes_l">\n+\t\t\t\t\t<mass>0.244526808962396</mass>\n+\t\t\t\t\t<mass_center> 0.0395532 0.00996457 0.0262067</mass_center>\n+\t\t\t\t\t<inertia_xx>0.000280823736985198</inertia_xx>\n+\t\t\t\t\t<inertia_yy>0.000361748672587235</inertia_yy>\n+\t\t\t\t\t<inertia_zz>0.000361748672587235</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<PinJoint name="mtp_l">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>calcn_l</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>0.204396199048299 -0.00332152178543535 -0.0016173301634707</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>-3.14159265358979 -0.619900514052744 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>-3.14159265358979 -0.619900514052744 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="mtp_angle_l">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-0.52359878 0.52359878</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>true</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t</PinJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>l_bofoot.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.14316 1.66076 1.49753</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t\t<Body name="torso">\n+\t\t\t\t\t<mass>30.2854242535115</mass>\n+\t\t\t\t\t<mass_center> -0.0147068 0.376899 -0.00230561</mass_center>\n+\t\t\t\t\t<inertia_xx>2.34257386638435</inertia_xx>\n+\t\t\t\t\t<inertia_yy>1.24925270264296</inertia_yy>\n+\t\t\t\t\t<inertia_zz>2.34257386638435</inertia_zz>\n+\t\t\t\t\t<inertia_xy>0</inertia_xy>\n+\t\t\t\t\t<inertia_xz>0</inertia_xz>\n+\t\t\t\t\t<inertia_yz>0</inertia_yz>\n+\t\t\t\t\t<!--Joint that connects this body with the parent body.-->\n+\t\t\t\t\t<Joint>\n+\t\t\t\t\t\t<CustomJoint name="back">\n+\t\t\t\t\t\t\t<!--Name of the parent body to which this joint connects its owner body.-->\n+\t\t\t\t\t\t\t<parent_body>pelvis</parent_body>\n+\t\t\t\t\t\t\t<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->\n+\t\t\t\t\t\t\t<location_in_parent>-0.125334435918861 0.0816358978045005 0</location_in_parent>\n+\t\t\t\t\t\t\t<!--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).-->\n+\t\t\t\t\t\t\t<orientation_in_parent>0 0 0</orientation_in_parent>\n+\t\t\t\t\t\t\t<!--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). -->\n+\t\t\t\t\t\t\t<location>0 0 0</location>\n+\t\t\t\t\t\t\t<!--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. -->\n+\t\t\t\t\t\t\t<orientation>0 0 0</orientation>\n+\t\t\t\t\t\t\t<!--Set holding the generalized coordinates (q\'s) that parmeterize this joint.-->\n+\t\t\t\t\t\t\t<CoordinateSet>\n+\t\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="lumbar_extension">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-1.57079633 1.57079633</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="lumbar_bending">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-1.57079633 1.57079633</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t\t<Coordinate name="lumbar_rotation">\n+\t\t\t\t\t\t\t\t\t\t<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->\n+\t\t\t\t\t\t\t\t\t\t<motion_type>rotational</motion_type>\n+\t\t\t\t\t\t\t\t\t\t<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<default_value>0</default_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->\n+\t\t\t\t\t\t\t\t\t\t<default_speed_value>0</default_speed_value>\n+\t\t\t\t\t\t\t\t\t\t<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->\n+\t\t\t\t\t\t\t\t\t\t<range>-1.57079633 1.57079633</range>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->\n+\t\t\t\t\t\t\t\t\t\t<clamped>true</clamped>\n+\t\t\t\t\t\t\t\t\t\t<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->\n+\t\t\t\t\t\t\t\t\t\t<locked>false</locked>\n+\t\t\t\t\t\t\t\t\t\t<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed_function />\n+\t\t\t\t\t\t\t\t\t\t<!--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.-->\n+\t\t\t\t\t\t\t\t\t\t<prescribed>false</prescribed>\n+\t\t\t\t\t\t\t\t\t</Coordinate>\n+\t\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t\t</CoordinateSet>\n+\t\t\t\t\t\t\t<!--Whether the joint transform defines parent->child or child->parent.-->\n+\t\t\t\t\t\t\t<reverse>false</reverse>\n+\t\t\t\t\t\t\t<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->\n+\t\t\t\t\t\t\t<SpatialTransform>\n+\t\t\t\t\t\t\t\t<!--3 Axes for rotations are listed first.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>lumbar_extension</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>lumbar_bending</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="rotation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates>lumbar_rotation</coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<!--3 Axes for translations are listed next.-->\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation1">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>1 0 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.24463193563914</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation2">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 1 0</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.00166745772393</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t\t<TransformAxis name="translation3">\n+\t\t\t\t\t\t\t\t\t<!--Names of the coordinates that serve as the independent variables         of the transform function.-->\n+\t\t\t\t\t\t\t\t\t<coordinates></coordinates>\n+\t\t\t\t\t\t\t\t\t<!--Rotation or translation axis for the transform.-->\n+\t\t\t\t\t\t\t\t\t<axis>0 0 1</axis>\n+\t\t\t\t\t\t\t\t\t<!--Transform function of the generalized coordinates used to        represent the amount of transformation along a specified axis.-->\n+\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t<MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t\t\t<function>\n+\t\t\t\t\t\t\t\t\t\t\t\t<Constant>\n+\t\t\t\t\t\t\t\t\t\t\t\t\t<value>0</value>\n+\t\t\t\t\t\t\t\t\t\t\t\t</Constant>\n+\t\t\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t\t\t\t<scale>1.19735820154569</scale>\n+\t\t\t\t\t\t\t\t\t\t</MultiplierFunction>\n+\t\t\t\t\t\t\t\t\t</function>\n+\t\t\t\t\t\t\t\t</TransformAxis>\n+\t\t\t\t\t\t\t</SpatialTransform>\n+\t\t\t\t\t\t</CustomJoint>\n+\t\t\t\t\t</Joint>\n+\t\t\t\t\t<VisibleObject>\n+\t\t\t\t\t\t<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->\n+\t\t\t\t\t\t<GeometrySet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>hat_spine.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>hat_jaw.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>hat_skull.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t\t<DisplayGeometry>\n+\t\t\t\t\t\t\t\t\t<!--Name of geometry file .vtp, .stl, .obj-->\n+\t\t\t\t\t\t\t\t\t<geometry_file>hat_ribs_scap.vtp</geometry_file>\n+\t\t\t\t\t\t\t\t\t<!--Color used to display the geometry when visible-->\n+\t\t\t\t\t\t\t\t\t<color> 1 1 1</color>\n+\t\t\t\t\t\t\t\t\t<!--Name of texture file .jpg, .bmp-->\n+\t\t\t\t\t\t\t\t\t<texture_file />\n+\t\t\t\t\t\t\t\t\t<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t\t\t\t<scale_factors> 1 1 1</scale_factors>\n+\t\t\t\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->\n+\t\t\t\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t\t\t\t\t<!--Display opacity between 0.0 and 1.0-->\n+\t\t\t\t\t\t\t\t\t<opacity>1</opacity>\n+\t\t\t\t\t\t\t\t</DisplayGeometry>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</GeometrySet>\n+\t\t\t\t\t\t<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->\n+\t\t\t\t\t\t<scale_factors> 1.21013 1.17781 1.21013</scale_factors>\n+\t\t\t\t\t\t<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->\n+\t\t\t\t\t\t<transform> 0 0 0 0 0 0</transform>\n+\t\t\t\t\t\t<!--Whether to show a coordinate frame-->\n+\t\t\t\t\t\t<show_axes>false</show_axes>\n+\t\t\t\t\t\t<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->\n+\t\t\t\t\t\t<display_preference>4</display_preference>\n+\t\t\t\t\t</VisibleObject>\n+\t\t\t\t\t<WrapObjectSet>\n+\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t<groups />\n+\t\t\t\t\t</WrapObjectSet>\n+\t\t\t\t</Body>\n+\t\t\t</objects>\n+\t\t\t<groups />\n+\t\t</BodySet>\n+\t\t<!--Constraints in the model.-->\n+\t\t<ConstraintSet>\n+\t\t\t<objects>\n+\t\t\t\t<CoordinateCouplerConstraint name="patellofemoral_knee_angle_r_con">\n+\t\t\t\t\t<!--Flag indicating whether the constraint is disabled or not. Disabled means that the constraint is not active in subsequent dynamics realization-->\n+\t\t\t\t\t<isDisabled>false</isDisabled>\n+\t\t\t\t\t<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy constraint-->\n+\t\t\t\t\t<coupled_coordinates_function>\n+\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t</coupled_coordinates_function>\n+\t\t\t\t\t<!--List of names of the independent coordinates (restricted to 1 for now).-->\n+\t\t\t\t\t<independent_coordinate_names>knee_angle_r</independent_coordinate_names>\n+\t\t\t\t\t<!--Name of the dependent coordinate.-->\n+\t\t\t\t\t<dependent_coordinate_name>knee_angle_r_beta</dependent_coordinate_name>\n+\t\t\t\t\t<!--Scale factor for the function.-->\n+\t\t\t\t\t<scale_factor>1</scale_factor>\n+\t\t\t\t</CoordinateCouplerConstraint>\n+\t\t\t\t<CoordinateCouplerConstraint name="patellofemoral_knee_angle_l_con">\n+\t\t\t\t\t<!--Flag indicating whether the constraint is disabled or not. Disabled means that the constraint is not active in subsequent dynamics realization-->\n+\t\t\t\t\t<isDisabled>false</isDisabled>\n+\t\t\t\t\t<!--Constraint function of generalized coordinates (to be specified) used to evaluate the constraint errors and their derivatives, and must valid to at least 2nd order. Constraint function must evaluate to zero when coordinates satisfy constraint-->\n+\t\t\t\t\t<coupled_coordinates_function>\n+\t\t\t\t\t\t<LinearFunction>\n+\t\t\t\t\t\t\t<coefficients> 1 0</coefficients>\n+\t\t\t\t\t\t</LinearFunction>\n+\t\t\t\t\t</coupled_coordinates_function>\n+\t\t\t\t\t<!--List of names of the independent coordinates (restricted to 1 for now).-->\n+\t\t\t\t\t<independent_coordinate_names>knee_angle_l</independent_coordinate_names>\n+\t\t\t\t\t<!--Name of the dependent coordinate.-->\n+\t\t\t\t\t<dependent_coordinate_name>knee_angle_l_beta</dependent_coordinate_name>\n+\t\t\t\t\t<!--Scale factor for the function.-->\n+\t\t\t\t\t<scale_factor>1</scale_factor>\n+\t\t\t\t</CoordinateCouplerConstraint>\n+\t\t\t</objects>\n+\t\t\t<groups />\n+\t\t</ConstraintSet>\n+\t\t<!--Forces in the model.-->\n+\t\t<ForceSet>\n+\t\t\t<objects>\n+                <Millard2012EquilibriumMuscle name="bfsh_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="bfsh_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00479 -0.20223379999999999 0.022417199999999998</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="bfsh_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.034584900000000002 -0.048143100000000001 0.0365382</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>BF_at_gastroc_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>557.11475409835998</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.1094475272024658</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.10499939174996765</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.26422317000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="bfsh_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="bfsh_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="bfsh_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="bfsh_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="gasmed_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="gasmed_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0076639999999999998 -0.3628904 -0.019926399999999997</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="gasmed_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0050275901393740169 0.051404726661059913 -0.0079280589718121464</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>GasMed_at_shank_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap_0">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>Gastroc_at_condyles_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>4690.57377</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.05863809037928322</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.458430673494998</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.16568155000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="gasmed_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="gasmed_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="gasmed_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="gasmed_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="glmax2_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.16367117469209339 0.008709153552684314 0.05534988846244969</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.16702662018691986 -0.060964074868790206 0.097401427099505625</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_r-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.043109999999999996 -0.055947199999999996 0.024141599999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_r-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.014944799999999999 -0.097332799999999997 0.040140200000000001</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>Gmax2_at_pelvis_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>3337.583607</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.16336250912728631</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.070638314357630558</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.36738206000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="glmax2_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="glmax2_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="glmax2_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="glmax2_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="psoas_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.075311109994995129 0.062065232214531897 0.046723931818951035</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.025476530608867988 -0.065468809465006231 0.078592049418543294</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_r-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.0126456 -0.044738599999999996 0.0044067999999999998</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_r-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.022512999999999998 -0.050199199999999999 0.0084303999999999994</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>PS_at_brim_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>2 3</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>2697.3442620000001</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.12088252613517514</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.10293438278961982</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.21552513000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="psoas_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="psoas_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="psoas_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="psoas_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="recfem_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.029826182176235692 -0.038840822740707062 0.11177802150533671</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00958 0.046941999999999998 0.00067059999999999993</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_r-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.011591799999999999 0.041864600000000002 -0.00095799999999999998</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_r-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00479 0.0023662599999999998 2.8739999999999999e-05</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_r-P5">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.037457399999999995 -0.07252488 -0.00054003000000000005</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>KnExt_at_fem_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>2191.7409836065599</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.097922942597497439</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.30356112205224206</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.087266460000000004</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="recfem_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="recfem_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="recfem_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="recfem_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="semimem_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="semimem_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.12266017419976928 -0.1141199431041393 0.073560241376502411</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="semimem_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.033321000000000003 -0.047913299999999999 -0.022520399999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>SM_at_condyles_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>4105.4655739999998</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.093395130345176214</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.29837798413401606</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.22389999999999999</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="semimem_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="semimem_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="semimem_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="semimem_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="soleus_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="soleus_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.0087323999999999995 -0.10524840000000001 0.0112602</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="soleus_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0050275901393740169 0.051404726661059913 -0.0079280589718121464</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>7924.9967210000004</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.05129982098309873</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.32267106156611108</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.38142888000000003</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="soleus_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="soleus_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="soleus_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="soleus_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="tibant_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.017694600000000001 -0.15074880000000002 0.0186138</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.028839900000000002 -0.21899939999999998 0.0147072</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_r-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.026771700000000002 -0.42041909999999999 -0.015166799999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_r-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.13323113869341144 0.029516262405382791 -0.045623735592503857</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>2116.818162</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.08111219426181232</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.28556839658142547</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.19518281000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="tibant_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="tibant_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="tibant_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="tibant_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="vasint_r">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_r-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.027782000000000001 -0.18431919999999999 0.029697999999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_r-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.032093000000000003 -0.1996472 0.027303000000000001</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_r-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0055563999999999995 0.045983999999999997 -0.00057479999999999988</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_r-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00479 0.0023662599999999998 -0.00037361999999999996</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_r-P5">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.03742293 -0.072616800000000009 0.00049406999999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>KnExt_at_fem_r</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>9593.95082</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.098440940964120274</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.20046131582902763</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.063099730000000007</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="vasint_r_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="vasint_r_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="vasint_r_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="vasint_r_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="bfsh_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="bfsh_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00479 -0.20223379999999999 -0.022417199999999998</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="bfsh_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.034584900000000002 -0.048143100000000001 -0.0365382</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>BF_at_gastroc_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>557.11475409835998</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.1094475272024658</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.10499939174996765</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.26422317000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="bfsh_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="bfsh_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="bfsh_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="bfsh_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="gasmed_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="gasmed_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0076639999999999998 -0.3628904 0.019926399999999997</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="gasmed_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0050275901393740169 0.051404726661059913 0.0079280589718121464</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>GasMed_at_shank_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap_0">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>Gastroc_at_condyles_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>4690.57377</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.058638090379283268</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.45843067349499839</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.16568155000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="gasmed_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="gasmed_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="gasmed_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="gasmed_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="glmax2_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.16367117469209339 0.008709153552684314 -0.05534988846244969</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.16702662018691986 -0.060964074868790206 -0.097401427099505625</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_l-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.043109999999999996 -0.055947199999999996 -0.024141599999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="glmax2_l-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.014944799999999999 -0.097332799999999997 -0.040140200000000001</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>Gmax2_at_pelvis_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>3337.583607</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.16336250912728631</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.070638314357630558</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.36738206000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="glmax2_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="glmax2_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="glmax2_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="glmax2_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="psoas_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.075311109994995129 0.062065232214531897 -0.046723931818951035</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.025476530608867988 -0.065468809465006231 -0.078592049418543294</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_l-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.0126456 -0.044738599999999996 -0.0044067999999999998</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="psoas_l-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.022512999999999998 -0.050199199999999999 -0.0084303999999999994</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>PS_at_brim_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>2 3</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>2697.3442620000001</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.12088252613517507</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.10293438278961975</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.21552513000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="psoas_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="psoas_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="psoas_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="psoas_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="recfem_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.029826182176235692 -0.038840822740707062 -0.11177802150533671</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00958 0.046941999999999998 -0.00067059999999999993</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_l-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.011591799999999999 0.041864600000000002 0.00095799999999999998</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_l-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00479 0.0023662599999999998 -2.8739999999999999e-05</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="recfem_l-P5">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.037457399999999995 -0.07252488 0.00054003000000000005</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>KnExt_at_fem_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>2191.7409836065599</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.074323513431500551</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.43917806918111191</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.21701490000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>true</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="recfem_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="recfem_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="recfem_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="recfem_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="semimem_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="semimem_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.12266017419976928 -0.1141199431041393 -0.073560241376502411</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="semimem_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.033321000000000003 -0.047913299999999999 0.022520399999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>SM_at_condyles_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>4105.4655739999998</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.067127749935595407</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.33815456109021114</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.25456146000000002</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="semimem_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="semimem_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="semimem_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="semimem_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="soleus_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="soleus_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>-0.0087323999999999995 -0.10524840000000001 -0.0112602</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="soleus_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0050275901393740169 0.051404726661059913 0.0079280589718121464</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>7924.9967210000004</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.05129982098309873</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.32267106156611108</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.38142888000000003</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="soleus_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="soleus_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="soleus_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="soleus_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="tibant_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.017694600000000001 -0.15074880000000002 -0.0186138</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.028839900000000002 -0.21899939999999998 -0.0147072</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_l-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.026771700000000002 -0.42041909999999999 0.015166799999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="tibant_l-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.13323113869341144 0.029516262405382791 0.045623735592503857</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects />\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>2116.818162</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.08111219426181232</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.28556839658142547</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.19518281000000001</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="tibant_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="tibant_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="tibant_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="tibant_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t\t<Millard2012EquilibriumMuscle name="vasint_l">\n+\t\t\t\t\t<!--The set of points defining the path of the actuator.-->\n+\t\t\t\t\t<GeometryPath name="geometrypath">\n+\t\t\t\t\t\t<!--The set of points defining the path-->\n+\t\t\t\t\t\t<PathPointSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_l-P1">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.027782000000000001 -0.18431919999999999 -0.029697999999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_l-P2">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.032093000000000003 -0.1996472 -0.027303000000000001</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_l-P3">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.0055563999999999995 0.045983999999999997 0.00057479999999999988</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_l-P4">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.00479 0.0023662599999999998 0.00037361999999999996</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t\t<PathPoint name="vasint_l-P5">\n+\t\t\t\t\t\t\t\t\t<!--Path to a Component that satisfies the Socket \'parent_frame\' of type PhysicalFrame (description: The frame in which this path point is defined.).-->\n+\t\t\t\t\t\t\t\t\t<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>\n+\t\t\t\t\t\t\t\t\t<!--The fixed location of the path point expressed in its parent frame.-->\n+\t\t\t\t\t\t\t\t\t<location>0.03742293 -0.072616800000000009 -0.00049406999999999999</location>\n+\t\t\t\t\t\t\t\t</PathPoint>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathPointSet>\n+\t\t\t\t\t\t<!--The wrap objects that are associated with this path-->\n+\t\t\t\t\t\t<PathWrapSet>\n+\t\t\t\t\t\t\t<objects>\n+\t\t\t\t\t\t\t\t<PathWrap name="pathwrap">\n+\t\t\t\t\t\t\t\t\t<!--A WrapObject that this PathWrap interacts with.-->\n+\t\t\t\t\t\t\t\t\t<wrap_object>KnExt_at_fem_l</wrap_object>\n+\t\t\t\t\t\t\t\t\t<!--The wrapping method used to solve the path around the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<method>hybrid</method>\n+\t\t\t\t\t\t\t\t\t<!--The range of indices to use to compute the path over the wrap object.-->\n+\t\t\t\t\t\t\t\t\t<range>-1 -1</range>\n+\t\t\t\t\t\t\t\t</PathWrap>\n+\t\t\t\t\t\t\t</objects>\n+\t\t\t\t\t\t\t<groups />\n+\t\t\t\t\t\t</PathWrapSet>\n+\t\t\t\t\t\t<!--Default appearance attributes for this GeometryPath-->\n+\t\t\t\t\t\t<Appearance>\n+\t\t\t\t\t\t\t<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->\n+\t\t\t\t\t\t\t<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>\n+\t\t\t\t\t\t</Appearance>\n+\t\t\t\t\t</GeometryPath>\n+\t\t\t\t\t<!--Maximum isometric force that the fibers can generate-->\n+\t\t\t\t\t<max_isometric_force>9593.95082</max_isometric_force>\n+\t\t\t\t\t<!--Optimal length of the muscle fibers-->\n+\t\t\t\t\t<optimal_fiber_length>0.098440940964120274</optimal_fiber_length>\n+\t\t\t\t\t<!--Resting length of the tendon-->\n+\t\t\t\t\t<tendon_slack_length>0.20046131582902763</tendon_slack_length>\n+\t\t\t\t\t<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->\n+\t\t\t\t\t<pennation_angle_at_optimal>0.063099730000000007</pennation_angle_at_optimal>\n+\t\t\t\t\t<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->\n+\t\t\t\t\t<ignore_tendon_compliance>false</ignore_tendon_compliance>\n+\t\t\t\t\t<!--The linear damping of the fiber.-->\n+\t\t\t\t\t<fiber_damping>0.01</fiber_damping>\n+\t\t\t\t\t<!--Assumed initial activation level if none is assigned.-->\n+\t\t\t\t\t<default_activation>0.01</default_activation>\n+\t\t\t\t\t<!--Activation lower bound.-->\n+\t\t\t\t\t<minimum_activation>0.01</minimum_activation>\n+\t\t\t\t\t<!--Active-force-length curve.-->\n+\t\t\t\t\t<ActiveForceLengthCurve name="vasint_l_ActiveForceLengthCurve">\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb starts-->\n+\t\t\t\t\t\t<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->\n+\t\t\t\t\t\t<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>\n+\t\t\t\t\t\t<!--Normalized fiber length where the descending limb ends-->\n+\t\t\t\t\t\t<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>\n+\t\t\t\t\t\t<!--Slope of the shallow ascending limb-->\n+\t\t\t\t\t\t<shallow_ascending_slope>0.75</shallow_ascending_slope>\n+\t\t\t\t\t\t<!--Minimum value of the active-force-length curve-->\n+\t\t\t\t\t\t<minimum_value>0</minimum_value>\n+\t\t\t\t\t</ActiveForceLengthCurve>\n+\t\t\t\t\t<!--Force-velocity curve.-->\n+\t\t\t\t\t<ForceVelocityCurve name="vasint_l_ForceVelocityCurve">\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->\n+\t\t\t\t\t\t<concentric_slope_at_vmax>0</concentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching concentric_slope_at_vmax-->\n+\t\t\t\t\t\t<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve slope at isometric (normalized velocity of 0)-->\n+\t\t\t\t\t\t<isometric_slope>5</isometric_slope>\n+\t\t\t\t\t\t<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->\n+\t\t\t\t\t\t<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>\n+\t\t\t\t\t\t<!--Curve slope just before reaching eccentric_slope_at_vmax-->\n+\t\t\t\t\t\t<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>\n+\t\t\t\t\t\t<!--Curve value at the maximum normalized eccentric contraction velocity-->\n+\t\t\t\t\t\t<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>\n+\t\t\t\t\t</ForceVelocityCurve>\n+\t\t\t\t\t<!--Passive-force-length curve.-->\n+\t\t\t\t\t<FiberForceLengthCurve name="vasint_l_FiberForceLengthCurve">\n+\t\t\t\t\t\t<!--Fiber strain at zero force-->\n+\t\t\t\t\t\t<strain_at_zero_force>0</strain_at_zero_force>\n+\t\t\t\t\t\t<!--Fiber strain at a tension of 1 normalized force-->\n+\t\t\t\t\t\t<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>\n+\t\t\t\t\t</FiberForceLengthCurve>\n+\t\t\t\t\t<!--Tendon-force-length curve.-->\n+\t\t\t\t\t<TendonForceLengthCurve name="vasint_l_TendonForceLengthCurve">\n+\t\t\t\t\t\t<!--All properties of this object have their default values.-->\n+\t\t\t\t\t</TendonForceLengthCurve>\n+\t\t\t\t</Millard2012EquilibriumMuscle>\n+\t\t\t</objects>\n+\t\t\t<groups>\n+\t\t\t\t<ObjectGroup name="right_leg">\n+\t\t\t\t\t<members> addbrev_r addlong_r addmagDist_r addmagIsch_r addmagMid_r addmagProx_r bflh_r bfsh_r edl_r ehl_r fdl_r fhl_r gaslat_r gasmed_r glmax1_r glmax2_r glmax3_r glmed1_r glmed2_r glmed3_r glmin1_r glmin2_r glmin3_r grac_r iliacus_r perbrev_r perlong_r piri_r psoas_r recfem_r sart_r semimem_r semiten_r soleus_r tfl_r tibant_r tibpost_r vasint_r vaslat_r vasmed_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="left_leg">\n+\t\t\t\t\t<members> addbrev_l addlong_l addmagDist_l addmagIsch_l addmagMid_l addmagProx_l bflh_l bfsh_l edl_l ehl_l fdl_l fhl_l gaslat_l gasmed_l glmax1_l glmax2_l glmax3_l glmed1_l glmed2_l glmed3_l glmin1_l glmin2_l glmin3_l grac_l iliacus_l perbrev_l perlong_l psoas_l recfem_l sart_l semimem_l semiten_l soleus_l tfl_l tibant_l tibpost_l vasint_l vaslat_l vasmed_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_add_r">\n+\t\t\t\t\t<members> addbrev_r addlong_r addmagDist_r addmagIsch_r addmagMid_r addmagProx_r bflh_r grac_r semimem_r semiten_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_abd_r">\n+\t\t\t\t\t<members> glmax1_r glmed1_r glmed2_r glmed3_r glmin1_r glmin2_r glmin3_r piri_r sart_r tfl_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_flex_r">\n+\t\t\t\t\t<members> addbrev_r addlong_r glmin1_r grac_r iliacus_r psoas_r recfem_r sart_r tfl_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_ext_r">\n+\t\t\t\t\t<members> addlong_r addmagDist_r addmagIsch_r addmagMid_r addmagProx_r bflh_r glmax1_r glmax2_r glmax3_r glmed1_r glmed2_r glmed3_r glmin3_r semimem_r semiten_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_inrot_r">\n+\t\t\t\t\t<members> glmed1_r glmed2_r glmed3_r glmin1_r iliacus_r psoas_r tfl_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_exrot_r">\n+\t\t\t\t\t<members> glmin3_r piri_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="knee_flex_r">\n+\t\t\t\t\t<members> bflh_r bfsh_r gaslat_r gasmed_r grac_r sart_r semimem_r semiten_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="knee_ext_r">\n+\t\t\t\t\t<members> recfem_r vasint_r vaslat_r vasmed_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="ankle_df_r">\n+\t\t\t\t\t<members> edl_r ehl_r tibant_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="ankle_pf_r">\n+\t\t\t\t\t<members> fdl_r fhl_r gaslat_r gasmed_r perbrev_r perlong_r soleus_r tibpost_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="everter_r">\n+\t\t\t\t\t<members> edl_r perbrev_r perlong_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="inverter_r">\n+\t\t\t\t\t<members> ehl_r fdl_r fhl_r tibant_r tibpost_r</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_add_l">\n+\t\t\t\t\t<members> addbrev_l addlong_l addmagDist_l addmagIsch_l addmagMid_l addmagProx_l bflh_l grac_l semimem_l semiten_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_abd_l">\n+\t\t\t\t\t<members> glmax1_l glmed1_l glmed2_l glmed3_l glmin1_l glmin2_l glmin3_l sart_l tfl_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_flex_l">\n+\t\t\t\t\t<members> addbrev_l addlong_l glmin1_l grac_l iliacus_l psoas_l recfem_l sart_l tfl_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_ext_l">\n+\t\t\t\t\t<members> addlong_l addmagDist_l addmagIsch_l addmagMid_l addmagProx_l bflh_l glmax1_l glmax2_l glmax3_l glmed1_l glmed2_l glmed3_l glmin3_l semimem_l semiten_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_exrot_l">\n+\t\t\t\t\t<members> glmin3_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="hip_inrot_l">\n+\t\t\t\t\t<members> glmed1_l glmed2_l glmed3_l glmin1_l iliacus_l psoas_l tfl_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="knee_flex_l">\n+\t\t\t\t\t<members> bflh_l bfsh_l gaslat_l gasmed_l grac_l sart_l semimem_l semiten_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="knee_ext_l">\n+\t\t\t\t\t<members> recfem_l vasint_l vaslat_l vasmed_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="ankle_df_l">\n+\t\t\t\t\t<members> edl_l ehl_l tibant_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="ankle_pf_l">\n+\t\t\t\t\t<members> fdl_l fhl_l gaslat_l gasmed_l perbrev_l perlong_l soleus_l tibpost_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="everter_l">\n+\t\t\t\t\t<members> edl_l perbrev_l perlong_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t\t<ObjectGroup name="inverter_l">\n+\t\t\t\t\t<members> ehl_l fdl_l fhl_l tibant_l tibpost_l</members>\n+\t\t\t\t</ObjectGroup>\n+\t\t\t</groups>\n+\t\t</ForceSet>\n+\t\t<!--Markers in the model.-->\n+\t\t<MarkerSet>\n+\t\t\t<objects />\n+\t\t\t<groups />\n+\t\t</MarkerSet>\n+\t\t<!--ContactGeometries  in the model.-->\n+\t\t<ContactGeometrySet>\n+\t\t\t<objects />\n+\t\t\t<groups />\n+\t\t</ContactGeometrySet>\n+\t\t<!--Controllers in the model.-->\n+\t\t<ControllerSet>\n+\t\t\t<objects />\n+\t\t\t<groups />\n+\t\t</ControllerSet>\n+\t</Model>\n+</OpenSimDocument>\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking.m b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking.m\nnew file mode 100644\nindex 000000000..845d303a7\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking.m\n@@ -0,0 +1,262 @@\n+function exampleIMUTracking\n+clc; clear; close all;\n+\n+%% Part 0: Load the Moco libraries.\n+addpath(\'../\'); % Add the directory above to access mocoPlotTrajectory.m\n+import org.opensim.modeling.*;\n+\n+%% Part 1: Load model and add IMU frames.\n+% Part 1a: Load a torque-driven, 3 degree-of-freedom model with a single leg \n+% and foot welded to the floor. See the function definition at the bottom of\n+% this file to see how the model is loaded and constructed.\n+model = getTorqueDrivenSquatToStandModel();\n+\n+% Part 1b: Add frames to the model that will represent our IMU locations. \n+% The function addIMUFrame() adds a PhysicalOffsetFrame to a body at a \n+% specified location and orientation. Each frame is added at the path:\n+%\n+% /bodyset/<body_name>/<body_name>_imu_offset\n+%\n+addIMUFrame(model, \'torso\',   Vec3(0.08, 0.3, 0), Vec3(0, 0.5*pi, 0.5*pi));\n+addIMUFrame(model, \'femur_r\', Vec3(0, -0.2, 0.05), Vec3(0, 0, 0.5*pi));\n+addIMUFrame(model, \'tibia_r\', Vec3(0, -0.2, 0.05), Vec3(0, 0, 0.5*pi));\n+\n+% Part 1c: Add IMU components to the model using the PhysicalOffsetFrames\n+% we just added to the model. We\'ll use the helper function addModelIMUs()\n+% included with OpenSenseUtilities.\n+\n+\n+%% Part 2: Solve an effort minimization predictive problem\n+% Generate a simulation of a squat-to-stand motion that minimizes control\n+% effort. We\'ll use the results from this simulation to compute a set of \n+% "synthetic" accelerometer signals later.\n+\n+% Part 2a: Create a new MocoStudy.\n+\n+\n+% Part 2b: Initialize the problem and set the model.\n+\n+\n+% Part 2c: Set bounds on the problem.\n+%\n+% problem.setTimeBounds(initial_bounds, final_bounds)\n+% problem.setStateInfo(path, trajectory_bounds, inital_bounds, final_bounds)\n+%\n+% All *_bounds arguments can be set to a range, [lower upper], or to a\n+% single value (equal lower and upper bounds). Empty brackets, [], indicate\n+% using default bounds (if they exist). You may set multiple state infos at\n+% once using setStateInfoPattern():\n+%\n+% problem.setStateInfoPattern(pattern, trajectory_bounds, inital_bounds, ...\n+%       final_bounds)\n+%\n+% This function supports regular expressions in the \'pattern\' argument;\n+% use \'.*\' to match any substring of the state/control path\n+% For example, the following will set all coordinate value state infos:\n+%\n+% problem.setStateInfoPattern(\'/path/to/states/.*/value\', ...)\n+\n+% Time bounds\n+problem.setTimeBounds( );\n+\n+% Position bounds: the model should start in a squat and finish \n+% standing up.\n+problem.setStateInfo(\'/jointset/hip_r/hip_flexion_r/value\', );\n+problem.setStateInfo(\'/jointset/knee_r/knee_angle_r/value\', );\n+problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', );\n+\n+% Velocity bounds: all model coordinates should start and end at rest.\n+problem.setStateInfoPattern(\'/jointset/.*/speed\', );\n+\n+% Part 2d: Add a MocoControlGoal to the problem.\n+\n+\n+% Part 2e: Configure the solver.\n+solver = study.initCasADiSolver();\n+solver.set_num_mesh_intervals( );\n+solver.set_optim_convergence_tolerance( );\n+solver.set_optim_constraint_tolerance( );\n+\n+if ~exist(\'predictSolution.sto\', \'file\')\n+    % Part 2f: Solve! Write the solution to file, and visualize.\n+\n+\n+end\n+\n+%% Part 3: Compute synthetic accelerometer signals\n+% In this step, we\'ll create a set of synthetic accelerometer signals that \n+% replicate the output of an IMU sensor. To do this, we\'ll use the \n+% \'accelerometer_signal\' Output included with the IMU components we\n+% previously added to the model. \n+\n+% Part 3a: Load the prediction solution.\n+\n+\n+% Part 3b: Compute the accelerometer signals using the analyzeVec3() free\n+% function included with SimulationUtilities. These free functions can be\n+% accessed in scripting by using the \'opensimSimulation\' prefix. \n+\n+\n+% Part 3c: Update the column labels of the accelerometer signals to match\n+% the offset frame paths. This is necessary for the tracking goal we\'ll add\n+% to the problem in Part 4. \n+\n+\n+% Part 3d: Plot the synthetic acceleration signals.\n+plotAccelerationSignals(accelerometerSignals);\n+\n+%% Part 4: Synthetic acceleration tracking problem \n+% Part 4a: Add a MocoAccelerationTrackingGoal to the MocoProblem. Set the\n+% frame paths to the IMU offset frame paths and set the accelerations \n+% reference to the synthetic accelerometer signals we calculated above.\n+% We need to subtract the gravitational acceleration vector and re-express\n+% the accelerations in the tracking frames so that the model-computed\n+% values in the tracking cost match the accelerometer signals.\n+\n+\n+% Part 4b: Reduce the control cost weight so that the tracking term will\n+% dominate.\n+\n+\n+if ~exist(\'trackingSolution.sto\', \'file\')\n+    % Part 4c: Solve! Write the solution to file, and visualize.\n+\n+\n+end\n+\n+%% Part 5: Compare tracking solution to original prediction\n+% Part 5a: Plot the tracking solution against the prediction. This is a\n+% convenience function provided for you. See mocoPlotTrajectory.m\n+mocoPlotTrajectory(\'predictSolution.sto\', \'trackingSolution.sto\', ...\n+        \'predict\', \'track\');\n+ \n+% Part 5b: Compare accelerations from tracking solution to the reference\n+% accelerations.\n+trackingSolution = MocoTrajectory(\'trackingSolution.sto\');\n+accelerometerSignalsTracking = opensimSimulation.analyzeVec3(model, ...\n+    trackingSolution.exportToStatesTable(), ...\n+    trackingSolution.exportToControlsTable(), ...\n+    outputPaths);\n+accelerometerSignalsTracking.setColumnLabels(imuFramePaths);\n+plotAccelerationSignals(accelerometerSignals, accelerometerSignalsTracking)\n+\n+end\n+\n+%% Model Creation and Plotting Convenience Functions \n+\n+function addCoordinateActuator(model, coordName, optForce)\n+\n+import org.opensim.modeling.*;\n+\n+coordSet = model.updCoordinateSet();\n+\n+actu = CoordinateActuator();\n+actu.setName([\'tau_\' coordName]);\n+actu.setCoordinate(coordSet.get(coordName));\n+actu.setOptimalForce(optForce);\n+actu.setMinControl(-1);\n+actu.setMaxControl(1);\n+\n+% Add to ForceSet\n+model.addForce(actu);\n+\n+end\n+\n+function [model] = getTorqueDrivenSquatToStandModel()\n+\n+import org.opensim.modeling.*;\n+\n+% Load the base model.\n+model = Model(\'../squatToStand_3dof9musc.osim\');\n+\n+% Remove the muscles in the model.\n+model.updForceSet().clearAndDestroy();\n+model.initSystem();\n+\n+% Add CoordinateActuators to the model degrees-of-freedom.\n+addCoordinateActuator(model, \'hip_flexion_r\', 150);\n+addCoordinateActuator(model, \'knee_angle_r\', 300);\n+addCoordinateActuator(model, \'ankle_angle_r\', 150);\n+\n+end\n+\n+function addIMUFrame(model, bodyName, translation, orientation)\n+\n+import org.opensim.modeling.*;\n+\n+body = model.updBodySet().get(bodyName);\n+name = [char(body.getName()) \'_imu_offset\'];\n+bodyOffset = PhysicalOffsetFrame(name, body, Transform());\n+bodyOffset.set_translation(translation);\n+bodyOffset.set_orientation(orientation);\n+body.addComponent(bodyOffset);\n+model.finalizeConnections();\n+\n+end\n+\n+function plotAccelerationSignals(varargin)\n+\n+import org.opensim.modeling.*;\n+\n+accelerationsReference = varargin{1};\n+if nargin == 2\n+    accelerationsTracking = varargin{2};\n+end\n+\n+% Create a time vector that can be used for plotting\n+timeVec = accelerationsReference.getIndependentColumn();\n+time = zeros(timeVec.size(),1);\n+for i = 1:timeVec.size()\n+   time(i) = timeVec.get(i-1);\n+end\n+\n+figure;\n+% Plot the torso accelerations\n+subplot(1,3,1)\n+torso = accelerationsReference.getDependentColumn(...\n+    \'/bodyset/torso/torso_imu_offset\').getAsMat();\n+plot(time, torso(:,1), \'r-\', \'linewidth\', 3)\n+if nargin == 2\n+hold on\n+torsoTrack = accelerationsTracking.getDependentColumn(...\n+    \'/bodyset/torso/torso_imu_offset\').getAsMat();\n+plot(time, torsoTrack(:,1), \'b--\', \'linewidth\', 3)\n+end\n+if nargin == 2\n+    legend(\'predict\', \'track\', \'location\', \'best\');\n+end\n+title(\'torso\')\n+xlabel(\'time (s)\')\n+ylabel(\'acceleration (m/s^2)\')\n+\n+% Plot the femur accelerations\n+subplot(1,3,2)\n+femur = accelerationsReference.getDependentColumn(...\n+    \'/bodyset/femur_r/femur_r_imu_offset\').getAsMat();\n+plot(time, femur(:,1), \'r-\', \'linewidth\', 3)\n+if nargin == 2\n+hold on\n+femurTrack = accelerationsTracking.getDependentColumn(...\n+    \'/bodyset/femur_r/femur_r_imu_offset\').getAsMat();\n+plot(time, femurTrack(:,1), \'b--\', \'linewidth\', 3)\n+end\n+title(\'femur\')\n+xlabel(\'time (s)\')\n+ylabel(\'acceleration (m/s^2)\')\n+\n+% Plot the tibia accelerations\n+subplot(1,3,3)\n+tibia = accelerationsReference.getDependentColumn(...\n+    \'/bodyset/tibia_r/tibia_r_imu_offset\').getAsMat();\n+plot(time, tibia(:,1), \'r-\', \'linewidth\', 3)\n+if nargin == 2\n+hold on\n+tibiaTrack = accelerationsTracking.getDependentColumn(...\n+    \'/bodyset/tibia_r/tibia_r_imu_offset\').getAsMat();\n+plot(time, tibiaTrack(:,1), \'b--\', \'linewidth\', 3)\n+end\n+title(\'tibia\')\n+xlabel(\'time (s)\')\n+ylabel(\'acceleration (m/s^2)\')\n+\n+end\n\\ No newline at end of file\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_answers.m b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_answers.m\nnew file mode 100644\nindex 000000000..8d38cab16\n--- /dev/null\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_answers.m\n@@ -0,0 +1,283 @@\n+function exampleIMUTracking_answers\n+clc; clear; close all;\n+\n+%% Part 0: Load the Moco libraries.\n+addpath(\'../\'); % Add the directory above to access mocoPlotTrajectory.m\n+import org.opensim.modeling.*;\n+\n+%% Part 1: Load model and add IMU frames.\n+% Part 1a: Load a torque-driven, 3 degree-of-freedom model with a single leg \n+% and foot welded to the floor. See the function definition at the bottom of\n+% this file to see how the model is loaded and constructed.\n+model = getTorqueDrivenSquatToStandModel();\n+\n+% Part 1b: Add frames to the model that will represent our IMU locations. \n+% The function addIMUFrame() adds a PhysicalOffsetFrame to a body at a \n+% specified location and orientation. Each frame is added at the path:\n+%\n+% /bodyset/<body_name>/<body_name>_imu_offset\n+%\n+addIMUFrame(model, \'torso\',   Vec3(0.08, 0.3, 0), Vec3(0, 0.5*pi, 0.5*pi));\n+addIMUFrame(model, \'femur_r\', Vec3(0, -0.2, 0.05), Vec3(0, 0, 0.5*pi));\n+addIMUFrame(model, \'tibia_r\', Vec3(0, -0.2, 0.05), Vec3(0, 0, 0.5*pi));\n+\n+% Part 1c: Add IMU components to the model using the PhysicalOffsetFrames\n+% we just added to the model. We\'ll use the helper function addModelIMUs()\n+% included with OpenSenseUtilities.\n+imuFramePaths = StdVectorString();\n+imuFramePaths.add(\'/bodyset/torso/torso_imu_offset\');\n+imuFramePaths.add(\'/bodyset/femur_r/femur_r_imu_offset\');\n+imuFramePaths.add(\'/bodyset/tibia_r/tibia_r_imu_offset\');\n+OpenSenseUtilities().addModelIMUs(model, imuFramePaths);\n+model.initSystem();\n+\n+%% Part 2: Solve an effort minimization predictive problem\n+% Generate a simulation of a squat-to-stand motion that minimizes control\n+% effort. We\'ll use the results from this simulation to compute a set of \n+% "synthetic" accelerometer signals later.\n+\n+% Part 2a: Create a new MocoStudy.\n+study = MocoStudy();\n+\n+% Part 2b: Initialize the problem and set the model.\n+problem = study.updProblem();\n+problem.setModel(model);\n+\n+% Part 2c: Set bounds on the problem.\n+%\n+% problem.setTimeBounds(initial_bounds, final_bounds)\n+% problem.setStateInfo(path, trajectory_bounds, inital_bounds, final_bounds)\n+%\n+% All *_bounds arguments can be set to a range, [lower upper], or to a\n+% single value (equal lower and upper bounds). Empty brackets, [], indicate\n+% using default bounds (if they exist). You may set multiple state infos at\n+% once using setStateInfoPattern():\n+%\n+% problem.setStateInfoPattern(pattern, trajectory_bounds, inital_bounds, ...\n+%       final_bounds)\n+%\n+% This function supports regular expressions in the \'pattern\' argument;\n+% use \'.*\' to match any substring of the state/control path\n+% For example, the following will set all coordinate value state infos:\n+%\n+% problem.setStateInfoPattern(\'/path/to/states/.*/value\', ...)\n+\n+% Time bounds\n+problem.setTimeBounds(0, 1);\n+\n+% Position bounds: the model should start in a squat and finish \n+% standing up.\n+problem.setStateInfo(\'/jointset/hip_r/hip_flexion_r/value\', ...\n+    [-2, 0.5], -2, 0);\n+problem.setStateInfo(\'/jointset/knee_r/knee_angle_r/value\', ...\n+    [-2, 0], -2, 0);\n+problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', ...\n+    [-0.5, 0.7], -0.5, 0);\n+\n+% Velocity bounds: all model coordinates should start and end at rest.\n+problem.setStateInfoPattern(\'/jointset/.*/speed\', [], 0, 0);\n+\n+% Part 2d: Add a MocoControlGoal to the problem.\n+problem.addGoal(MocoControlGoal(\'myeffort\'));\n+\n+% Part 2e: Configure the solver.\n+solver = study.initCasADiSolver();\n+solver.set_num_mesh_intervals(25);\n+solver.set_optim_constraint_tolerance(1e-4);\n+solver.set_optim_convergence_tolerance(1e-4);\n+\n+if ~exist(\'predictSolution.sto\', \'file\')\n+% Part 2f: Solve! Write the solution to file, and visualize.\n+    predictSolution = study.solve();\n+    predictSolution.write(\'predictSolution.sto\');\n+    study.visualize(predictSolution);\n+end\n+\n+%% Part 3: Compute synthetic accelerometer signals\n+% In this step, we\'ll create a set of synthetic accelerometer signals that \n+% replicate the output of an IMU sensor. To do this, we\'ll use the \n+% \'accelerometer_signal\' Output included with the IMU components we\n+% previously added to the model. \n+\n+% Part 3a: Load the prediction solution.\n+predictSolution = MocoTrajectory(\'predictSolution.sto\');\n+\n+% Part 3b: Compute the accelerometer signals using the analyzeVec3() free\n+% function included with SimulationUtilities. These free functions can be\n+% accessed in scripting by using the \'opensimSimulation\' prefix. \n+outputPaths = StdVectorString();\n+outputPaths.add(\'.*accelerometer_signal\');\n+accelerometerSignals = opensimSimulation.analyzeVec3(model, ...\n+    predictSolution.exportToStatesTable(), ...\n+    predictSolution.exportToControlsTable(), ...\n+    outputPaths);\n+\n+% Part 3c: Update the column labels of the accelerometer signals to match\n+% the offset frame paths. This is necessary for the tracking goal we\'ll add\n+% to the problem in Part 4. \n+accelerometerSignals.setColumnLabels(imuFramePaths);\n+    \n+% Part 3d: Plot the synthetic acceleration signals.\n+plotAccelerationSignals(accelerometerSignals);\n+\n+%% Part 4: Synthetic acceleration tracking problem \n+% Part 4a: Add a MocoAccelerationTrackingGoal to the MocoProblem. Set the\n+% frame paths to the IMU offset frame paths and set the accelerations \n+% reference to the synthetic accelerometer signals we calculated above.\n+% We need to subtract the gravitational acceleration vector and re-express\n+% the accelerations in the tracking frames so that the model-computed\n+% values in the tracking cost match the accelerometer signals.\n+tracking = MocoAccelerationTrackingGoal(\'acceleration_tracking\');\n+tracking.setFramePaths(imuFramePaths);\n+tracking.setAccelerationReference(accelerometerSignals);\n+tracking.setGravityOffset(true);\n+tracking.setExpressAccelerationsInTrackingFrames(true);\n+problem.addGoal(tracking);\n+\n+% Part 4b: Reduce the control cost weight so that the tracking term will\n+% dominate.\n+problem.updGoal(\'myeffort\').setWeight(0.001);\n+\n+if ~exist(\'trackingSolution.sto\', \'file\')\n+    % Part 4c: Solve! Write the solution to file, and visualize.\n+    trackingSolution = study.solve();\n+    trackingSolution.write(\'trackingSolution.sto\');\n+    study.visualize(trackingSolution);\n+end\n+\n+%% Part 5: Compare tracking solution to original prediction\n+% Part 5a: Plot the tracking solution against the prediction. This is a\n+% convenience function provided for you. See mocoPlotTrajectory.m\n+mocoPlotTrajectory(\'predictSolution.sto\', \'trackingSolution.sto\', ...\n+        \'predict\', \'track\');\n+ \n+% Part 5b: Compare accelerations from tracking solution to the reference\n+% accelerations.\n+trackingSolution = MocoTrajectory(\'trackingSolution.sto\');\n+accelerometerSignalsTracking = opensimSimulation.analyzeVec3(model, ...\n+    trackingSolution.exportToStatesTable(), ...\n+    trackingSolution.exportToControlsTable(), ...\n+    outputPaths);\n+accelerometerSignalsTracking.setColumnLabels(imuFramePaths);\n+plotAccelerationSignals(accelerometerSignals, accelerometerSignalsTracking)\n+\n+end\n+\n+%% Model Creation and Plotting Convenience Functions \n+\n+function addCoordinateActuator(model, coordName, optForce)\n+\n+import org.opensim.modeling.*;\n+\n+coordSet = model.updCoordinateSet();\n+\n+actu = CoordinateActuator();\n+actu.setName([\'tau_\' coordName]);\n+actu.setCoordinate(coordSet.get(coordName));\n+actu.setOptimalForce(optForce);\n+actu.setMinControl(-1);\n+actu.setMaxControl(1);\n+\n+% Add to ForceSet\n+model.addForce(actu);\n+\n+end\n+\n+function [model] = getTorqueDrivenSquatToStandModel()\n+\n+import org.opensim.modeling.*;\n+\n+% Load the base model.\n+model = Model(\'../squatToStand_3dof9musc.osim\');\n+\n+% Remove the muscles in the model.\n+model.updForceSet().clearAndDestroy();\n+model.initSystem();\n+\n+% Add CoordinateActuators to the model degrees-of-freedom.\n+addCoordinateActuator(model, \'hip_flexion_r\', 150);\n+addCoordinateActuator(model, \'knee_angle_r\', 300);\n+addCoordinateActuator(model, \'ankle_angle_r\', 150);\n+\n+end\n+\n+function addIMUFrame(model, bodyName, translation, orientation)\n+\n+import org.opensim.modeling.*;\n+\n+body = model.updBodySet().get(bodyName);\n+name = [char(body.getName()) \'_imu_offset\'];\n+bodyOffset = PhysicalOffsetFrame(name, body, Transform());\n+bodyOffset.set_translation(translation);\n+bodyOffset.set_orientation(orientation);\n+body.addComponent(bodyOffset);\n+model.finalizeConnections();\n+\n+end\n+\n+function plotAccelerationSignals(varargin)\n+\n+import org.opensim.modeling.*;\n+\n+accelerationsReference = varargin{1};\n+if nargin == 2\n+    accelerationsTracking = varargin{2};\n+end\n+\n+% Create a time vector that can be used for plotting\n+timeVec = accelerationsReference.getIndependentColumn();\n+time = zeros(timeVec.size(),1);\n+for i = 1:timeVec.size()\n+   time(i) = timeVec.get(i-1);\n+end\n+\n+figure;\n+% Plot the torso accelerations\n+subplot(1,3,1)\n+torso = accelerationsReference.getDependentColumn(...\n+    \'/bodyset/torso/torso_imu_offset\').getAsMat();\n+plot(time, torso(:,1), \'r-\', \'linewidth\', 3)\n+if nargin == 2\n+hold on\n+torsoTrack = accelerationsTracking.getDependentColumn(...\n+    \'/bodyset/torso/torso_imu_offset\').getAsMat();\n+plot(time, torsoTrack(:,1), \'b--\', \'linewidth\', 3)\n+end\n+if nargin == 2\n+    legend(\'predict\', \'track\', \'location\', \'best\');\n+end\n+title(\'torso\')\n+xlabel(\'time (s)\')\n+ylabel(\'acceleration (m/s^2)\')\n+\n+% Plot the femur accelerations\n+subplot(1,3,2)\n+femur = accelerationsReference.getDependentColumn(...\n+    \'/bodyset/femur_r/femur_r_imu_offset\').getAsMat();\n+plot(time, femur(:,1), \'r-\', \'linewidth\', 3)\n+if nargin == 2\n+hold on\n+femurTrack = accelerationsTracking.getDependentColumn(...\n+    \'/bodyset/femur_r/femur_r_imu_offset\').getAsMat();\n+plot(time, femurTrack(:,1), \'b--\', \'linewidth\', 3)\n+end\n+title(\'femur\')\n+xlabel(\'time (s)\')\n+ylabel(\'acceleration (m/s^2)\')\n+\n+% Plot the tibia accelerations\n+subplot(1,3,3)\n+tibia = accelerationsReference.getDependentColumn(...\n+    \'/bodyset/tibia_r/tibia_r_imu_offset\').getAsMat();\n+plot(time, tibia(:,1), \'r-\', \'linewidth\', 3)\n+if nargin == 2\n+hold on\n+tibiaTrack = accelerationsTracking.getDependentColumn(...\n+    \'/bodyset/tibia_r/tibia_r_imu_offset\').getAsMat();\n+plot(time, tibiaTrack(:,1), \'b--\', \'linewidth\', 3)\n+end\n+title(\'tibia\')\n+xlabel(\'time (s)\')\n+ylabel(\'acceleration (m/s^2)\')\n+\n+end\n\\ No newline at end of file\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand.m b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand.m\nindex 1d2d1ab1e..227e0b834 100644\n--- a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand.m\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand.m\n@@ -44,7 +44,7 @@ problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', );\n % Velocity bounds: all model coordinates should start and end at rest.\n problem.setStateInfoPattern(\'/jointset/.*/speed\', );\n \n-% Part 1d: Add a MocoControlCost to the problem.\n+% Part 1d: Add a MocoControlGoal to the problem.\n \n \n % Part 1e: Configure the solver.\n@@ -71,7 +71,7 @@ end\n % the predictive solution.\n \n \n-% Part 2c: Reduce the control cost weight so it now acts as a regularization \n+% Part 2c: Reduce the control goal weight so it now acts as a regularization \n % term.\n \n \n@@ -243,7 +243,7 @@ for i = 0:numStates-1\n              assistedSolution.getStateMat(stateNames.get(i)), \'--b\', ...\n              \'linewidth\', 2.5);\n         hold off\n-        stateName = stateNames.get(i).toCharArray\';\n+        stateName = stateNames.get(i);\n         plotTitle = stateName;\n         plotTitle = strrep(plotTitle, \'/forceset/\', \'\');\n         plotTitle = strrep(plotTitle, \'/activation\', \'\');\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand_answers.m b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand_answers.m\nindex 5e8bdcac9..35371f84d 100644\n--- a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand_answers.m\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/exampleSquatToStand_answers.m\n@@ -48,7 +48,7 @@ problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', ...\n % Velocity bounds: all model coordinates should start and end at rest.\n problem.setStateInfoPattern(\'/jointset/.*/speed\', [], 0, 0);\n \n-% Part 1d: Add a MocoControlCost to the problem.\n+% Part 1d: Add a MocoControlGoal to the problem.\n problem.addGoal(MocoControlGoal(\'myeffort\'));\n \n % Part 1e: Configure the solver.\n@@ -81,7 +81,7 @@ tracking.setReference(tableProcessor);\n tracking.setAllowUnusedReferences(true);\n problem.addGoal(tracking);\n \n-% Part 2c: Reduce the control cost weight so it now acts as a regularization \n+% Part 2c: Reduce the control goal weight so it now acts as a regularization \n % term.\n problem.updGoal(\'myeffort\').setWeight(0.001);\n \n@@ -265,7 +265,7 @@ for i = 0:numStates-1\n              assistedSolution.getStateMat(stateNames.get(i)), \'--b\', ...\n              \'linewidth\', 2.5);\n         hold off\n-        stateName = stateNames.get(i).toCharArray\';\n+        stateName = stateNames.get(i);\n         plotTitle = stateName;\n         plotTitle = strrep(plotTitle, \'/forceset/\', \'\');\n         plotTitle = strrep(plotTitle, \'/activation\', \'\');\ndiff --git a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/mocoPlotTrajectory.m b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/mocoPlotTrajectory.m\nindex 1665d9152..d9301b897 100644\n--- a/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/mocoPlotTrajectory.m\n+++ b/Bindings/Java/Matlab/examples/Moco/exampleSquatToStand/mocoPlotTrajectory.m\n@@ -39,7 +39,8 @@ for i = 0:numStates-1\n              \'linewidth\', 2.5);\n         hold off\n     end\n-    stateName = stateNames.get(i).toCharArray\';\n+    \n+    stateName = stateNames.get(i);\n     title(stateName(11:end), \'Interpreter\', \'none\')\n     xlabel(\'time (s)\')\n     if contains(stateName, \'value\')\n@@ -84,7 +85,7 @@ for i = 0:numControls-1\n         plot(trajB.getTimeMat(), yB, \'--b\', \'linewidth\', 2.5);\n         hold off\n     end\n-    title(controlNames.get(i).toCharArray\', \'Interpreter\', \'none\')\n+    title(controlNames.get(i), \'Interpreter\', \'none\')\n     xlabel(\'time (s)\')\n     ylabel(\'value\')\n     if max(yA) <= 1 && min(yA) >= 0\ndiff --git a/Bindings/Java/swig/java_moco.i b/Bindings/Java/swig/java_moco.i\nindex bfe9c1398..5a614621c 100644\n--- a/Bindings/Java/swig/java_moco.i\n+++ b/Bindings/Java/swig/java_moco.i\n@@ -311,6 +311,13 @@ using namespace SimTK;\n     }\n %}\n \n+%typemap(javacode) OpenSim::MocoControlTrackingGoal %{\n+    public void addScaleFactor(String name, String control, double[] b)\n+            throws Exception {\n+            addScaleFactor(name, control, MocoPhase.convertArrayToMB(b));\n+    }\n+%}\n+\n /* SWIG does not support initializer_list, but we can use Java arrays to\n  * achieve similar syntax in MATLAB.\n  * TODO create Vector(double[]) constructor. */\ndiff --git a/Bindings/OpenSimHeaders_moco.h b/Bindings/OpenSimHeaders_moco.h\nindex c723f168b..42ea97337 100644\n--- a/Bindings/OpenSimHeaders_moco.h\n+++ b/Bindings/OpenSimHeaders_moco.h\n@@ -36,6 +36,7 @@\n #include <OpenSim/Moco/MocoUtilities.h>\n #include <OpenSim/Moco/MocoWeightSet.h>\n #include <OpenSim/Moco/ModelOperatorsDGF.h>\n+#include <OpenSim/Moco/MocoScaleFactor.h>\n #include <OpenSim/Moco/osimMocoDLL.h>\n \n #endif // OPENSIM_OPENSIM_HEADERS_MOCO_H_\ndiff --git a/Bindings/Python/CMakeLists.txt b/Bindings/Python/CMakeLists.txt\nindex c9d402f4c..32af0885c 100644\n--- a/Bindings/Python/CMakeLists.txt\n+++ b/Bindings/Python/CMakeLists.txt\n@@ -254,6 +254,11 @@ OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/setup.py" ".")\n OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/__init__.py" opensim)\n \n OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/report.py" opensim)\n+# for Python 3.8+/Windows we use a special script\n+# setup_win_python38.py to set additional dll directory in __init__.py on client machine\n+if (WIN32)\n+    OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/setup_win_python38.py" ".")\n+endif()\n \n # Test files. If you require more test resource files, list them here.\n foreach(test_file\n@@ -383,5 +388,13 @@ install(DIRECTORY ../Java/Matlab/OpenSenseExample\n         DESTINATION "${OPENSIM_INSTALL_PYTHONEXDIR}"\n         # Exclude Matlab m files\n         PATTERN "*.m" EXCLUDE)\n+install(DIRECTORY ../Java/Matlab/examples/Moco/exampleEMGTracking\n+        DESTINATION "${OPENSIM_INSTALL_PYTHONEXDIR}/Moco"\n+        # Exclude Matlab m files\n+        PATTERN "*.m" EXCLUDE)\n+install(DIRECTORY ../Java/Matlab/examples/Moco/exampleSquatToStand\n+        DESTINATION "${OPENSIM_INSTALL_PYTHONEXDIR}/Moco"\n+        # Exclude Matlab m files\n+        PATTERN "*.m" EXCLUDE)\n install(DIRECTORY OpenSenseExample\n         DESTINATION "${OPENSIM_INSTALL_PYTHONEXDIR}")\ndiff --git a/Bindings/Python/__init__.py b/Bindings/Python/__init__.py\nindex f60098f40..5ac24e7f4 100644\n--- a/Bindings/Python/__init__.py\n+++ b/Bindings/Python/__init__.py\n@@ -1,3 +1,8 @@\n+import sys\n+import os\n+if (sys.version_info.major == 3 and sys.version_info.minor >= 8 and sys.platform.startswith(\'win\')):\n+   os.add_dll_directory(DLL_PATH)\n+\n from .simbody import *\n from .common import *\n from .simulation import *\ndiff --git a/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking.py b/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking.py\nnew file mode 100644\nindex 000000000..3233921ed\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking.py\n@@ -0,0 +1,109 @@\n+## Part 0: Load the OpenSim and Moco libraries.\n+import opensim as osim\n+import exampleEMGTracking_helpers as helpers\n+import os\n+import numpy as np\n+\n+## Part 1: Muscle redundancy problem: effort minimization.\n+# Solve the muscle redundancy problem while minimizing muscle excitations\n+# squared using the MocoInverse tool.\n+\n+# Part 1a: Load a 19 degree-of-freedom model with 18 lower-limb,\n+# sagittal-plane muscles and a torque-actuated torso. This includes a set of\n+# ground reaction forces applied to the model via ExternalLoads, which is\n+# necessary for the muscle redundancy problem. See the function definition\n+# at the bottom of this file to see how the model is loaded and constructed.\n+model = helpers.getWalkingModel()\n+\n+# Part 1b: Create the MocoInverse tool and set the Model.\n+\n+\n+# Part 1c: Create a TableProcessor using the coordinates file from inverse\n+# kinematics.\n+\n+\n+# Part 1d: Set the kinematics reference for MocoInverse using the\n+# TableProcessor we just created.\n+\n+\n+# Part 1e: Provide the solver settings: initial and final time, the mesh\n+# interval, and the constraint and convergence tolerances.\n+\n+\n+if not os.path.isfile(\'effortSolution.sto\'):\n+    # Part 1f: Solve the problem!\n+\n+\n+##  Part 2: Plot the muscle redundancy problem solution.\n+# Load the experimental electromyography data and compare\n+# the effort minimization solution against this data. We will also use\n+# it later for the EMG-tracking problem. Each column in emg.sto is\n+# normalized so the maximum value for each signal is 1.0.\n+emgReference = osim.TimeSeriesTable(\'emg.sto\')\n+helpers.compareSolutionToEMG(emgReference, \'effortSolution.sto\')\n+\n+## Part 3: Muscle redundancy problem: EMG-tracking.\n+# Modify the existing problem we created with the MocoInverse tool to solve\n+# a new problem where we will track electromyography (EMG) data.\n+\n+# Part 3a: Call initialize() to get access to the MocoStudy contained within\n+# the MocoInverse instance. This will allow us to make additional\n+# modifications to the problem not provided by MocoInverse.\n+\n+\n+# Part 3b: Create a MocoControlTrackingGoal, set its weight, and provide\n+# the EMG data as the tracking reference. We also need to specify the\n+# reference labels for the four muscles whose EMG we will track.\n+\n+\n+# Part 3c: The EMG signals in the tracking are all normalized to have\n+# a maximum value of 1, but the magnitudes of the excitations from the\n+# effort minimization solution suggest that these signals should be\n+# rescaled. Use addScaleFactor() to add a MocoParameter to the problem that\n+# will scale the reference data for the muscles in the tracking cost.\n+\n+\n+# Part 3d: Add the tracking goal to the problem.\n+\n+\n+# Part 3e: Update the MocoCasADiSolver with the updated MocoProblem using\n+# resetProblem().\n+\n+\n+# Part 3f: Tell MocoCasADiSolver that the MocoParameters we added to the\n+# problem via addScaleFactor() above do not require initSystem() calls on\n+# the model. This provides a large speed-up.\n+\n+\n+if not os.path.isfile(\'trackingSolution.sto\'):\n+    # Part 3g: Solve the problem!\n+\n+\n+# Part 3h: Get the values of the optimized scale factors.\n+\n+\n+## Part 4: Plot the EMG-tracking muscle redundancy problem solution.\n+# Part 4a: Print the scale factor values to the command window.\n+print(\'\\nOptimized scale factor values:\')\n+print(\'------------------------------\')\n+print(\'gastrocnemius = \' + str(gastroc_factor))\n+print(\'tibialis anterior = \' + str(tibant_factor))\n+print(\'biceps femoris short head = \' + str(bifem_factor))\n+print(\'gluteus = \' + str(gluteus_factor))\n+\n+# Part 4b: Re-scale the reference data using the optimized scale factors.\n+gastroc = emgReference.updDependentColumn(\'gastrocnemius\')\n+tibant = emgReference.updDependentColumn(\'tibialis_anterior\')\n+bifem = emgReference.updDependentColumn(\'biceps_femoris\')\n+gluteus = emgReference.updDependentColumn(\'gluteus\')\n+for t in np.arange(emgReference.getNumRows()):\n+    t = int(t) # Convert to Python built-in int type for indexing\n+    gastroc[t] = gastroc_factor * gastroc[t]\n+    tibant[t] = tibant_factor * tibant[t]\n+    bifem[t] = bifem_factor * bifem[t]\n+    gluteus[t] = gluteus_factor * gluteus[t]\n+\n+# Part 4c: Generate the plots. Compare results to the effort minimization\n+# solution.\n+helpers.compareSolutionToEMG(emgReference, \'effortSolution.sto\',\n+    \'trackingSolution.sto\')\ndiff --git a/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking_answers.py b/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking_answers.py\nnew file mode 100644\nindex 000000000..2b168c73a\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking_answers.py\n@@ -0,0 +1,135 @@\n+## Part 0: Load the OpenSim and Moco libraries.\n+import opensim as osim\n+import exampleEMGTracking_helpers as helpers\n+import os\n+import numpy as np\n+\n+## Part 1: Muscle redundancy problem: effort minimization.\n+# Solve the muscle redundancy problem while minimizing muscle excitations\n+# squared using the MocoInverse tool.\n+\n+# Part 1a: Load a 19 degree-of-freedom model with 18 lower-limb,\n+# sagittal-plane muscles and a torque-actuated torso. This includes a set of\n+# ground reaction forces applied to the model via ExternalLoads, which is\n+# necessary for the muscle redundancy problem. See the function definition\n+# at the bottom of this file to see how the model is loaded and constructed.\n+model = helpers.getWalkingModel()\n+\n+# Part 1b: Create the MocoInverse tool and set the Model.\n+inverse = osim.MocoInverse()\n+inverse.setModel(model)\n+\n+# Part 1c: Create a TableProcessor using the coordinates file from inverse\n+# kinematics.\n+coordinates = osim.TableProcessor(\'coordinates.mot\')\n+coordinates.append(osim.TabOpLowPassFilter(6))\n+coordinates.append(osim.TabOpUseAbsoluteStateNames())\n+\n+# Part 1d: Set the kinematics reference for MocoInverse using the\n+# TableProcessor we just created.\n+inverse.setKinematics(coordinates)\n+inverse.set_kinematics_allow_extra_columns(True)\n+\n+# Part 1e: Provide the solver settings: initial and final time, the mesh\n+# interval, and the constraint and convergence tolerances.\n+inverse.set_initial_time(0.83)\n+inverse.set_final_time(2.0)\n+inverse.set_mesh_interval(0.04)\n+inverse.set_constraint_tolerance(1e-3)\n+inverse.set_convergence_tolerance(1e-3)\n+\n+if not os.path.isfile(\'effortSolution.sto\'):\n+    # Part 1f: Solve the problem!\n+    inverseSolution = inverse.solve()\n+    solution = inverseSolution.getMocoSolution()\n+    solution.write(\'effortSolution.sto\')\n+\n+##  Part 2: Plot the muscle redundancy problem solution.\n+# Load the experimental electromyography data and compare\n+# the effort minimization solution against this data. We will also use\n+# it later for the EMG-tracking problem. Each column in emg.sto is\n+# normalized so the maximum value for each signal is 1.0.\n+emgReference = osim.TimeSeriesTable(\'emg.sto\')\n+helpers.compareSolutionToEMG(emgReference, \'effortSolution.sto\')\n+\n+## Part 3: Muscle redundancy problem: EMG-tracking.\n+# Modify the existing problem we created with the MocoInverse tool to solve\n+# a new problem where we will track electromyography (EMG) data.\n+\n+# Part 3a: Call initialize() to get access to the MocoStudy contained within\n+# the MocoInverse instance. This will allow us to make additional\n+# modifications to the problem not provided by MocoInverse.\n+study = inverse.initialize()\n+problem = study.updProblem()\n+\n+# Part 3b: Create a MocoControlTrackingGoal, set its weight, and provide\n+# the EMG data as the tracking reference. We also need to specify the\n+# reference labels for the four muscles whose EMG we will track.\n+tracking = osim.MocoControlTrackingGoal(\'emg_tracking\')\n+tracking.setWeight(5)\n+tracking.setReference(osim.TableProcessor(emgReference))\n+tracking.setReferenceLabel(\'/forceset/gasmed_l\', \'gastrocnemius\')\n+tracking.setReferenceLabel(\'/forceset/tibant_l\', \'tibialis_anterior\')\n+tracking.setReferenceLabel(\'/forceset/bfsh_l\', \'biceps_femoris\')\n+tracking.setReferenceLabel(\'/forceset/glmax2_l\', \'gluteus\')\n+\n+# Part 3c: The EMG signals in the tracking are all normalized to have\n+# a maximum value of 1, but the magnitudes of the excitations from the\n+# effort minimization solution suggest that these signals should be\n+# rescaled. Use addScaleFactor() to add a MocoParameter to the problem that\n+# will scale the reference data for the muscles in the tracking cost.\n+tracking.addScaleFactor(\'gastroc_factor\', \'/forceset/gasmed_l\', [0.01, 1.0])\n+tracking.addScaleFactor(\'tibant_factor\', \'/forceset/tibant_l\', [0.01, 1.0])\n+tracking.addScaleFactor(\'bifem_factor\', \'/forceset/bfsh_l\', [0.01, 1.0])\n+tracking.addScaleFactor(\'gluteus_factor\', \'/forceset/glmax2_l\', [0.01, 1.0])\n+\n+# Part 3d: Add the tracking goal to the problem.\n+problem.addGoal(tracking)\n+\n+# Part 3e: Update the MocoCasADiSolver with the updated MocoProblem using\n+# resetProblem().\n+solver = osim.MocoCasADiSolver.safeDownCast(study.updSolver())\n+solver.resetProblem(problem)\n+\n+# Part 3f: Tell MocoCasADiSolver that the MocoParameters we added to the\n+# problem via addScaleFactor() above do not require initSystem() calls on\n+# the model. This provides a large speed-up.\n+solver.set_parameters_require_initsystem(False)\n+\n+if not os.path.isfile(\'trackingSolution.sto\'):\n+    # Part 3g: Solve the problem!\n+    solution = study.solve()\n+    solution.write(\'trackingSolution.sto\')\n+\n+# Part 3h: Get the values of the optimized scale factors.\n+trackingSolution = osim.MocoTrajectory(\'trackingSolution.sto\')\n+gastroc_factor = trackingSolution.getParameter(\'gastroc_factor\')\n+tibant_factor = trackingSolution.getParameter(\'tibant_factor\')\n+bifem_factor = trackingSolution.getParameter(\'bifem_factor\')\n+gluteus_factor = trackingSolution.getParameter(\'gluteus_factor\')\n+\n+## Part 4: Plot the EMG-tracking muscle redundancy problem solution.\n+# Part 4a: Print the scale factor values to the command window.\n+print(\'\\nOptimized scale factor values:\')\n+print(\'------------------------------\')\n+print(\'gastrocnemius = \' + str(gastroc_factor))\n+print(\'tibialis anterior = \' + str(tibant_factor))\n+print(\'biceps femoris short head = \' + str(bifem_factor))\n+print(\'gluteus = \' + str(gluteus_factor))\n+\n+# Part 4b: Re-scale the reference data using the optimized scale factors.\n+gastroc = emgReference.updDependentColumn(\'gastrocnemius\')\n+tibant = emgReference.updDependentColumn(\'tibialis_anterior\')\n+bifem = emgReference.updDependentColumn(\'biceps_femoris\')\n+gluteus = emgReference.updDependentColumn(\'gluteus\')\n+for t in np.arange(emgReference.getNumRows()):\n+    t = int(t) # Convert to Python built-in int type for indexing\n+    gastroc[t] = gastroc_factor * gastroc[t]\n+    tibant[t] = tibant_factor * tibant[t]\n+    bifem[t] = bifem_factor * bifem[t]\n+    gluteus[t] = gluteus_factor * gluteus[t]\n+\n+# Part 4c: Generate the plots. Compare results to the effort minimization\n+# solution.\n+helpers.compareSolutionToEMG(emgReference, \'effortSolution.sto\',\n+    \'trackingSolution.sto\')\ndiff --git a/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking_helpers.py b/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking_helpers.py\nnew file mode 100644\nindex 000000000..00b299b72\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleEMGTracking/exampleEMGTracking_helpers.py\n@@ -0,0 +1,136 @@\n+import opensim as osim\n+import numpy as np\n+import matplotlib.pyplot as plt\n+\n+# Add a CoordinateActuator to the provided model with a specified optimal\n+# force.\n+def addCoordinateActuator(model, coordinateName, optForce):\n+\n+    coordSet = model.getCoordinateSet();\n+\n+    actu = osim.CoordinateActuator();\n+    actu.setName(\'torque_\' + coordinateName);\n+    actu.setCoordinate(coordSet.get(coordinateName));\n+    actu.setOptimalForce(optForce);\n+    actu.setMinControl(-1);\n+    actu.setMaxControl(1);\n+\n+    # Add to ForceSet\n+    model.addForce(actu);\n+\n+\n+def getWalkingModel():\n+\n+    # Load the 19 DOF, 18 muscle model from file.\n+    model = osim.Model(\'subject_walk_armless_18musc.osim\');\n+\n+    # Add actuators representing the pelvis residual actuators and lumbar\n+    # torques. These actuators are only as strong as they need to be for the\n+    # problem to converge.\n+    addCoordinateActuator(model, \'pelvis_tx\', 60)\n+    addCoordinateActuator(model, \'pelvis_ty\', 300)\n+    addCoordinateActuator(model, \'pelvis_tz\', 35)\n+    addCoordinateActuator(model, \'pelvis_tilt\', 60)\n+    addCoordinateActuator(model, \'pelvis_list\', 35)\n+    addCoordinateActuator(model, \'pelvis_rotation\', 25)\n+    addCoordinateActuator(model, \'lumbar_bending\', 40)\n+    addCoordinateActuator(model, \'lumbar_extension\', 40)\n+    addCoordinateActuator(model, \'lumbar_rotation\', 25)\n+\n+    # We need additional actuators for hip rotation and hip adduction since the\n+    # existing muscle act primarily in the sagittal plane.\n+    addCoordinateActuator(model, \'hip_rotation_r\', 100)\n+    addCoordinateActuator(model, \'hip_rotation_l\', 100)\n+    addCoordinateActuator(model, \'hip_adduction_r\', 100)\n+    addCoordinateActuator(model, \'hip_adduction_l\', 100)\n+\n+    # Create a ModelProcessor to make additional modifications to the model.\n+    modelProcessor = osim.ModelProcessor(model)\n+    # Weld the subtalar and toe joints.\n+    jointsToWeld = osim.StdVectorString()\n+    jointsToWeld.append(\'subtalar_r\')\n+    jointsToWeld.append(\'subtalar_l\')\n+    jointsToWeld.append(\'mtp_r\')\n+    jointsToWeld.append(\'mtp_l\')\n+    modelProcessor.append(osim.ModOpReplaceJointsWithWelds(jointsToWeld))\n+    # Apply the ground reaction forces to the model.\n+    modelProcessor.append(osim.ModOpAddExternalLoads(\'external_loads.xml\'))\n+    # Update the muscles: ignore tendon compliance and passive forces, replace\n+    # muscle types with the DeGrooteFregly2016Muscle type, and scale the width\n+    # of the active force length curve.\n+    modelProcessor.append(osim.ModOpIgnoreTendonCompliance())\n+    modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())\n+    modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())\n+    modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))\n+    # Add a set a weak reserves to the sagittal-plane joints in the model.\n+    modelProcessor.append(osim.ModOpAddReserves(1.0))\n+\n+    return modelProcessor\n+\n+\n+def compareSolutionToEMG(*args):\n+\n+    # Retrieve the inputs.\n+    args_list = list(args)\n+    emgReference = args_list[0]\n+    effortSolution = osim.MocoTrajectory(args_list[1])\n+    if len(args) > 2:\n+        trackingSolution = osim.MocoTrajectory(args_list[2])\n+\n+    # Create a time vector for the EMG data that is consistent with the problem\n+    # time range.\n+    time = effortSolution.getTimeMat()\n+    startIndex = emgReference.getNearestRowIndexForTime(time[0]) + 1\n+    endIndex = emgReference.getNearestRowIndexForTime(time[-1]) + 1\n+    emgTime = np.linspace(time[0], time[-1], endIndex - startIndex + 1)\n+\n+    # Plot results from the muscles in the left leg.\n+    titles = [\'soleus\', \'gastroc.\', \'tib. ant.\', \'hamstrings\', \n+              \'bi. fem. sh.\', \'vastus\', \'rec. fem.\', \'gluteus\', \'psoas\']\n+    emgSignals = [\'soleus\',\t\'gastrocnemius\', \'tibialis_anterior\',\n+                  \'hamstrings\', \'biceps_femoris\', \'vastus\', \n+                  \'rectus_femoris\', \'gluteus\', \'none\']\n+    muscles = [\'soleus_l\', \'gasmed_l\', \'tibant_l\', \'semimem_l\', \'bfsh_l\', \n+               \'vasint_l\', \'recfem_l\', \'glmax2_l\', \'psoas_l\']\n+    \n+    fig = plt.figure()\n+    for i in np.arange(len(titles)):\n+        ax = fig.add_subplot(3,3,i+1)\n+\n+        # If it exists, plot the EMG signal for this muscle.\n+        if not emgSignals[i] == \'none\':\n+            col = emgReference.getDependentColumn(emgSignals[i])\n+            emg = np.zeros_like(emgTime)\n+            for iemg in np.arange(len(emg)):\n+                emg[iemg] = col[int(iemg)]\n+            ax.fill_between(emgTime, emg, np.zeros_like(emg), alpha=0.5, \n+                color=\'darkgray\', zorder=0, label=\'EMG\')\n+\n+        # Plot the control from the muscle effort solution.\n+        control = effortSolution.getControlMat(\'/forceset/\' + muscles[i])\n+        ax.plot(time, control, color=\'black\', linewidth=2, label=\'effort\')\n+\n+        # If provided, plot the control from the tracking solution.\n+        if len(args) > 2:\n+            control = trackingSolution.getControlMat(\'/forceset/\' + muscles[i]);\n+            ax.plot(time, control, color=\'red\', linewidth=2, label=\'tracking\')\n+\n+        # Plot formatting.\n+        ax.set_title(titles[i])\n+        ax.set_xlim(0.83, 2.0)\n+        ax.set_ylim(0, 1)\n+        if i == 0:\n+            ax.legend()\n+\n+        if i > 5:\n+            ax.set_xlabel(\'time (s)\')\n+        else:\n+            ax.set_xticklabels([])\n+        \n+        if not i % 3:\n+            ax.set_ylabel(\'excitation\')\n+        else:\n+            ax.set_yticklabels([])\n+\n+    plt.show()\n+    plt.close()\n\\ No newline at end of file\ndiff --git a/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking.py b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking.py\nnew file mode 100644\nindex 000000000..63cdcbac1\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking.py\n@@ -0,0 +1,146 @@\n+## Part 0: Load the Moco libraries.\n+import opensim as osim\n+import exampleIMUTracking_helpers as helpers\n+# Add the directory above to access mocoPlotTrajectory.py\n+import sys\n+sys.path.insert(1, \'../\')\n+import mocoPlotTrajectory as plot\n+import numpy as np\n+import os\n+\n+## Part 1: Load model and add IMU frames.\n+# Part 1a: Load a torque-driven, 3 degree-of-freedom model with a single leg \n+# and foot welded to the floor. See the function definition at the bottom of\n+# this file to see how the model is loaded and constructed.\n+model = helpers.getTorqueDrivenSquatToStandModel()\n+\n+# Part 1b: Add frames to the model that will represent our IMU locations. \n+# The function addIMUFrame() adds a PhysicalOffsetFrame to a body at a \n+# specified location and orientation. Each frame is added at the path:\n+#\n+# /bodyset/<body_name>/<body_name>_imu_offset\n+#\n+helpers.addIMUFrame(model, \'torso\', \n+    osim.Vec3(0.08, 0.3, 0), osim.Vec3(0, 0.5*np.pi, 0.5*np.pi))\n+helpers.addIMUFrame(model, \'femur_r\', \n+    osim.Vec3(0, -0.2, 0.05), osim.Vec3(0, 0, 0.5*np.pi))\n+helpers.addIMUFrame(model, \'tibia_r\', osim.Vec3(0, -0.2, 0.05), \n+    osim.Vec3(0, 0, 0.5*np.pi))\n+\n+# Part 1c: Add IMU components to the model using the PhysicalOffsetFrames\n+# we just added to the model. We\'ll use the helper function addModelIMUs()\n+# included with OpenSenseUtilities.\n+\n+\n+## Part 2: Solve an effort minimization predictive problem\n+# Generate a simulation of a squat-to-stand motion that minimizes control\n+# effort. We\'ll use the results from this simulation to compute a set of \n+# "synthetic" accelerometer signals later.\n+\n+# Part 2a: Create a new MocoStudy.\n+\n+\n+# Part 2b: Initialize the problem and set the model.\n+\n+\n+# Part 2c: Set bounds on the problem.\n+#\n+# problem.setTimeBounds(initial_bounds, final_bounds)\n+# problem.setStateInfo(path, trajectory_bounds, inital_bounds, final_bounds)\n+#\n+# All *_bounds arguments can be set to a range, [lower upper], or to a\n+# single value (equal lower and upper bounds). Empty brackets, [], indicate\n+# using default bounds (if they exist). You may set multiple state infos at\n+# once using setStateInfoPattern():\n+#\n+# problem.setStateInfoPattern(pattern, trajectory_bounds, inital_bounds, ...\n+#       final_bounds)\n+#\n+# This function supports regular expressions in the \'pattern\' argument;\n+# use \'.*\' to match any substring of the state/control path\n+# For example, the following will set all coordinate value state infos:\n+#\n+# problem.setStateInfoPattern(\'/path/to/states/.*/value\', ...)\n+\n+# Time bounds\n+problem.setTimeBounds( )\n+\n+# Position bounds: the model should start in a squat and finish \n+# standing up.\n+problem.setStateInfo(\'/jointset/hip_r/hip_flexion_r/value\', )\n+problem.setStateInfo(\'/jointset/knee_r/knee_angle_r/value\', )\n+problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', )\n+\n+# Velocity bounds: all model coordinates should start and end at rest.\n+problem.setStateInfoPattern(\'/jointset/.*/speed\', )\n+\n+# Part 2d: Add a MocoControlGoal to the problem.\n+\n+\n+# Part 2e: Configure the solver.\n+solver = study.initCasADiSolver()\n+solver.set_num_mesh_intervals( )\n+solver.set_optim_constraint_tolerance( )\n+solver.set_optim_convergence_tolerance( )\n+\n+if not os.path.isfile(\'predictSolution.sto\'):\n+    # Part 2f: Solve! Write the solution to file, and visualize.\n+\n+\n+\n+##Part 3: Compute synthetic accelerometer signals\n+# In this step, we\'ll create a set of synthetic accelerometer signals that \n+# replicate the output of an IMU sensor. To do this, we\'ll use the \n+# \'accelerometer_signal\' Output included with the IMU components we\n+# previously added to the model. \n+\n+# Part 3a: Load the prediction solution.\n+\n+\n+# Part 3b: Compute the accelerometer signals using the analyzeVec3() free\n+# function included with SimulationUtilities. These free functions can be\n+# accessed in scripting by using the \'opensimSimulation\' prefix. \n+\n+\n+# Part 3c: Update the column labels of the accelerometer signals to match\n+# the offset frame paths. This is necessary for the tracking goal we\'ll add\n+# to the problem in Part 4. \n+\n+    \n+# Part 3d: Plot the synthetic acceleration signals.\n+helpers.plotAccelerationSignals(accelerometerSignals)\n+\n+## Part 4: Synthetic acceleration tracking problem \n+# Part 4a: Add a MocoAccelerationTrackingGoal to the MocoProblem. Set the\n+# frame paths to the IMU offset frame paths and set the accelerations \n+# reference to the synthetic accelerometer signals we calculated above.\n+# We need to subtract the gravitational acceleration vector and re-express\n+# the accelerations in the tracking frames so that the model-computed\n+# values in the tracking cost match the accelerometer signals.\n+\n+\n+# Part 4b: Reduce the control cost weight so that the tracking term will\n+# dominate.\n+\n+\n+if not os.path.isfile(\'trackingSolution.sto\'):\n+    # Part 4c: Solve! Write the solution to file, and visualize.\n+\n+\n+\n+## Part 5: Compare tracking solution to original prediction\n+# Part 5a: Plot the tracking solution against the prediction. This is a\n+# convenience function provided for you. See mocoPlotTrajectory.m\n+plot.mocoPlotTrajectory(\'predictSolution.sto\', \'trackingSolution.sto\',\n+        \'predict\', \'track\')\n+ \n+# Part 5b: Compare accelerations from tracking solution to the reference\n+# accelerations.\n+trackingSolution = osim.MocoTrajectory(\'trackingSolution.sto\')\n+accelerometerSignalsTracking = osim.analyzeVec3(model, \n+    trackingSolution.exportToStatesTable(), \n+    trackingSolution.exportToControlsTable(), \n+    outputPaths)\n+accelerometerSignalsTracking.setColumnLabels(imuFramePaths)\n+helpers.plotAccelerationSignals(accelerometerSignals, \n+                                accelerometerSignalsTracking)\ndiff --git a/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_answers.py b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_answers.py\nnew file mode 100644\nindex 000000000..9930bfe4a\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_answers.py\n@@ -0,0 +1,169 @@\n+## Part 0: Load the Moco libraries.\n+import opensim as osim\n+import exampleIMUTracking_helpers as helpers\n+# Add the directory above to access mocoPlotTrajectory.py\n+import sys\n+sys.path.insert(1, \'../\')\n+import mocoPlotTrajectory as plot\n+import numpy as np\n+import os\n+\n+## Part 1: Load model and add IMU frames.\n+# Part 1a: Load a torque-driven, 3 degree-of-freedom model with a single leg \n+# and foot welded to the floor. See the function definition at the bottom of\n+# this file to see how the model is loaded and constructed.\n+model = helpers.getTorqueDrivenSquatToStandModel()\n+\n+# Part 1b: Add frames to the model that will represent our IMU locations. \n+# The function addIMUFrame() adds a PhysicalOffsetFrame to a body at a \n+# specified location and orientation. Each frame is added at the path:\n+#\n+# /bodyset/<body_name>/<body_name>_imu_offset\n+#\n+helpers.addIMUFrame(model, \'torso\', \n+    osim.Vec3(0.08, 0.3, 0), osim.Vec3(0, 0.5*np.pi, 0.5*np.pi))\n+helpers.addIMUFrame(model, \'femur_r\', \n+    osim.Vec3(0, -0.2, 0.05), osim.Vec3(0, 0, 0.5*np.pi))\n+helpers.addIMUFrame(model, \'tibia_r\', osim.Vec3(0, -0.2, 0.05), \n+    osim.Vec3(0, 0, 0.5*np.pi))\n+\n+# Part 1c: Add IMU components to the model using the PhysicalOffsetFrames\n+# we just added to the model. We\'ll use the helper function addModelIMUs()\n+# included with OpenSenseUtilities.\n+imuFramePaths = osim.StdVectorString()\n+imuFramePaths.append(\'/bodyset/torso/torso_imu_offset\')\n+imuFramePaths.append(\'/bodyset/femur_r/femur_r_imu_offset\')\n+imuFramePaths.append(\'/bodyset/tibia_r/tibia_r_imu_offset\')\n+osim.OpenSenseUtilities().addModelIMUs(model, imuFramePaths)\n+model.initSystem()\n+\n+## Part 2: Solve an effort minimization predictive problem\n+# Generate a simulation of a squat-to-stand motion that minimizes control\n+# effort. We\'ll use the results from this simulation to compute a set of \n+# "synthetic" accelerometer signals later.\n+\n+# Part 2a: Create a new MocoStudy.\n+study = osim.MocoStudy()\n+\n+# Part 2b: Initialize the problem and set the model.\n+problem = study.updProblem()\n+problem.setModel(model)\n+\n+# Part 2c: Set bounds on the problem.\n+#\n+# problem.setTimeBounds(initial_bounds, final_bounds)\n+# problem.setStateInfo(path, trajectory_bounds, inital_bounds, final_bounds)\n+#\n+# All *_bounds arguments can be set to a range, [lower upper], or to a\n+# single value (equal lower and upper bounds). Empty brackets, [], indicate\n+# using default bounds (if they exist). You may set multiple state infos at\n+# once using setStateInfoPattern():\n+#\n+# problem.setStateInfoPattern(pattern, trajectory_bounds, inital_bounds, ...\n+#       final_bounds)\n+#\n+# This function supports regular expressions in the \'pattern\' argument;\n+# use \'.*\' to match any substring of the state/control path\n+# For example, the following will set all coordinate value state infos:\n+#\n+# problem.setStateInfoPattern(\'/path/to/states/.*/value\', ...)\n+\n+# Time bounds\n+problem.setTimeBounds(0, 1)\n+\n+# Position bounds: the model should start in a squat and finish \n+# standing up.\n+problem.setStateInfo(\'/jointset/hip_r/hip_flexion_r/value\',\n+    [-2, 0.5], -2, 0)\n+problem.setStateInfo(\'/jointset/knee_r/knee_angle_r/value\', \n+    [-2, 0], -2, 0)\n+problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', \n+    [-0.5, 0.7], -0.5, 0)\n+\n+# Velocity bounds: all model coordinates should start and end at rest.\n+problem.setStateInfoPattern(\'/jointset/.*/speed\', [], 0, 0)\n+\n+# Part 2d: Add a MocoControlGoal to the problem.\n+problem.addGoal(osim.MocoControlGoal(\'myeffort\'))\n+\n+# Part 2e: Configure the solver.\n+solver = study.initCasADiSolver()\n+solver.set_num_mesh_intervals(25)\n+solver.set_optim_constraint_tolerance(1e-4)\n+solver.set_optim_convergence_tolerance(1e-4)\n+\n+if not os.path.isfile(\'predictSolution.sto\'):\n+    # Part 2f: Solve! Write the solution to file, and visualize.\n+    predictSolution = study.solve()\n+    predictSolution.write(\'predictSolution.sto\')\n+    study.visualize(predictSolution)\n+\n+\n+##Part 3: Compute synthetic accelerometer signals\n+# In this step, we\'ll create a set of synthetic accelerometer signals that \n+# replicate the output of an IMU sensor. To do this, we\'ll use the \n+# \'accelerometer_signal\' Output included with the IMU components we\n+# previously added to the model. \n+\n+# Part 3a: Load the prediction solution.\n+predictSolution = osim.MocoTrajectory(\'predictSolution.sto\')\n+\n+# Part 3b: Compute the accelerometer signals using the analyzeVec3() free\n+# function included with SimulationUtilities. These free functions can be\n+# accessed in scripting by using the \'opensimSimulation\' prefix. \n+outputPaths = osim.StdVectorString()\n+outputPaths.append(\'.*accelerometer_signal\')\n+accelerometerSignals = osim.analyzeVec3(model,\n+    predictSolution.exportToStatesTable(),\n+    predictSolution.exportToControlsTable(),\n+    outputPaths)\n+\n+# Part 3c: Update the column labels of the accelerometer signals to match\n+# the offset frame paths. This is necessary for the tracking goal we\'ll add\n+# to the problem in Part 4. \n+accelerometerSignals.setColumnLabels(imuFramePaths)\n+    \n+# Part 3d: Plot the synthetic acceleration signals.\n+helpers.plotAccelerationSignals(accelerometerSignals)\n+\n+## Part 4: Synthetic acceleration tracking problem \n+# Part 4a: Add a MocoAccelerationTrackingGoal to the MocoProblem. Set the\n+# frame paths to the IMU offset frame paths and set the accelerations \n+# reference to the synthetic accelerometer signals we calculated above.\n+# We need to subtract the gravitational acceleration vector and re-express\n+# the accelerations in the tracking frames so that the model-computed\n+# values in the tracking cost match the accelerometer signals.\n+tracking = osim.MocoAccelerationTrackingGoal(\'acceleration_tracking\')\n+tracking.setFramePaths(imuFramePaths)\n+tracking.setAccelerationReference(accelerometerSignals)\n+tracking.setGravityOffset(True)\n+tracking.setExpressAccelerationsInTrackingFrames(True)\n+problem.addGoal(tracking)\n+\n+# Part 4b: Reduce the control cost weight so that the tracking term will\n+# dominate.\n+problem.updGoal(\'myeffort\').setWeight(0.001)\n+\n+if not os.path.isfile(\'trackingSolution.sto\'):\n+    # Part 4c: Solve! Write the solution to file, and visualize.\n+    trackingSolution = study.solve()\n+    trackingSolution.write(\'trackingSolution.sto\')\n+    study.visualize(trackingSolution)\n+\n+\n+## Part 5: Compare tracking solution to original prediction\n+# Part 5a: Plot the tracking solution against the prediction. This is a\n+# convenience function provided for you. See mocoPlotTrajectory.m\n+plot.mocoPlotTrajectory(\'predictSolution.sto\', \'trackingSolution.sto\',\n+        \'predict\', \'track\')\n+ \n+# Part 5b: Compare accelerations from tracking solution to the reference\n+# accelerations.\n+trackingSolution = osim.MocoTrajectory(\'trackingSolution.sto\')\n+accelerometerSignalsTracking = osim.analyzeVec3(model, \n+    trackingSolution.exportToStatesTable(), \n+    trackingSolution.exportToControlsTable(), \n+    outputPaths)\n+accelerometerSignalsTracking.setColumnLabels(imuFramePaths)\n+helpers.plotAccelerationSignals(accelerometerSignals, \n+                                accelerometerSignalsTracking)\ndiff --git a/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_helpers.py b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_helpers.py\nnew file mode 100644\nindex 000000000..26033faad\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleIMUTracking/exampleIMUTracking_helpers.py\n@@ -0,0 +1,120 @@\n+import opensim as osim\n+import numpy as np\n+import matplotlib.pyplot as plt\n+\n+def addCoordinateActuator(model, coordName, optForce):\n+    coordSet = model.updCoordinateSet()\n+    actu = osim.CoordinateActuator()\n+    actu.setName(\'tau_\' + coordName)\n+    actu.setCoordinate(coordSet.get(coordName))\n+    actu.setOptimalForce(optForce)\n+    actu.setMinControl(-1)\n+    actu.setMaxControl(1)\n+\n+    # Add to ForceSet\n+    model.addForce(actu)\n+\n+\n+def getTorqueDrivenSquatToStandModel():\n+\n+    # Load the base model.\n+    model = osim.Model(\'../squatToStand_3dof9musc.osim\')\n+\n+    # Remove the muscles in the model.\n+    model.updForceSet().clearAndDestroy()\n+    model.initSystem()\n+\n+    # Add CoordinateActuators to the model degrees-of-freedom.\n+    addCoordinateActuator(model, \'hip_flexion_r\', 150)\n+    addCoordinateActuator(model, \'knee_angle_r\', 300)\n+    addCoordinateActuator(model, \'ankle_angle_r\', 150)\n+\n+    return model\n+\n+\n+def addIMUFrame(model, bodyName, translation, orientation):\n+    body = model.updBodySet().get(bodyName)\n+    name = str(body.getName()) + \'_imu_offset\'\n+    bodyOffset = osim.PhysicalOffsetFrame(name, body, osim.Transform())\n+    bodyOffset.set_translation(translation)\n+    bodyOffset.set_orientation(orientation)\n+    body.addComponent(bodyOffset)\n+    model.finalizeConnections()\n+\n+\n+def plotAccelerationSignals(*args):\n+    args_list = list(args)\n+\n+    accelerationsReference = args_list[0]\n+    if len(args) == 2:\n+        accelerationsTracking = args_list[1]\n+\n+    # Create a time vector that can be used for plotting\n+    timeVec = accelerationsReference.getIndependentColumn()\n+    time = np.zeros(len(timeVec))\n+    for i in np.arange(len(timeVec)):\n+       time[i] = timeVec[i]\n+\n+    def to_mat(vectorVec3):\n+        mat = np.zeros((vectorVec3.size(), 3))\n+        for i in np.arange(vectorVec3.size()):\n+            for j in np.arange(3):\n+                mat[i,j] = vectorVec3[int(i)][int(j)]\n+        return mat\n+    \n+    fig = plt.figure()\n+    # Plot the torso accelerations\n+    ax = fig.add_subplot(131)\n+    torso = to_mat(accelerationsReference.getDependentColumn(\n+            \'/bodyset/torso/torso_imu_offset\'))\n+    ax.plot(time, torso[:,1], color=\'red\', linewidth=3,\n+        label=\'predict\')\n+    if len(args) == 2:\n+        torsoTrack = to_mat(accelerationsTracking.getDependentColumn(\n+            \'/bodyset/torso/torso_imu_offset\'))\n+        ax.plot(time, torsoTrack[:,1], color=\'blue\', \n+            linestyle=\'--\', linewidth=3, label=\'track\')\n+\n+    if len(args) == 2:\n+        ax.legend(loc=\'best\')\n+\n+    ax.set_xlim(0, 1)\n+    ax.set_title(\'torso\')\n+    ax.set_xlabel(\'time (s)\')\n+    ax.set_ylabel(\'acceleration (m/s^2)\')\n+\n+    # Plot the femur accelerations\n+    ax = fig.add_subplot(132)\n+    femur = to_mat(accelerationsReference.getDependentColumn(\n+        \'/bodyset/femur_r/femur_r_imu_offset\'))\n+    ax.plot(time, femur[:,1], color=\'red\', linewidth=3)\n+    if len(args) == 2:\n+        femurTrack = to_mat(accelerationsTracking.getDependentColumn(\n+            \'/bodyset/femur_r/femur_r_imu_offset\'))\n+        ax.plot(time, femurTrack[:,1], color=\'blue\', \n+            linestyle=\'--\', linewidth=3)\n+\n+    ax.set_xlim(0, 1)\n+    ax.set_title(\'femur\')\n+    ax.set_xlabel(\'time (s)\')\n+    ax.set_ylabel(\'acceleration (m/s^2)\')\n+\n+    # Plot the tibia accelerations\n+    ax = fig.add_subplot(133)\n+    tibia = to_mat(accelerationsReference.getDependentColumn(\n+        \'/bodyset/tibia_r/tibia_r_imu_offset\'))\n+    ax.plot(time, tibia[:,1], color=\'red\', linewidth=3)\n+    if len(args) == 2:\n+        tibiaTrack = to_mat(accelerationsTracking.getDependentColumn(\n+            \'/bodyset/tibia_r/tibia_r_imu_offset\'))\n+        ax.plot(time, tibiaTrack[:,1], color=\'blue\', \n+            linestyle=\'--\', linewidth=3)\n+    \n+    ax.set_xlim(0, 1)\n+    ax.set_title(\'tibia\')\n+    ax.set_xlabel(\'time (s)\')\n+    ax.set_ylabel(\'acceleration (m/s^2)\')\n+\n+    fig.tight_layout()\n+    plt.show()\n+    plt.close()\ndiff --git a/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand.py b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand.py\nnew file mode 100644\nindex 000000000..1fb883b29\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand.py\n@@ -0,0 +1,140 @@\n+## Part 0: Load the Moco libraries and pre-configured Models.\n+# These models are provided for you (i.e., they are not part of Moco).\n+import opensim as osim\n+import exampleSquatToStand_helpers as helpers\n+import mocoPlotTrajectory as plot\n+import os\n+import numpy as np\n+torqueDrivenModel = helpers.getTorqueDrivenModel()\n+muscleDrivenModel = helpers.getMuscleDrivenModel()\n+\n+## Part 1: Torque-driven Predictive Problem\n+# Part 1a: Create a new MocoStudy.\n+\n+\n+# Part 1b: Initialize the problem and set the model.\n+\n+\n+# Part 1c: Set bounds on the problem.\n+#\n+# problem.setTimeBounds(initial_bounds, final_bounds)\n+# problem.setStateInfo(path, trajectory_bounds, inital_bounds, final_bounds)\n+#\n+# All *_bounds arguments can be set to a range, [lower upper], or to a\n+# single value (equal lower and upper bounds). Empty brackets, [], indicate\n+# using default bounds (if they exist). You may set multiple state infos at\n+# once using setStateInfoPattern():\n+#\n+# problem.setStateInfoPattern(pattern, trajectory_bounds, inital_bounds, ...\n+#       final_bounds)\n+#\n+# This function supports regular expressions in the \'pattern\' argument;\n+# use \'.*\' to match any substring of the state/control path\n+# For example, the following will set all coordinate value state infos:\n+#\n+# problem.setStateInfoPattern(\'/path/to/states/.*/value\', ...)\n+\n+# Time bounds\n+problem.setTimeBounds( )\n+\n+# Position bounds: the model should start in a squat and finish \n+# standing up.\n+problem.setStateInfo(\'/jointset/hip_r/hip_flexion_r/value\', )\n+problem.setStateInfo(\'/jointset/knee_r/knee_angle_r/value\', )\n+problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', )\n+\n+# Velocity bounds: all model coordinates should start and end at rest.\n+problem.setStateInfoPattern(\'/jointset/.*/speed\', )\n+\n+# Part 1d: Add a MocoControlCost to the problem.\n+\n+\n+# Part 1e: Configure the solver.\n+\n+\n+if not os.path.isfile(\'predictSolution.sto\'):\n+    # Part 1f: Solve! Write the solution to file, and visualize.\n+\n+\n+## Part 2: Torque-driven Tracking Problem\n+# Part 2a: Construct a tracking reference TimeSeriesTable using filtered \n+# data from the previous solution. Use a TableProcessor, which accepts a \n+# base table and allows appending operations to modify the table.\n+\n+\n+# Part 2b: Add a MocoStateTrackingCost to the problem using the states\n+# from the predictive problem (via the TableProcessor we just created). \n+# Enable the setAllowUnusedReferences() setting to ignore the controls in\n+# the predictive solution.\n+\n+\n+# Part 2c: Reduce the control cost weight so it now acts as a regularization \n+# term.\n+\n+\n+# Part 2d: Set the initial guess using the predictive problem solution.\n+# Tighten convergence tolerance to ensure smooth controls.\n+\n+\n+if not os.path.isfile(\'trackingSolution.sto\'):\n+    # Part 2e: Solve! Write the solution to file, and visualize.\n+\n+\n+## Part 3: Compare Predictive and Tracking Solutions\n+# This is a convenience function provided for you. See mocoPlotTrajectory.m\n+plot.mocoPlotTrajectory(\'predictSolution.sto\', \'trackingSolution.sto\', \n+    \'predict\', \'track\')\n+\n+## Part 4: Muscle-driven Inverse Problem\n+# Create a MocoInverse tool instance.\n+\n+\n+# Part 4a: Provide the model via a ModelProcessor. Similar to the TableProcessor,\n+# you can add operators to modify the base model.\n+\n+\n+# Part 4b: Set the reference kinematics using the same TableProcessor we used\n+# in the tracking problem.\n+\n+\n+# Part 4c: Set the time range, mesh interval, and convergence tolerance.\n+inverse.set_initial_time( )\n+inverse.set_final_time( )\n+inverse.set_mesh_interval( )\n+inverse.set_convergence_tolerance( )\n+inverse.set_constraint_tolerance( )\n+\n+# Allow extra (unused) columns in the kinematics and minimize activations.\n+inverse.set_kinematics_allow_extra_columns(True)\n+inverse.set_minimize_sum_squared_activations(True)\n+\n+# Append additional outputs path for quantities that are calculated\n+# post-hoc using the inverse problem solution.\n+inverse.append_output_paths(\'.*normalized_fiber_length\')\n+inverse.append_output_paths(\'.*passive_force_multiplier\')\n+\n+# Part 4d: Solve! Write the MocoSolution to file.\n+\n+\n+# Part 4e: Get the outputs we calculated from the inverse solution.\n+\n+\n+## Part 5: Muscle-driven Inverse Problem with Passive Assistance\n+# Part 5a: Create a new muscle-driven model, now adding a SpringGeneralizedForce \n+# about the knee coordinate.\n+\n+\n+# Part 5b: Create a ModelProcessor similar to the previous one, using the same\n+# reserve actuator strength so we can compare muscle activity accurately.\n+\n+\n+# Part 5c: Solve! Write solution.\n+\n+\n+## Part 6: Compare unassisted and assisted Inverse Problems.\n+print(\'Cost without device: \', solution.getObjective())\n+print(\'Cost with device: \', deviceSolution.getObjective())\n+\n+# This is a convenience function provided for you. See below for the\n+# implementation.\n+helpers.compareInverseSolutions(inverseSolution, inverseDeviceSolution)\ndiff --git a/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand_answers.py b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand_answers.py\nnew file mode 100644\nindex 000000000..89138578a\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand_answers.py\n@@ -0,0 +1,173 @@\n+## Part 0: Load the Moco libraries and pre-configured Models.\n+# These models are provided for you (i.e., they are not part of Moco).\n+import opensim as osim\n+import exampleSquatToStand_helpers as helpers\n+import mocoPlotTrajectory as plot\n+import os\n+import numpy as np\n+torqueDrivenModel = helpers.getTorqueDrivenModel()\n+muscleDrivenModel = helpers.getMuscleDrivenModel()\n+\n+## Part 1: Torque-driven Predictive Problem\n+# Part 1a: Create a new MocoStudy.\n+study = osim.MocoStudy()\n+\n+# Part 1b: Initialize the problem and set the model.\n+problem = study.updProblem()\n+problem.setModel(torqueDrivenModel)\n+\n+# Part 1c: Set bounds on the problem.\n+#\n+# problem.setTimeBounds(initial_bounds, final_bounds)\n+# problem.setStateInfo(path, trajectory_bounds, inital_bounds, final_bounds)\n+#\n+# All *_bounds arguments can be set to a range, [lower upper], or to a\n+# single value (equal lower and upper bounds). Empty brackets, [], indicate\n+# using default bounds (if they exist). You may set multiple state infos at\n+# once using setStateInfoPattern():\n+#\n+# problem.setStateInfoPattern(pattern, trajectory_bounds, inital_bounds, ...\n+#       final_bounds)\n+#\n+# This function supports regular expressions in the \'pattern\' argument;\n+# use \'.*\' to match any substring of the state/control path\n+# For example, the following will set all coordinate value state infos:\n+#\n+# problem.setStateInfoPattern(\'/path/to/states/.*/value\', ...)\n+\n+# Time bounds\n+problem.setTimeBounds(0, 1)\n+\n+# Position bounds: the model should start in a squat and finish \n+# standing up.\n+problem.setStateInfo(\'/jointset/hip_r/hip_flexion_r/value\', \n+    [-2, 0.5], -2, 0)\n+problem.setStateInfo(\'/jointset/knee_r/knee_angle_r/value\', \n+    [-2, 0], -2, 0)\n+problem.setStateInfo(\'/jointset/ankle_r/ankle_angle_r/value\', \n+    [-0.5, 0.7], -0.5, 0)\n+\n+# Velocity bounds: all model coordinates should start and end at rest.\n+problem.setStateInfoPattern(\'/jointset/.*/speed\', [], 0, 0)\n+\n+# Part 1d: Add a MocoControlCost to the problem.\n+problem.addGoal(osim.MocoControlGoal(\'myeffort\'))\n+\n+# Part 1e: Configure the solver.\n+solver = study.initCasADiSolver()\n+solver.set_num_mesh_intervals(25)\n+solver.set_optim_convergence_tolerance(1e-4)\n+solver.set_optim_constraint_tolerance(1e-4)\n+\n+if not os.path.isfile(\'predictSolution.sto\'):\n+    # Part 1f: Solve! Write the solution to file, and visualize.\n+    predictSolution = study.solve()\n+    predictSolution.write(\'predictSolution.sto\')\n+    study.visualize(predictSolution)\n+\n+\n+## Part 2: Torque-driven Tracking Problem\n+# Part 2a: Construct a tracking reference TimeSeriesTable using filtered \n+# data from the previous solution. Use a TableProcessor, which accepts a \n+# base table and allows appending operations to modify the table.\n+tableProcessor = osim.TableProcessor(\'predictSolution.sto\')\n+tableProcessor.append(osim.TabOpLowPassFilter(6))\n+\n+# Part 2b: Add a MocoStateTrackingCost to the problem using the states\n+# from the predictive problem (via the TableProcessor we just created). \n+# Enable the setAllowUnusedReferences() setting to ignore the controls in\n+# the predictive solution.\n+tracking = osim.MocoStateTrackingGoal()\n+tracking.setName(\'mytracking\')\n+tracking.setReference(tableProcessor)\n+tracking.setAllowUnusedReferences(True)\n+problem.addGoal(tracking)\n+\n+# Part 2c: Reduce the control cost weight so it now acts as a regularization \n+# term.\n+problem.updGoal(\'myeffort\').setWeight(0.001)\n+\n+# Part 2d: Set the initial guess using the predictive problem solution.\n+# Tighten convergence tolerance to ensure smooth controls.\n+solver.setGuessFile(\'predictSolution.sto\')\n+solver.set_optim_convergence_tolerance(1e-6)\n+\n+if not os.path.isfile(\'trackingSolution.sto\'):\n+    # Part 2e: Solve! Write the solution to file, and visualize.\n+    trackingSolution = study.solve()\n+    trackingSolution.write(\'trackingSolution.sto\')\n+    study.visualize(trackingSolution)\n+\n+\n+## Part 3: Compare Predictive and Tracking Solutions\n+# This is a convenience function provided for you. See mocoPlotTrajectory.m\n+plot.mocoPlotTrajectory(\'predictSolution.sto\', \'trackingSolution.sto\', \n+    \'predict\', \'track\')\n+\n+## Part 4: Muscle-driven Inverse Problem\n+# Create a MocoInverse tool instance.\n+inverse = osim.MocoInverse()\n+\n+# Part 4a: Provide the model via a ModelProcessor. Similar to the TableProcessor,\n+# you can add operators to modify the base model.\n+modelProcessor = osim.ModelProcessor(muscleDrivenModel)\n+modelProcessor.append(osim.ModOpAddReserves(2))\n+inverse.setModel(modelProcessor)\n+\n+# Part 4b: Set the reference kinematics using the same TableProcessor we used\n+# in the tracking problem.\n+inverse.setKinematics(tableProcessor)\n+\n+# Part 4c: Set the time range, mesh interval, and convergence tolerance.\n+inverse.set_initial_time(0)\n+inverse.set_final_time(1)\n+inverse.set_mesh_interval(0.05)\n+inverse.set_convergence_tolerance(1e-4)\n+inverse.set_constraint_tolerance(1e-4)\n+\n+# Allow extra (unused) columns in the kinematics and minimize activations.\n+inverse.set_kinematics_allow_extra_columns(True)\n+inverse.set_minimize_sum_squared_activations(True)\n+\n+# Append additional outputs path for quantities that are calculated\n+# post-hoc using the inverse problem solution.\n+inverse.append_output_paths(\'.*normalized_fiber_length\')\n+inverse.append_output_paths(\'.*passive_force_multiplier\')\n+\n+# Part 4d: Solve! Write the MocoSolution to file.\n+inverseSolution = inverse.solve()\n+solution = inverseSolution.getMocoSolution()\n+solution.write(\'inverseSolution.sto\')\n+\n+# Part 4e: Get the outputs we calculated from the inverse solution.\n+inverseOutputs = inverseSolution.getOutputs()\n+sto = osim.STOFileAdapter()\n+sto.write(inverseOutputs, \'muscleOutputs.sto\')\n+\n+## Part 5: Muscle-driven Inverse Problem with Passive Assistance\n+# Part 5a: Create a new muscle-driven model, now adding a SpringGeneralizedForce \n+# about the knee coordinate.\n+device = osim.SpringGeneralizedForce(\'knee_angle_r\')\n+device.setStiffness(50)\n+device.setRestLength(0)\n+device.setViscosity(0)\n+muscleDrivenModel.addForce(device)\n+\n+# Part 5b: Create a ModelProcessor similar to the previous one, using the same\n+# reserve actuator strength so we can compare muscle activity accurately.\n+modelProcessor = osim.ModelProcessor(muscleDrivenModel)\n+modelProcessor.append(osim.ModOpAddReserves(2))\n+inverse.setModel(modelProcessor)\n+\n+# Part 5c: Solve! Write solution.\n+inverseDeviceSolution = inverse.solve()\n+deviceSolution = inverseDeviceSolution.getMocoSolution()\n+deviceSolution.write(\'inverseDeviceSolution.sto\')\n+\n+## Part 6: Compare unassisted and assisted Inverse Problems.\n+print(\'Cost without device: \', solution.getObjective())\n+print(\'Cost with device: \', deviceSolution.getObjective())\n+\n+# This is a convenience function provided for you. See below for the\n+# implementation.\n+helpers.compareInverseSolutions(inverseSolution, inverseDeviceSolution)\ndiff --git a/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand_helpers.py b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand_helpers.py\nnew file mode 100644\nindex 000000000..6cbc51f95\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleSquatToStand/exampleSquatToStand_helpers.py\n@@ -0,0 +1,96 @@\n+import opensim as osim\n+import numpy as np\n+import matplotlib.pyplot as plt\n+\n+def addCoordinateActuator(model, coordName, optForce):\n+    coordSet = model.updCoordinateSet()\n+    actu = osim.CoordinateActuator()\n+    actu.setName(\'tau_\' + coordName)\n+    actu.setCoordinate(coordSet.get(coordName))\n+    actu.setOptimalForce(optForce)\n+    actu.setMinControl(-1)\n+    actu.setMaxControl(1)\n+    model.addComponent(actu)\n+\n+def getTorqueDrivenModel():\n+    # Load the base model.\n+    model = osim.Model(\'squatToStand_3dof9musc.osim\')\n+\n+    # Remove the muscles in the model.\n+    model.updForceSet().clearAndDestroy()\n+    model.initSystem()\n+\n+    # Add CoordinateActuators to the model degrees-of-freedom.\n+    addCoordinateActuator(model, \'hip_flexion_r\', 150)\n+    addCoordinateActuator(model, \'knee_angle_r\', 300)\n+    addCoordinateActuator(model, \'ankle_angle_r\', 150)\n+\n+    return model\n+\n+def getMuscleDrivenModel():\n+\n+    # Load the base model.\n+    model = osim.Model(\'squatToStand_3dof9musc.osim\')\n+    model.finalizeConnections()\n+\n+    # Replace the muscles in the model with muscles from DeGroote, Fregly,\n+    # et al. 2016, "Evaluation of Direct Collocation Optimal Control Problem\n+    # Formulations for Solving the Muscle Redundancy Problem". These muscles\n+    # have the same properties as the original muscles but their characteristic\n+    # curves are optimized for direct collocation (i.e. no discontinuities,\n+    # twice differentiable, etc).\n+    osim.DeGrooteFregly2016Muscle().replaceMuscles(model)\n+\n+    # Make problems easier to solve by strengthening the model and widening the\n+    # active force-length curve.\n+    for m in np.arange(model.getMuscles().getSize()):\n+        musc = model.updMuscles().get(int(m))\n+        musc.setMinControl(0.0)\n+        musc.set_ignore_activation_dynamics(False)\n+        musc.set_ignore_tendon_compliance(False)\n+        musc.set_max_isometric_force(2.0 * musc.get_max_isometric_force())\n+        dgf = osim.DeGrooteFregly2016Muscle.safeDownCast(musc)\n+        dgf.set_active_force_width_scale(1.5)\n+        dgf.set_tendon_compliance_dynamics_mode(\'implicit\')\n+        if str(musc.getName()) == \'soleus_r\':\n+            # Soleus has a very long tendon, so modeling its tendon as rigid\n+            # causes the fiber to be unrealistically long and generate\n+            # excessive passive fiber force.\n+            dgf.set_ignore_passive_fiber_force(True)\n+\n+    return model\n+\n+\n+def compareInverseSolutions(unassistedSolution, assistedSolution):\n+    unassistedSolution = unassistedSolution.getMocoSolution()\n+    assistedSolution = assistedSolution.getMocoSolution()\n+    stateNames = unassistedSolution.getStateNames()\n+    numStates = len(stateNames)\n+\n+    fig = plt.figure()\n+    dim = 3\n+    iplot = 1\n+    for i in np.arange(numStates):\n+        if \'activation\' in str(stateNames[i]):\n+            ax = fig.add_subplot(dim, dim, iplot);\n+            ax.plot(unassistedSolution.getTimeMat(),\n+                    unassistedSolution.getStateMat(stateNames[i]), \n+                    color=\'red\', linewidth=3, label=\'unassisted\')\n+            ax.plot(assistedSolution.getTimeMat(),\n+                    assistedSolution.getStateMat(stateNames[i]), \n+                    color=\'blue\', linewidth=2.5, label=\'assisted\')\n+            plotTitle = str(stateNames[i])\n+            plotTitle.replace(\'/forceset/\', \'\')\n+            plotTitle.replace(\'/activation\', \'\')\n+            ax.set_title(plotTitle)\n+            ax.set_xlabel(\'time (s)\')\n+            ax.set_ylabel(\'activation (-)\')\n+            ax.set_xlim(0, 1)\n+            ax.set_ylim(0, 1)\n+            if iplot == 1:\n+               ax.legend()\n+            iplot += 1\n+\n+    fig.tight_layout()\n+    plt.show()\n+    plt.close()\ndiff --git a/Bindings/Python/examples/Moco/exampleSquatToStand/mocoPlotTrajectory.py b/Bindings/Python/examples/Moco/exampleSquatToStand/mocoPlotTrajectory.py\nnew file mode 100644\nindex 000000000..00d30d32a\n--- /dev/null\n+++ b/Bindings/Python/examples/Moco/exampleSquatToStand/mocoPlotTrajectory.py\n@@ -0,0 +1,105 @@\n+import opensim as osim\n+import matplotlib.pyplot as plt\n+import numpy as np\n+\n+# Plot a MocoTrajectory. Optionally, specify a second trajectory and names\n+# for the trajectories.\n+def mocoPlotTrajectory(*args):\n+    args_list = list(args)\n+\n+    if isinstance(args_list[0], str):\n+        trajA = osim.MocoTrajectory(args_list[0])\n+    \n+    if len(args) > 1 and isinstance(args_list[1], str):\n+        trajB = osim.MocoTrajectory(args_list[1])\n+\n+    labelA = args_list[2] if len(args) == 4 else \'A\'\n+    labelB = args_list[3] if len(args) == 4 else \'B\'\n+    \n+    ## States.\n+    stateNames = list(trajA.getStateNames())\n+    numStates = len(stateNames)\n+    dim = np.sqrt(numStates)\n+    if dim == np.ceil(dim):\n+        numRows = int(dim)\n+        numCols = int(dim)\n+    else:\n+        numCols = int(np.min([numStates, 4]))\n+        numRows = int(np.floor(numStates / 4))\n+        if not numStates % 4 == 0:\n+            numRows += 1\n+    \n+    fig = plt.figure()\n+    for i in np.arange(numStates):\n+        ax = fig.add_subplot(numRows, numCols, int(i+1))\n+        ax.plot(trajA.getTimeMat(), \n+             trajA.getStateMat(stateNames[i]), color=\'red\',\n+             linewidth=3, label=labelA)\n+\n+        if len(args) > 1:\n+            ax.plot(trajB.getTimeMat(), \n+                 trajB.getStateMat(stateNames[i]), \n+                 color=\'blue\', linestyle=\'--\',\n+                 linewidth=2.5, label=labelB)\n+        \n+        stateName = stateNames[i]\n+        ax.set_title(stateName[11:])\n+        ax.set_xlabel(\'time (s)\')\n+        ax.set_xlim(0, 1)\n+        if \'value\' in stateName:\n+            ax.set_ylabel(\'position (rad)\')\n+        elif \'speed\' in stateName:\n+            ax.set_ylabel(\'speed (rad/s)\')\n+        elif \'activation\' in stateName:\n+            ax.set_ylabel(\'activation (-)\')\n+            ax.set_ylim(0, 1)\n+        \n+        if i == 0 and len(args) > 1:\n+            ax.legend(loc=\'best\')\n+\n+    plt.show()\n+\n+    ## Controls.\n+    controlNames = list(trajA.getControlNames())\n+    numControls = len(controlNames)\n+    dim = np.sqrt(numControls)\n+    if dim == np.ceil(dim):\n+        numRows = int(dim)\n+        numCols = int(dim)\n+    else:\n+        numCols = int(np.min([numControls, 4]))\n+        numRows = int(np.floor(numControls / 4.0))\n+        if not numControls % 4 == 0:\n+            numRows += 1\n+\n+    fig = plt.figure()\n+    for i in np.arange(numControls):\n+        ax = fig.add_subplot(numRows, numCols, int(i+1))\n+        yA = trajA.getControlMat(controlNames[i])\n+        ax.plot(trajA.getTimeMat(), yA, color=\'red\', \n+            linewidth=3, label=labelA)\n+        if len(args) > 1:\n+            yB = trajB.getControlMat(controlNames[i])\n+            ax.plot(trajB.getTimeMat(), yB, color=\'blue\',\n+                linestyle=\'--\', linewidth=2.5, \n+                label=labelB)\n+       \n+        ax.set_title(controlNames[i])\n+        ax.set_xlabel(\'time (s)\')\n+        ax.set_ylabel(\'value\')\n+        ax.set_xlim(0, 1)\n+        if np.max(yA) <= 1 and np.min(yA) >= 0:\n+            fixYLim = True\n+            if len(args) > 1 and (np.max(yB) > 1 or \n+                                  np.min(yB) < 0):\n+                fixYLim = False\n+            \n+            if fixYLim:\n+                ax.set_ylim(0, 1)\n+\n+        if i == 0 and len(args) > 1:\n+            ax.legend(loc=\'best\')\n+\n+    fig.tight_layout()\n+    plt.show()\n+    plt.close()\ndiff --git a/Bindings/Python/setup.py b/Bindings/Python/setup.py\nindex fa9b154a2..f772f66f4 100644\n--- a/Bindings/Python/setup.py\n+++ b/Bindings/Python/setup.py\n@@ -2,9 +2,7 @@\n \n import os\n import sys\n-\n from setuptools import setup\n-\n # This provides the variable `__version__`.\n if sys.version_info[0] < 3:\n     execfile(\'opensim/version.py\')\ndiff --git a/Bindings/Python/setup_win_python38.py b/Bindings/Python/setup_win_python38.py\nnew file mode 100644\nindex 000000000..1583e4884\n--- /dev/null\n+++ b/Bindings/Python/setup_win_python38.py\n@@ -0,0 +1,11 @@\n+#!/usr/bin/env python\n+import sys\n+import os\n+import fileinput\n+if (sys.version_info.major == 3 and sys.version_info.minor >= 8 and sys.platform.startswith(\'win\')):\n+   install_path = os.path.abspath(\'../../bin\')\n+   new_path = install_path.replace(os.sep, \'/\')\n+   print (\'install path found as \'+ new_path)\n+   with fileinput.FileInput(\'opensim/__init__.py\', inplace=True, backup=\'.bak\') as file:\n+     for line in file:\n+          print(line.replace(\'DLL_PATH\', "\'" + new_path + "\'"), end=\'\')\ndiff --git a/Bindings/Python/swig/python_moco.i b/Bindings/Python/swig/python_moco.i\nindex b1fbd6305..07708f062 100644\n--- a/Bindings/Python/swig/python_moco.i\n+++ b/Bindings/Python/swig/python_moco.i\n@@ -175,6 +175,28 @@ using namespace SimTK;\n         args[3] = self._convert(MocoFinalBounds, args[3])\n %}\n \n+%extend OpenSim::MocoControlTrackingGoal {\n+%pythoncode %{\n+    def _convert(self, cls, v):\n+        if hasattr(v, \'__len__\'):\n+            if len(v) > 2:\n+                raise Exception("Bounds cannot have more than 2 elements.")\n+            elif len(v) == 0:\n+                return cls()\n+            elif len(v) == 1:\n+                return cls(v[0])\n+            elif len(v) == 2:\n+                return cls(v[0], v[1])\n+            else:\n+                return cls()\n+        else:\n+            return cls(v)\n+%}\n+}\n+%pythonprepend OpenSim::MocoControlTrackingGoal::addScaleFactor %{\n+    if not type(bounds) is MocoBounds:\n+        bounds = self._convert(MocoBounds, bounds)\n+%}\n // MocoTrajectory\'s functions contain lots of matrices, and Python users\n // feel more comfortable providing/getting these matrices as NumPy types rather\n // than as SimTK numeric types. We can use SWIG NumPy typemaps to accomplish\ndiff --git a/Bindings/Python/version.py.in b/Bindings/Python/version.py.in\nindex a6c13df76..a40627e29 100644\n--- a/Bindings/Python/version.py.in\n+++ b/Bindings/Python/version.py.in\n@@ -1 +1 @@\n-__version__ = "@OPENSIM_QUALIFIED_VERSION@"\n+__version__ = "@OPENSIM_RELEASE_VERSION@"\ndiff --git a/Bindings/moco.i b/Bindings/moco.i\nindex a065265a9..d50f5ee70 100644\n--- a/Bindings/moco.i\n+++ b/Bindings/moco.i\n@@ -6,6 +6,10 @@\n \n %include <OpenSim/Moco/About.h>\n \n+%include <OpenSim/Moco/MocoScaleFactor.h>\n+%include <OpenSim/Moco/MocoBounds.h>\n+%include <OpenSim/Moco/MocoVariableInfo.h>\n+\n namespace OpenSim {\n     %ignore MocoGoal::IntegrandInput;\n     %ignore MocoGoal::calcIntegrand;\n@@ -18,9 +22,9 @@ namespace OpenSim {\n %include <OpenSim/Moco/MocoGoal/MocoStateTrackingGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoMarkerTrackingGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoMarkerFinalGoal.h>\n-%include <OpenSim/Moco/MocoGoal/MocoContactTrackingGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoControlGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.h>\n+%include <OpenSim/Moco/MocoGoal/MocoContactTrackingGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoInitialActivationGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoJointReactionGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoSumSquaredStateGoal.h>\n@@ -32,10 +36,6 @@ namespace OpenSim {\n %include <OpenSim/Moco/MocoGoal/MocoInitialForceEquilibriumDGFGoal.h>\n %include <OpenSim/Moco/MocoGoal/MocoInitialVelocityEquilibriumDGFGoal.h>\n \n-\n-%include <OpenSim/Moco/MocoBounds.h>\n-%include <OpenSim/Moco/MocoVariableInfo.h>\n-\n %ignore OpenSim::MocoMultibodyConstraint::getKinematicLevels;\n %ignore OpenSim::MocoConstraintInfo::getBounds;\n %ignore OpenSim::MocoConstraintInfo::setBounds;\ndiff --git a/CHANGELOG.md b/CHANGELOG.md\nindex 388a65625..961d484c3 100644\n--- a/CHANGELOG.md\n+++ b/CHANGELOG.md\n@@ -13,6 +13,7 @@ v4.3\n - Added createSyntheticIMUAccelerationSignals() to SimulationUtilities to generate "synthetic" IMU accelerations based on passed in state trajectory.\n - Fixed incorrect header information in BodyKinematics file output\n - Fixed bug applying non-uniform scaling to inertia matrix of a Body due to using local vaiable of type SysMat33 (Issue #2871).\n+- Default build to python 3.8 and numpy 1.20\n \n v4.2\n ====\ndiff --git a/CHANGELOG_MOCO.md b/CHANGELOG_MOCO.md\nindex ee4d053e0..e5da82dcf 100644\n--- a/CHANGELOG_MOCO.md\n+++ b/CHANGELOG_MOCO.md\n@@ -3,6 +3,17 @@ Moco Change Log\n \n 1.1.0\n -----\n+- 2021-06-29: Added Matlab version of example2DWalkingMetabolics (via Brian \n+              Umberger).\n+              \n+- 2021-06-28: Added exampleIMUTracking (Matlab and Python) for TGCS 2021.\n+\n+- 2021-06-28: Added exampleEMGTracking (Matlab and Python) for TGCS 2021.\n+  \n+- 2021-06-28: Added support for optimized scale factors including the component\n+              MocoScaleFactor, and interface for MocoGoals to add scale factors\n+              to a MocoProblem (e.g., MocoControlTrackingGoal::addScaleFactor).\n+\n - 2021-02-24: Updated MocoAccelerationTrackingGoal to add support for tracking\n               acceleration signals from inertial measurement units.\n   \ndiff --git a/OpenSim/Examples/Moco/example2DWalking/2D_gait.osim b/OpenSim/Examples/Moco/example2DWalking/2D_gait.osim\nindex b4f96853e..c98787887 100644\n--- a/OpenSim/Examples/Moco/example2DWalking/2D_gait.osim\n+++ b/OpenSim/Examples/Moco/example2DWalking/2D_gait.osim\n@@ -2249,7 +2249,7 @@\n \t\t\t\t\t\t\t\t<color>1 1 1</color>\n \t\t\t\t\t\t\t</Appearance>\n \t\t\t\t\t\t\t<!--Name of geometry file.-->\n-\t\t\t\t\t\t\t<mesh_file>hat_ribs.vtp</mesh_file>\n+\t\t\t\t\t\t\t<mesh_file>hat_ribs_scap.vtp</mesh_file>\n \t\t\t\t\t\t</Mesh>\n \t\t\t\t\t</attached_geometry>\n \t\t\t\t\t<!--The mass of the body (kg)-->\ndiff --git a/OpenSim/Moco/CMakeLists.txt b/OpenSim/Moco/CMakeLists.txt\nindex ad1bc1ae0..514cce1a9 100644\n--- a/OpenSim/Moco/CMakeLists.txt\n+++ b/OpenSim/Moco/CMakeLists.txt\n@@ -95,6 +95,8 @@ set(MOCO_SOURCES\n         MocoConstraintInfo.cpp\n         MocoStudyFactory.h\n         MocoStudyFactory.cpp\n+        MocoScaleFactor.h\n+        MocoScaleFactor.cpp\n         )\n if(OPENSIM_WITH_CASADI)\n     list(APPEND MOCO_SOURCES\ndiff --git a/OpenSim/Moco/MocoBounds.h b/OpenSim/Moco/MocoBounds.h\nindex c39422c85..b10ef9d9d 100644\n--- a/OpenSim/Moco/MocoBounds.h\n+++ b/OpenSim/Moco/MocoBounds.h\n@@ -29,6 +29,7 @@ namespace OpenSim {\n class MocoPhase;\n class MocoVariableInfo;\n class MocoParameter;\n+class MocoScaleFactor;\n \n /** Small struct-like class to handle bounds. */\n class OSIMMOCO_API MocoBounds : public Object {\n@@ -99,6 +100,7 @@ protected:\n     friend MocoPhase;\n     friend MocoVariableInfo;\n     friend MocoParameter;\n+    friend MocoScaleFactor;\n \n private:\n     void constructProperties();\ndiff --git a/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.cpp b/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.cpp\nindex c9f9c0ade..8cd4cb24b 100644\n--- a/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.cpp\n+++ b/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.cpp\n@@ -36,6 +36,33 @@ MocoControlTrackingGoalReference::MocoControlTrackingGoalReference(\n     set_reference(std::move(reference));\n }\n \n+void MocoControlTrackingGoal::addScaleFactor(const std::string &name,\n+        const std::string &control, const MocoBounds& bounds) {\n+\n+    // Ensure that the specified control has reference data associated with it.\n+    if (getProperty_reference_labels().empty()) {\n+        const auto& labels = get_reference().process().getColumnLabels();\n+        bool foundLabel = false;\n+        for (const auto& label : labels) {\n+            if (control == label) {\n+                foundLabel = true;\n+            }\n+        }\n+        OPENSIM_THROW_IF_FRMOBJ(!foundLabel,  Exception,\n+                "No reference label provided for control \'{}\'.", control);\n+    } else {\n+        OPENSIM_THROW_IF_FRMOBJ(!hasReferenceLabel(control),  Exception,\n+                "No reference label provided for control \'{}\'.", control);\n+    }\n+\n+    // Update the scale factor map so we can retrieve the correct MocoScaleFactor\n+    // for this control during initialization.\n+    m_scaleFactorMap[control] = name;\n+\n+    // Append the scale factor to the MocoGoal.\n+    appendScaleFactor(MocoScaleFactor(name, bounds));\n+}\n+\n void MocoControlTrackingGoal::initializeOnModelImpl(const Model& model) const {\n \n     // Get a map between control names and their indices in the model. This also\n@@ -113,6 +140,7 @@ void MocoControlTrackingGoal::initializeOnModelImpl(const Model& model) const {\n     }\n \n     // Populate member variables needed to compute the cost.\n+    const auto& scaleFactors = getModel().getComponentList<MocoScaleFactor>();\n     for (const auto& controlToTrack : controlsToTrack) {\n \n         double weight = 1.0;\n@@ -138,9 +166,23 @@ void MocoControlTrackingGoal::initializeOnModelImpl(const Model& model) const {\n         // For use in printDescriptionImpl().\n         m_control_names.push_back(controlToTrack);\n         m_ref_labels.push_back(refLabel);\n-    }\n \n-    setRequirements(1, 1, SimTK::Stage::Model);\n+        // Check to see if the model contains a MocoScaleFactor associated with\n+        // this control.\n+        bool foundScaleFactor = false;\n+        for (const auto& scaleFactor : scaleFactors) {\n+            if (m_scaleFactorMap[controlToTrack] == scaleFactor.getName()) {\n+                m_scaleFactorRefs.emplace_back(&scaleFactor);\n+                foundScaleFactor = true;\n+            }\n+        }\n+        // If we didn\'t find a MocoScaleFactor for this control, set the\n+        // reference pointer to null.\n+        if (!foundScaleFactor) {\n+            m_scaleFactorRefs.emplace_back(nullptr);\n+        }\n+    }\n+    setRequirements(1, 1, SimTK::Stage::Time);\n }\n \n void MocoControlTrackingGoal::calcIntegrandImpl(\n@@ -149,14 +191,25 @@ void MocoControlTrackingGoal::calcIntegrandImpl(\n     const auto& time = input.time;\n     SimTK::Vector timeVec(1, time);\n     const auto& controls = input.controls;\n+    getModel().getMultibodySystem().realize(input.state, SimTK::Stage::Time);\n \n     integrand = 0;\n     for (int i = 0; i < (int)m_control_indices.size(); ++i) {\n         const auto& modelValue = controls[m_control_indices[i]];\n         const auto& refValue =\n                 m_ref_splines[m_ref_indices[i]].calcValue(timeVec);\n-        integrand +=\n-                m_control_weights[i] * SimTK::square(modelValue - refValue);\n+\n+        // If a scale factor exists for this control, retrieve its value.\n+        double scaleFactor = 1.0;\n+        if (m_scaleFactorRefs[i] != nullptr) {\n+            scaleFactor = m_scaleFactorRefs[i]->getScaleFactor();\n+        }\n+\n+        // Compute the tracking error.\n+        double error = modelValue - (scaleFactor * refValue);\n+\n+        // Compute the integrand.\n+        integrand += m_control_weights[i] * error * error;\n     }\n }\n \ndiff --git a/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.h b/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.h\nindex be46553a2..7fbd1267a 100644\n--- a/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.h\n+++ b/OpenSim/Moco/MocoGoal/MocoControlTrackingGoal.h\n@@ -25,6 +25,7 @@\n #include <OpenSim/Common/TimeSeriesTable.h>\n #include <OpenSim/Moco/MocoWeightSet.h>\n #include <OpenSim/Simulation/TableProcessor.h>\n+#include <OpenSim/Moco/MocoScaleFactor.h>\n \n namespace OpenSim {\n \n@@ -97,6 +98,31 @@ The reference can be provided as a file name to a STO or CSV file (or\n other file types for which there is a FileAdapter), or programmatically\n as a TimeSeriesTable.\n \n+### Scale factors\n+\n+Use `addScaleFactor()` to add a MocoParameter to the MocoProblem that will\n+scale the tracking reference data associated with a control in the tracking cost.\n+Scale factors for this goal can be useful if the magnitude of the tracking\n+reference data is either unknown or unreliable (e.g., electromyography data).\n+Scale factors are applied to the tracking error calculations based on the\n+following equation:\n+\n+    error = modelValue - scaleFactor * referenceValue\n+\n+In other words, scale factors are applied when computing the tracking error for\n+each control, not to the reference data directly. Therefore, if a column in the\n+reference data is tracked by two different controls, the scale factor will only\n+scale the column for the associated control. The tracking error for the other\n+control is unaffected.\n+\n+Adding a scale factor to a MocoControlTrackingGoal.\n+@code\n+auto* controlTrackingGoal = problem.addGoal<MocoControlTrackingGoal>();\n+...\n+controlTrackingGoal->addScaleFactor(\n+        \'soleus_scale_factor\', \'/forceset/soleus_r\', {0.01, 1.0});\n+@endcode\n+\n ### Helpful tips\n \n Tracking problems in direct collocation perform best when tracking smooth\n@@ -203,6 +229,20 @@ public:\n         return get_allow_unused_references();\n     }\n \n+    /// Add a MocoParameter to the problem that will scale the tracking reference\n+    /// data associated with the specified control. Scale factors are applied\n+    /// to the tracking error calculations based on the following equation:\n+    ///\n+    ///     error = modelValue - scaleFactor * referenceValue\n+    ///\n+    /// In other words, the scale factor is applied when computing the tracking\n+    /// error for each control, not to the reference data directly. Therefore, if\n+    /// a column in the reference data is tracked by two different controls, the\n+    /// scale factor will only scale the column for the associated control. The\n+    /// tracking error for the other control is unaffected.\n+    void addScaleFactor(const std::string& name, const std::string& control,\n+            const MocoBounds& bounds);\n+\n protected:\n     // TODO check that the reference covers the entire possible time range.\n     void initializeOnModelImpl(const Model& model) const override;\n@@ -244,6 +284,9 @@ private:\n     mutable std::vector<int> m_ref_indices;\n     mutable std::vector<std::string> m_control_names;\n     mutable std::vector<std::string> m_ref_labels;\n+    mutable std::unordered_map<std::string, std::string> m_scaleFactorMap;\n+    mutable std::vector<SimTK::ReferencePtr<const MocoScaleFactor>>\n+    m_scaleFactorRefs;\n };\n \n } // namespace OpenSim\ndiff --git a/OpenSim/Moco/MocoGoal/MocoGoal.cpp b/OpenSim/Moco/MocoGoal/MocoGoal.cpp\nindex a4f7104f4..b0cc942c7 100644\n--- a/OpenSim/Moco/MocoGoal/MocoGoal.cpp\n+++ b/OpenSim/Moco/MocoGoal/MocoGoal.cpp\n@@ -62,4 +62,5 @@ void MocoGoal::constructProperties() {\n     constructProperty_weight(1);\n     constructProperty_mode();\n     constructProperty_MocoConstraintInfo(MocoConstraintInfo());\n+    constructProperty_scale_factors();\n }\ndiff --git a/OpenSim/Moco/MocoGoal/MocoGoal.h b/OpenSim/Moco/MocoGoal/MocoGoal.h\nindex 2a992844f..8d0bdd0ae 100644\n--- a/OpenSim/Moco/MocoGoal/MocoGoal.h\n+++ b/OpenSim/Moco/MocoGoal/MocoGoal.h\n@@ -23,6 +23,7 @@\n #include <OpenSim/Common/Object.h>\n #include <OpenSim/Moco/MocoBounds.h>\n #include <OpenSim/Moco/MocoConstraintInfo.h>\n+#include <OpenSim/Moco/MocoScaleFactor.h>\n #include <OpenSim/Moco/osimMocoDLL.h>\n \n namespace OpenSim {\n@@ -31,7 +32,7 @@ class Model;\n \n // TODO give option to specify gradient and Hessian analytically.\n \n-/** A goal is term in the cost functional to be minimized, or a set of endpoint\n+/** A goal is a term in the cost functional to be minimized, or a set of endpoint\n constraints that must lie within provided bounds. Goals depend on the\n phase\'s initial and final states and controls, and optionally on the\n integral of a quantity over the phase.\n@@ -66,6 +67,13 @@ Here are the expectations for each SimTK::Stage:\n     used to compute acceleration-dependent quantities, such as body\n     accelerations and joint reactions.\n \n+## Scale factors\n+Goals may include an option to add scale factors to the MocoProblem using\n+`appendScaleFactor()`, which takes a MocoScaleFactor object for its argument.\n+A copy of this component is added to the Model internal to MocoProblemRep and\n+its property value is optimized via a MocoParameter. Scale factor usage is\n+specific to each MocoGoal (if used at all).\n+\n @par For developers\n Every time the problem is solved, a copy of this goal is used. An individual\n instance of a goal is only ever used in a single problem. Therefore, there\n@@ -83,7 +91,7 @@ public:\n \n     MocoGoal(std::string name, double weight);\n \n-    /// %Set whether this goal is used in the problem.\n+    /// Set whether this goal is used in the problem.\n     void setEnabled(bool enabled) { set_enabled(enabled); }\n     bool getEnabled() const { return get_enabled(); }\n \n@@ -286,6 +294,17 @@ public:\n                 "but it was not.");\n     }\n \n+    /// Get a vector of the MocoScaleFactors added to this MocoGoal.\n+    /// @details Note: the return value is constructed fresh on every call from\n+    /// the internal property. Avoid repeated calls to this function.\n+    std::vector<MocoScaleFactor> getScaleFactors() const {\n+        std::vector<MocoScaleFactor> scaleFactors;\n+        for (int i = 0; i < getProperty_scale_factors().size(); ++i) {\n+            scaleFactors.push_back(get_scale_factors(i));\n+        }\n+        return scaleFactors;\n+    }\n+\n     /// Print the name type and mode of this goal. In cost mode, this prints the\n     /// weight.\n     void printDescription() const;\n@@ -357,6 +376,11 @@ protected:\n     double calcSystemDisplacement(\n             const SimTK::State& initial, const SimTK::State& final) const;\n \n+    /// Append a MocoScaleFactor to this MocoGoal.\n+    void appendScaleFactor(const MocoScaleFactor& scaleFactor) {\n+        append_scale_factors(scaleFactor);\n+    }\n+\n private:\n     OpenSim_DECLARE_PROPERTY(\n             enabled, bool, "This bool indicates whether this goal is enabled.");\n@@ -369,6 +393,12 @@ private:\n     OpenSim_DECLARE_UNNAMED_PROPERTY(MocoConstraintInfo,\n             "The bounds and labels for this MocoGoal, if applied as an "\n             "endpoint constraint.");\n+    OpenSim_DECLARE_LIST_PROPERTY(scale_factors, MocoScaleFactor,\n+            "Scale factors added by derived MocoGoal classes that are optimized "\n+            "via a MocoParameter. A copy of each MocoScaleFactor component is "\n+            "added to the model internal to MocoProblem, which makes the scale "\n+            "factors values available when computing the cost function for each "\n+            "MocoGoal.")\n \n     void constructProperties();\n \ndiff --git a/OpenSim/Moco/MocoGoal/MocoOrientationTrackingGoal.cpp b/OpenSim/Moco/MocoGoal/MocoOrientationTrackingGoal.cpp\nindex adf345ba0..d2adbcd9a 100644\n--- a/OpenSim/Moco/MocoGoal/MocoOrientationTrackingGoal.cpp\n+++ b/OpenSim/Moco/MocoGoal/MocoOrientationTrackingGoal.cpp\n@@ -194,7 +194,7 @@ void MocoOrientationTrackingGoal::calcIntegrandImpl(\n             m_ref_splines[4*iframe + 1].calcValue(timeVec),\n             m_ref_splines[4*iframe + 2].calcValue(timeVec),\n             m_ref_splines[4*iframe + 3].calcValue(timeVec));\n-        // Construct a Rotation object from which we\'ll calcuation an angle-axis \n+        // Construct a Rotation object from which we\'ll calculate an angle-axis\n         // representation of the current orientation error.\n         const Rotation R_GD(e);\n         const Rotation R_MD = ~R_GM*R_GD;\ndiff --git a/OpenSim/Moco/MocoProblem.h b/OpenSim/Moco/MocoProblem.h\nindex 66bc4968a..6ce7f72db 100644\n--- a/OpenSim/Moco/MocoProblem.h\n+++ b/OpenSim/Moco/MocoProblem.h\n@@ -374,8 +374,7 @@ protected: // Protected so that doxygen shows the properties.\n             "expression.");\n     OpenSim_DECLARE_LIST_PROPERTY(parameters, MocoParameter,\n             "Parameter variables (model properties) to optimize.");\n-    OpenSim_DECLARE_LIST_PROPERTY(\n-            goals, MocoGoal,\n+    OpenSim_DECLARE_LIST_PROPERTY(goals, MocoGoal,\n             "Integral/endpoint quantities to minimize or constrain.");\n     OpenSim_DECLARE_LIST_PROPERTY(path_constraints, MocoPathConstraint,\n             "Path constraints to enforce in the optimal control problem.");\ndiff --git a/OpenSim/Moco/MocoProblemRep.cpp b/OpenSim/Moco/MocoProblemRep.cpp\nindex 1b438037e..19eeac88d 100644\n--- a/OpenSim/Moco/MocoProblemRep.cpp\n+++ b/OpenSim/Moco/MocoProblemRep.cpp\n@@ -23,6 +23,7 @@\n #include "Components/DiscreteForces.h"\n #include "MocoProblem.h"\n #include "MocoProblemInfo.h"\n+#include "MocoScaleFactor.h"\n #include <regex>\n #include <unordered_set>\n \n@@ -73,6 +74,27 @@ void MocoProblemRep::initialize() {\n     m_discrete_controller_base.reset(discreteControllerBaseUPtr.get());\n     m_model_base.addController(discreteControllerBaseUPtr.release());\n \n+    // Scale factors\n+    // -------------\n+    int numScaleFactors = 0;\n+    std::unordered_set<std::string> scaleFactorNames;\n+    for (int i = 0; i < ph0.getProperty_goals().size(); ++i) {\n+        const auto& goal = ph0.get_goals(i);\n+        std::vector<MocoScaleFactor> scaleFactors = goal.getScaleFactors();\n+        for (const auto& scaleFactor : scaleFactors) {\n+            OPENSIM_THROW_IF(scaleFactor.getName().empty(), Exception,\n+                    "All scale factors must have a name.");\n+            OPENSIM_THROW_IF(scaleFactorNames.count(scaleFactor.getName()),\n+                     Exception, "A scale factor with name \'{}\' already exists.",\n+                     scaleFactor.getName());\n+            scaleFactorNames.insert(scaleFactor.getName());\n+            MocoScaleFactor* thisScaleFactor = new MocoScaleFactor(\n+                    scaleFactor.getName(),\n+                    scaleFactor.getBounds());\n+            m_model_base.addComponent(thisScaleFactor);\n+            ++numScaleFactors;\n+        }\n+    }\n     m_model_base.finalizeFromProperties();\n \n     int countMotion = 0;\n@@ -480,12 +502,13 @@ void MocoProblemRep::initialize() {\n         }\n     }\n \n-\n     // Parameters.\n     // -----------\n-    m_parameters.resize(ph0.getProperty_parameters().size());\n+    int numParametersFromPhase = (int)ph0.getProperty_parameters().size();\n+    m_parameters.resize(ph0.getProperty_parameters().size() + numScaleFactors);\n+    // Construct MocoParameters added to the MocoProblem via addParameter().\n     std::unordered_set<std::string> paramNames;\n-    for (int i = 0; i < ph0.getProperty_parameters().size(); ++i) {\n+    for (int i = 0; i < numParametersFromPhase; ++i) {\n         const auto& param = ph0.get_parameters(i);\n         OPENSIM_THROW_IF(param.getName().empty(), Exception,\n                 "All parameters must have a name.");\n@@ -495,13 +518,31 @@ void MocoProblemRep::initialize() {\n         m_parameters[i] = std::unique_ptr<MocoParameter>(param.clone());\n         // We must initialize on both models so that they are consistent\n         // when parameters are updated when applyParameterToModel() is\n-        // called. Calling initalizeOnModel() twice here is fine since the\n+        // called. Calling initializeOnModel() twice here is fine since the\n         // models are identical aside from disabled Simbody constraints. The\n         // property references to the parameters in both models are added to\n         // the MocoParameter\'s internal vector of property references.\n         m_parameters[i]->initializeOnModel(m_model_base);\n         m_parameters[i]->initializeOnModel(m_model_disabled_constraints);\n     }\n+    // Add MocoParameters based on MocoScaleFactors added to the model. We use\n+    // the name of the MocoScaleFactor for the MocoParameter, which is already\n+    // guaranteed to be unique based on the checks we made above.\n+    int iparam = numParametersFromPhase;\n+    const auto& scaleFactors =\n+            m_model_disabled_constraints.getComponentList<MocoScaleFactor>();\n+    for (const auto& scaleFactor : scaleFactors) {\n+        m_parameters[iparam] = std::unique_ptr<MocoParameter>(\n+                new MocoParameter(\n+                        scaleFactor.getName(),\n+                        scaleFactor.getAbsolutePathString(),\n+                        "scale_factor",\n+                        scaleFactor.getBounds()));\n+        m_parameters[iparam]->initializeOnModel(m_model_base);\n+        m_parameters[iparam]->initializeOnModel(\n+                m_model_disabled_constraints);\n+        ++iparam;\n+    }\n \n     // Goals.\n     // ------\ndiff --git a/OpenSim/Moco/MocoScaleFactor.cpp b/OpenSim/Moco/MocoScaleFactor.cpp\nnew file mode 100644\nindex 000000000..40347d1a8\n--- /dev/null\n+++ b/OpenSim/Moco/MocoScaleFactor.cpp\n@@ -0,0 +1,36 @@\n+/* -------------------------------------------------------------------------- *\n+ * OpenSim: MocoScaleFactor.h                                                 *\n+ * -------------------------------------------------------------------------- *\n+ * Copyright (c) 2021 Stanford University and the Authors                     *\n+ *                                                                            *\n+ * Author(s): Nicholas Bianco                                                 *\n+ *                                                                            *\n+ * Licensed under the Apache License, Version 2.0 (the "License"); you may    *\n+ * not use this file except in compliance with the License. You may obtain a  *\n+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0          *\n+ *                                                                            *\n+ * Unless required by applicable law or agreed to in writing, software        *\n+ * distributed under the License is distributed on an "AS IS" BASIS,          *\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *\n+ * See the License for the specific language governing permissions and        *\n+ * limitations under the License.                                             *\n+ * -------------------------------------------------------------------------- */\n+\n+#include "MocoScaleFactor.h"\n+\n+using namespace OpenSim;\n+\n+MocoScaleFactor::MocoScaleFactor() {\n+    constructProperties();\n+}\n+\n+MocoScaleFactor::MocoScaleFactor(const std::string& name,\n+        const MocoBounds& bounds) : MocoScaleFactor() {\n+    setName(name);\n+    set_bounds(bounds.getAsArray());\n+}\n+\n+void MocoScaleFactor::constructProperties() {\n+    constructProperty_bounds();\n+    constructProperty_scale_factor(1.0);\n+}\n\\ No newline at end of file\ndiff --git a/OpenSim/Moco/MocoScaleFactor.h b/OpenSim/Moco/MocoScaleFactor.h\nnew file mode 100644\nindex 000000000..f6a64bb41\n--- /dev/null\n+++ b/OpenSim/Moco/MocoScaleFactor.h\n@@ -0,0 +1,63 @@\n+#ifndef OPENSIM_MOCOSCALEFACTOR_H\n+#define OPENSIM_MOCOSCALEFACTOR_H\n+/* -------------------------------------------------------------------------- *\n+ * OpenSim: MocoScaleFactor.h                                                 *\n+ * -------------------------------------------------------------------------- *\n+ * Copyright (c) 2021 Stanford University and the Authors                     *\n+ *                                                                            *\n+ * Author(s): Nicholas Bianco                                                 *\n+ *                                                                            *\n+ * Licensed under the Apache License, Version 2.0 (the "License"); you may    *\n+ * not use this file except in compliance with the License. You may obtain a  *\n+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0          *\n+ *                                                                            *\n+ * Unless required by applicable law or agreed to in writing, software        *\n+ * distributed under the License is distributed on an "AS IS" BASIS,          *\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *\n+ * See the License for the specific language governing permissions and        *\n+ * limitations under the License.                                             *\n+ * -------------------------------------------------------------------------- */\n+\n+#include <OpenSim/Common/Component.h>\n+#include "MocoBounds.h"\n+\n+namespace OpenSim {\n+\n+/** A scale factor is a scalar value optimized by Moco that can be used to scale\n+a tracked reference quantity in the cost function. Scale factors can be added to\n+a MocoProblem via MocoGoals, and this class enables the use of MocoParameter\n+to optimize scale factors values by providing the \'scale_factor\' property.\n+MocoScaleFactor derives from Component, since it must be appended to the model\n+internal to MocoProblem as MocoParameter can only optimize model parameter values\n+contained in properties. Users do not need to interact with this class directly,\n+but rather use the \'addScaleFactor()\' interface provided by MocoGoals that\n+support scale factors. How the scale factor is utilized in the cost function is\n+specific to each MocoGoal. */\n+class OSIMMOCO_API MocoScaleFactor : public Component {\n+    OpenSim_DECLARE_CONCRETE_OBJECT(MocoScaleFactor, Component);\n+\n+public:\n+    MocoScaleFactor();\n+    MocoScaleFactor(const std::string& name, const MocoBounds&);\n+\n+    double getScaleFactor() const { return get_scale_factor(); }\n+    void setScaleFactor(double value) { set_scale_factor(value); }\n+\n+    /// @details Note: the return value is constructed fresh on every call from\n+    /// the internal property. Avoid repeated calls to this function.\n+    MocoBounds getBounds() const { return MocoBounds(getProperty_bounds()); }\n+    void setBounds(const MocoBounds& bounds) {\n+        set_bounds(bounds.getAsArray());\n+    }\n+protected:\n+    OpenSim_DECLARE_PROPERTY(scale_factor, double, "TODO");\n+    OpenSim_DECLARE_LIST_PROPERTY_ATMOST(bounds, double, 2,\n+        "1 value: required value over all time. "\n+        "2 values: lower, upper bounds on value over all time.");\n+private:\n+    void constructProperties();\n+};\n+\n+} // namespace OpenSim\n+\n+#endif //OPENSIM_MOCOSCALEFACTOR_H\ndiff --git a/OpenSim/Moco/MocoVariableInfo.h b/OpenSim/Moco/MocoVariableInfo.h\nindex 3ee9ad918..dd6e7dfd7 100644\n--- a/OpenSim/Moco/MocoVariableInfo.h\n+++ b/OpenSim/Moco/MocoVariableInfo.h\n@@ -1,7 +1,7 @@\n #ifndef OPENSIM_MOCOVARIABLEINFO_H\n #define OPENSIM_MOCOVARIABLEINFO_H\n /* -------------------------------------------------------------------------- *\n- * OpenSim: MocoProblem.h                                                     *\n+ * OpenSim: MocoVariableInfo.h                                                *\n  * -------------------------------------------------------------------------- *\n  * Copyright (c) 2017 Stanford University and the Authors                     *\n  *                                                                            *\ndiff --git a/OpenSim/Moco/RegisterTypes_osimMoco.cpp b/OpenSim/Moco/RegisterTypes_osimMoco.cpp\nindex 8ca5ef7ab..374a1cc6c 100644\n--- a/OpenSim/Moco/RegisterTypes_osimMoco.cpp\n+++ b/OpenSim/Moco/RegisterTypes_osimMoco.cpp\n@@ -21,6 +21,7 @@\n #include "Components/DiscreteForces.h"\n #include "Components/StationPlaneContactForce.h"\n #include "MocoBounds.h"\n+#include "MocoScaleFactor.h"\n #include "MocoCasADiSolver/MocoCasADiSolver.h"\n #include "MocoControlBoundConstraint.h"\n #include "MocoFrameDistanceConstraint.h"\n@@ -85,6 +86,7 @@ OSIMMOCO_API void RegisterTypes_osimMoco() {\n         Object::registerType(MocoInitialBounds());\n         Object::registerType(MocoFinalBounds());\n         Object::registerType(MocoVariableInfo());\n+        Object::registerType(MocoScaleFactor());\n         Object::registerType(MocoParameter());\n         Object::registerType(MocoPhase());\n         Object::registerType(MocoProblem());\ndiff --git a/OpenSim/Moco/Test/testMocoGoals.cpp b/OpenSim/Moco/Test/testMocoGoals.cpp\nindex 574f4f929..21752f382 100644\n--- a/OpenSim/Moco/Test/testMocoGoals.cpp\n+++ b/OpenSim/Moco/Test/testMocoGoals.cpp\n@@ -223,7 +223,6 @@ MocoStudy setupMocoStudyDoublePendulumMinimizeEffort() {\n     problem.setStateInfo("/jointset/j0/q0/speed", {-50, 50}, 0, 0);\n     problem.setStateInfo("/jointset/j1/q1/value", {-10, 10}, Pi, 0);\n     problem.setStateInfo("/jointset/j1/q1/speed", {-50, 50}, 0, 0);\n-\n     auto& solver = study.initSolver<SolverType>();\n     solver.set_num_mesh_intervals(20);\n     solver.set_optim_convergence_tolerance(1e-5);\n@@ -260,7 +259,7 @@ TEMPLATE_TEST_CASE("Test tracking goals", "", MocoCasADiSolver,\n         MocoTropterSolver) {\n \n     // Start with double pendulum problem to minimize control effort to create\n-    // a controls trajectory to track.\n+    // a trajectory to track.\n     MocoStudy study = setupMocoStudyDoublePendulumMinimizeEffort<TestType>();\n     auto solutionEffort = study.solve();\n     solutionEffort.write(\n@@ -291,7 +290,7 @@ TEMPLATE_TEST_CASE("Test tracking goals", "", MocoCasADiSolver,\n         guessTracking.randomizeAdd();\n         solver.setGuess(guessTracking);\n         auto solutionTracking = study.solve();\n-        solutionEffort.write(\n+        solutionTracking.write(\n                 "testMocoGoals_MocoControlTrackingGoal_tracking_solution.sto");\n \n         // Make sure control tracking problem matches control effort problem.\n@@ -399,6 +398,69 @@ TEMPLATE_TEST_CASE("Test tracking goals", "", MocoCasADiSolver,\n     }\n }\n \n+TEST_CASE("Test MocoScaleFactor", "") {\n+    // Start with double pendulum problem to minimize control effort to create\n+    // a trajectory to track.\n+    MocoStudy study =\n+            setupMocoStudyDoublePendulumMinimizeEffort<MocoCasADiSolver>();\n+    auto solutionEffort = study.solve();\n+\n+    // Change the strength of the CoordinateActuators in the Model so that we\n+    // force the scale factors to be used. The actuators have a default optimal\n+    // force of 1, and bounds of [-100, 100].\n+    auto& problem = study.updProblem();\n+    auto& model = problem.updModel();\n+    model.updComponent<CoordinateActuator>("/tau0").setOptimalForce(2.0);\n+    model.updComponent<CoordinateActuator>("/tau1").setOptimalForce(2.0);\n+    // Down-weight the effort term so the tracking cost dominates.\n+    problem.updPhase(0).updGoal("effort").setWeight(1e-6);\n+    // Add the control tracking goal.\n+    auto* tracking =\n+            problem.addGoal<MocoControlTrackingGoal>("control_tracking");\n+    std::vector<double> time(\n+            solutionEffort.getTime().getContiguousScalarData(),\n+            solutionEffort.getTime().getContiguousScalarData() +\n+            solutionEffort.getNumTimes());\n+    TimeSeriesTable controlsRef(time,\n+                                solutionEffort.getControlsTrajectory(),\n+                                solutionEffort.getControlNames());\n+    tracking->setReference(controlsRef);\n+    // Add the scale factors.\n+    const auto& controlNames = solutionEffort.getControlNames();\n+    tracking->addScaleFactor("tau0_scale_factor",\n+            controlNames[0], MocoBounds(0.1, 0.5));\n+    tracking->addScaleFactor("tau1_scale_factor",\n+            controlNames[1], MocoBounds(0.1, 0.5));\n+\n+    // Update the solver with the new problem and disable initSystem() calls for\n+    // the MocoParameters.\n+    auto& solver = study.updSolver<MocoCasADiSolver>();\n+    solver.set_parameters_require_initsystem(false);\n+    solver.resetProblem(problem);\n+    // Construct a guess for the problem. We double the actuator strengths so\n+    // here we half the controls.\n+    auto guessTracking = solver.createGuess("bounds");\n+    guessTracking.insertStatesTrajectory(\n+            solutionEffort.exportToStatesTable(), true);\n+    auto effortControls = solutionEffort.getControlsTrajectory();\n+    effortControls.updCol(0) *= 0.5;\n+    effortControls.updCol(1) *= 0.5;\n+    solutionEffort.setControl("/tau0", effortControls.updCol(0).getAsVector());\n+    solutionEffort.setControl("/tau1", effortControls.updCol(1).getAsVector());\n+    guessTracking.insertControlsTrajectory(\n+            solutionEffort.exportToControlsTable(), true);\n+    solver.setGuess(guessTracking);\n+    // Solve.\n+    auto solutionTracking = study.solve();\n+    // Make sure control tracking problem matches control effort problem. We\'ve\n+    // already adjusted the effort controls while constructing the initial guess\n+    // above, so this comparison should pass if the problem solved correctly.\n+    OpenSim_CHECK_MATRIX_ABSTOL(solutionEffort.getControlsTrajectory(),\n+            solutionTracking.getControlsTrajectory(), 1e-4);\n+    OpenSim_CHECK_MATRIX_ABSTOL(solutionEffort.getStatesTrajectory(),\n+            solutionTracking.getStatesTrajectory(), 1e-4);\n+}\n+\n TEMPLATE_TEST_CASE("Test MocoJointReactionGoal", "",\n         MocoCasADiSolver, MocoTropterSolver) {\n \ndiff --git a/OpenSim/Moco/Test/testMocoParameters.cpp b/OpenSim/Moco/Test/testMocoParameters.cpp\nindex 26b3f6382..ef504723d 100644\n--- a/OpenSim/Moco/Test/testMocoParameters.cpp\n+++ b/OpenSim/Moco/Test/testMocoParameters.cpp\n@@ -25,7 +25,7 @@\n #include <OpenSim/Simulation/SimbodyEngine/SliderJoint.h>\n using namespace OpenSim;\n \n-// Reshaper is a JetBrains add-on to Visual Studio that allows running tests\n+// Resharper is a JetBrains add-on to Visual Studio that allows running tests\n // individually, but sometimes needs this dummy test case to make template\n // test cases discoverable.\n TEST_CASE("(Dummy test to support discovery in Resharper)") { REQUIRE(true); }\ndiff --git a/OpenSim/Simulation/OpenSense/IMU.h b/OpenSim/Simulation/OpenSense/IMU.h\nindex cdb576a2e..3a6cf2d10 100644\n--- a/OpenSim/Simulation/OpenSense/IMU.h\n+++ b/OpenSim/Simulation/OpenSense/IMU.h\n@@ -59,7 +59,7 @@ public:\n     OpenSim_DECLARE_OUTPUT(gyroscope_signal, SimTK::Vec3,\n             calcGyroscopeSignal, SimTK::Stage::Velocity);\n     OpenSim_DECLARE_OUTPUT(accelerometer_signal, SimTK::Vec3,\n-            calcAccelerometerSignal, SimTK::Stage::Dynamics);\n+            calcAccelerometerSignal, SimTK::Stage::Acceleration);\n     // Outputs\n     SimTK::Transform calcTransformInGround(const SimTK::State& s) const {\n         return get_frame().getTransformInGround(s);\n', 'commit_subject': "Merge branch 'master' into move_positionmotion_2simulation", 'repo_name': 'opensim-org/opensim-core', 'committer': {'name': 'aymanhab', 'email': '8ed3d36c15b09fc26f15c5d6263fa800d475ac16@stanford.edu', 'time_sec': '1625166833', 'tz_offset': '-420', 'date': {'seconds': '1625166833'}}, 'commit_tree': '66b546103120cc69498f7ab57a6663810d190865', 'commit_message': "Merge branch 'master' into move_positionmotion_2simulation\n", 'language_name': 'C', 'license': 'apache-2.0', 'hunks': '@@ -59,7 +59,7 @@ public:\n     OpenSim_DECLARE_OUTPUT(gyroscope_signal, SimTK::Vec3,\n             calcGyroscopeSignal, SimTK::Stage::Velocity);\n     OpenSim_DECLARE_OUTPUT(accelerometer_signal, SimTK::Vec3,\n-            calcAccelerometerSignal, SimTK::Stage::Dynamics);\n+            calcAccelerometerSignal, SimTK::Stage::Acceleration);\n     // Outputs\n     SimTK::Transform calcTransformInGround(const SimTK::State& s) const {\n         return get_frame().getTransformInGround(s);\n', 'addition_count': 1, 'deletion_count': 1, 'src_file': 'a/OpenSim/Simulation/OpenSense/IMU.h', 'tgt_file': 'b/OpenSim/Simulation/OpenSense/IMU.h', 'file_extension': '.h', 'before_file': '#ifndef OPENSIM_IMU_H_\n#define OPENSIM_IMU_H_\n/* -------------------------------------------------------------------------- *\n*                        OpenSim:           IMU.h                            *\n* -------------------------------------------------------------------------- *\n* The OpenSim API is a toolkit for musculoskeletal modeling and simulation.  *\n* See http://opensim.stanford.edu and the NOTICE file for more information.  *\n* OpenSim is developed at Stanford University and supported by the US        *\n* National Institutes of Health (U54 GM072970, R24 HD065690) and by DARPA    *\n* through the Warrior Web program.                                           *\n*                                                                            *\n* Copyright (c) 2005-2021 Stanford University and the Authors                *\n* Author(s): Ayman Habib                                                     *\n*                                                                            *\n* Licensed under the Apache License, Version 2.0 (the "License"); you may    *\n* not use this file except in compliance with the License. You may obtain a  *\n* copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *\n*                                                                            *\n* Unless required by applicable law or agreed to in writing, software        *\n* distributed under the License is distributed on an "AS IS" BASIS,          *\n* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *\n* See the License for the specific language governing permissions and        *\n* limitations under the License.                                             *\n* -------------------------------------------------------------------------- */\n\n#include <OpenSim/Simulation/Model/ModelComponent.h>\n#include <OpenSim/Simulation/Model/PhysicalFrame.h>\n\n\nnamespace OpenSim {\n//=============================================================================\n//                               IMU\n//=============================================================================\n/**\nIMU is a Model Component that represents an IMU along with its Geometry\nfor visualization.\n@todo add noise model, limits/saturation, as needed.\n\n\n@authors Ayman Habib\n**/\nclass OSIMSIMULATION_API IMU : public ModelComponent {\n    OpenSim_DECLARE_CONCRETE_OBJECT(IMU, ModelComponent);\n\npublic:\n    IMU() = default;\n    virtual ~IMU() = default;\n    IMU(const IMU&) = default;\n    IMU(IMU&&) = default;\n    IMU& operator=(const IMU&) = default;\n    IMU& operator=(IMU&&) = default;\n\n    // Attachment frame for placement/visualization\n    OpenSim_DECLARE_SOCKET(\n            frame, PhysicalFrame, "The frame to which the IMU is attached.");\n\n    OpenSim_DECLARE_OUTPUT(orientation_as_quaternion, SimTK::Quaternion,\n            calcOrientationAsQuaternion,\n    OpenSim_DECLARE_OUTPUT(gyroscope_signal, SimTK::Vec3,\n            calcGyroscopeSignal, SimTK::Stage::Velocity);\n    OpenSim_DECLARE_OUTPUT(accelerometer_signal, SimTK::Vec3,\n            calcAccelerometerSignal, SimTK::Stage::Dynamics);\n    // Outputs\n    SimTK::Transform calcTransformInGround(const SimTK::State& s) const {\n        return get_frame().getTransformInGround(s);\n    SimTK::Transform calcTransformInGround(const SimTK::State& s) const {\n        return get_frame().getTransformInGround(s);\n    }\n    /// Report the orientation of this IMU in ground frame expressed as Quaternion\n    SimTK::Quaternion calcOrientationAsQuaternion(const SimTK::State& s) const {\n        return SimTK::Quaternion(calcTransformInGround(s).R());\n    }\n    /// Report the angular velocity of the frame to which this IMU is attached\n    /// in ground frame\n    SimTK::Vec3 calcGyroscopeSignal(const SimTK::State& s) const {\n        return get_frame().getAngularVelocityInGround(s);\n    }\n    /// Report the linear acceleration of the frame to which this IMU is attached in Ground.\n    /// Gravity is subtracted and result expressed in the frame to which the IMU is attached.\n    SimTK::Vec3 calcAccelerometerSignal(\n            const SimTK::State& s) const {\n        const auto& model = getModel();\n        const auto& ground = model.getGround();\n        const auto& gravity = model.getGravity();\n        SimTK::Vec3 linearAcceleration =\n                get_frame().getLinearAccelerationInGround(s);\n        return ground.expressVectorInAnotherFrame(\n                s, linearAcceleration - gravity, get_frame());\n    }\n    void generateDecorations(bool fixed, const ModelDisplayHints& hints,\n        const SimTK::State& state,\n        SimTK::Array_<SimTK::DecorativeGeometry>& appendToThis)\n        const override {\n        if (!fixed) return;\n\n        // @TODO default color, size, shape should be obtained from hints\n        const OpenSim::PhysicalFrame& physFrame = this->get_frame();\n        SimTK::Transform relativeXform = physFrame.findTransformInBaseFrame();\n        appendToThis.push_back(\n                SimTK::DecorativeBrick(SimTK::Vec3(0.02, 0.01, 0.005))\n                        .setBodyId(physFrame.getMobilizedBodyIndex())\n                                        .setColor(SimTK::Orange)\n                        .setTransform(relativeXform));\n    }\n\nprivate:\n \n    const PhysicalFrame& get_frame() const {\n        return getSocket<PhysicalFrame>("frame").getConnectee();\n    }\n}; // End of class IMU\n\n}\n#endif // OPENSIM_IMU_H_\n', 'message': "Merge branch 'master' into move_positionmotion_2simulation\n", 'author_name': 'aymanhab', 'lang': 'h'}