adamkewley · October 11, 2022 13:44
diff --git a/Rajagopal2015_SegfaultOnLoad.osim b/Rajagopal2015_SegfaultOnLoad.osim
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<Model name="FullBodyModel_MuscleActuatedLowerLimb_TorqueActuatedUpperBody">
 		<defaults>
 			<ControlLinear name="default">
 				<is_model_control>true</is_model_control>
 				<extrapolate>true</extrapolate>
 				<default_min>-1</default_min>
 				<default_max>1</default_max>
 				<filter_on>false</filter_on>
 				<use_steps>false</use_steps>
 				<x_nodes />
 				<min_nodes />
 				<max_nodes />
 				<kp>100</kp>
 				<kv>20</kv>
 			</ControlLinear>
 			<CoordinateActuator name="default">
 				<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
 				<appliesForce>true</appliesForce>
 				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 				<min_control>-Inf</min_control>
 				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 				<max_control>Inf</max_control>
 				<!--Name of the generalized coordinate to which the actuator applies.-->
 				<coordinate>Unassigned</coordinate>
 				<!--The maximum generalized force produced by this actuator.-->
 				<optimal_force>300</optimal_force>
 			</CoordinateActuator>
 			<PointActuator name="default">
 				<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
 				<appliesForce>true</appliesForce>
 				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 				<min_control>-Inf</min_control>
 				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 				<max_control>Inf</max_control>
 				<!--Name of Body to which this actuator is applied.-->
 				<body></body>
 				<!--Location of application point; in body frame unless point_is_global=true-->
 				<point>0 0 0</point>
 				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
 				<point_is_global>false</point_is_global>
 				<!--Force application direction; in body frame unless force_is_global=true.-->
 				<direction>-1 -0 -0</direction>
 				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
 				<force_is_global>true</force_is_global>
 				<!--The maximum force produced by this actuator when fully activated.-->
 				<optimal_force>1000</optimal_force>
 			</PointActuator>
 			<TorqueActuator name="default">
 				<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
 				<appliesForce>true</appliesForce>
 				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 				<min_control>-Inf</min_control>
 				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 				<max_control>Inf</max_control>
 				<!--Name of Body to which the torque actuator is applied.-->
 				<bodyA>Unassigned</bodyA>
 				<!--Name of Body to which the equal and opposite torque is applied.-->
 				<bodyB>Unassigned</bodyB>
 				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
 				<torque_is_global>true</torque_is_global>
 				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
 				<axis>-1 -0 -0</axis>
 				<!--The maximum torque produced by this actuator when fully activated.-->
 				<optimal_force>1</optimal_force>
 			</TorqueActuator>
 			<Millard2012EquilibriumMuscle name="default">
 				<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
 				<appliesForce>true</appliesForce>
 				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 				<min_control>0.01</min_control>
 				<!--The set of points defining the path of the actuator.-->
 				<GeometryPath name="geometrypath">
 					<!--The set of points defining the path-->
 					<PathPointSet>
 						<objects />
 						<groups />
 					</PathPointSet>
 					<!--The wrap objects that are associated with this path-->
 					<PathWrapSet>
 						<objects />
 						<groups />
 					</PathWrapSet>
 					<!--Default appearance attributes for this GeometryPath-->
 					<Appearance>
 						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 					</Appearance>
 				</GeometryPath>
 				<!--The maximum force this actuator can produce.-->
 				<optimal_force>1</optimal_force>
 				<!--Maximum isometric force that the fibers can generate-->
 				<max_isometric_force>546</max_isometric_force>
 				<!--Optimal length of the muscle fibers-->
 				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
 				<!--Resting length of the tendon-->
 				<tendon_slack_length>0.078</tendon_slack_length>
 				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
 				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
 				<max_contraction_velocity>10</max_contraction_velocity>
 			</Millard2012EquilibriumMuscle>
 			<CMC_Joint name="default">
 				<!--Flag (true or false) indicating whether or not a task is enabled.-->
 				<on>false</on>
 				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
 				<weight> 1 1 1</weight>
 				<!--Name of body frame with respect to which a tracking objective is specified. The special name 'center_of_mass' refers to the system center of mass. This property is not used for tracking joint angles.-->
 				<wrt_body>-1</wrt_body>
 				<!--Name of body frame in which the tracking objectives are expressed.  This property is not used for tracking joint angles.-->
 				<express_body>-1</express_body>
 				<!--Array of 3 flags (each true or false) specifying whether a component of a task is active.  For example, tracking the trajectory of a point in space could have three components (x,y,z).  This allows each of those to be made active (true) or inactive (false).  A task for tracking a joint coordinate only has one component.-->
 				<active>false false false </active>
 				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
 				<kp> 1 1 1</kp>
 				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
 				<kv> 1 1 1</kv>
 				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no gain.-->
 				<ka> 1 1 1</ka>
 				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use this property.-->
 				<r0> 0 0 0</r0>
 				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->
 				<r1> 0 0 0</r1>
 				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->
 				<r2> 0 0 0</r2>
 				<!--Name of the coordinate to be tracked.-->
 				<coordinate />
 				<!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->
 				<limit>0</limit>
 			</CMC_Joint>
 		</defaults>
 		<!--The model's ground reference frame.-->
 		<Ground name="ground">
 			<!--The geometry used to display the axes of this Frame.-->
 			<FrameGeometry name="frame_geometry">
 				<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 				<socket_frame>..</socket_frame>
 				<!--Scale factors in X, Y, Z directions respectively.-->
 				<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 			</FrameGeometry>
 			<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 			<attached_geometry />
 			<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 			<WrapObjectSet name="wrapobjectset">
 				<objects />
 				<groups />
 			</WrapObjectSet>
 		</Ground>
 		<!--Acceleration due to gravity, expressed in ground.-->
 		<gravity>0 -9.8066499999999994 0</gravity>
 		<!--Credits (e.g., model author names) associated with the model.-->
 		<credits>Rajagopal, A, Dembia, C.L., DeMers, M.S., Delp, D.D., Hicks, J.L., and Delp, S.L.</credits>
 		<!--Publications and references associated with the model.-->
 		<publications>Rajagopal, Apoorva, et al. "Full-Body Musculoskeletal Model for Muscle-Driven Simulation of Human Gait." IEEE Transactions on Biomedical Engineering 63.10 (2016): 2068-2079. (2016)</publications>
 		<!--Units for all lengths.-->
 		<length_units>meters</length_units>
 		<!--Units for all forces.-->
 		<force_units>N</force_units>
 		<!--List of bodies that make up this model.-->
 		<BodySet name="bodyset">
 			<objects>
 				<Body name="pelvis">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="pelvis_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_pelvis.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="pelvis_geom_2">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_pelvis.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="pelvis_geom_3">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>sacrum.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects>
 							<WrapCylinder name="Gmax1_at_pelvis_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-0.59999999999999998 0.45000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.076999999999999999 -0.099000000000000005 0.060999999999999999</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-x</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.14999999999999999</length>
 							</WrapCylinder>
 							<WrapCylinder name="Gmax2_at_pelvis_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-0.75 0.39000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.080000000000000002 -0.083000000000000004 0.068000000000000005</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="Gmax3_at_pelvis_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-0.10000000000000001 0 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.083000000000000004 -0.087999999999999995 0.068000000000000005</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="Gmax1_at_pelvis_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0.59999999999999998 -0.45000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.076999999999999999 -0.099000000000000005 -0.060999999999999999</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-x</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.14999999999999999</length>
 							</WrapCylinder>
 							<WrapCylinder name="Gmax2_at_pelvis_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0.75 -0.39000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.080000000000000002 -0.083000000000000004 -0.068000000000000005</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="Gmax3_at_pelvis_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0.10000000000000001 0 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.083000000000000004 -0.087999999999999995 -0.068000000000000005</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="PS_at_brim_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-0.25 -0.27000000000000002 0.10000000000000001</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.073999999999999996 -0.059999999999999998 0.065600000000000006</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.050000000000000003</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="PS_at_brim_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0.25 0.27000000000000002 0.10000000000000001</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.073999999999999996 -0.059999999999999998 -0.065600000000000006</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.050000000000000003</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="IL_at_brim_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-0.32000000000000001 -0.23999999999999999 0.90000000000000002</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.070999999999999994 -0.065000000000000002 0.075600000000000001</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.054899999999999997</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="IL_at_brim_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0.32000000000000001 0.23999999999999999 0.90000000000000002</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.070999999999999994 -0.065000000000000002 -0.075600000000000001</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.054899999999999997</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 						</objects>
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>11.776999999999999</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>-0.070699999999999999 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.1028 0.087099999999999997 0.0579 0 0 0</inertia>
 				</Body>
 				<Body name="femur_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="femur_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_femur.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects>
 							<WrapCylinder name="Gastroc_at_condyles_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 0 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0050000000000000001 -0.40999999999999998 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.025000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="KnExt_at_fem_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-0.062336599999999999 0.050760100000000002 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0035882800000000001 -0.40273199999999998 0.0020911100000000002</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.025000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="AB_at_femshaft_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>1.66157 0.186644 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.014643400000000001 -0.112595 0.023365</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.016500000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.070000000000000007</length>
 							</WrapCylinder>
 							<WrapCylinder name="AL_at_femshaft_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>1.77711 0.136489 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.030732700000000002 -0.231909 0.015113700000000001</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.0201</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMprox_at_femshaft_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>1.6112599999999999 0.18656 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0051829900000000002 -0.072894799999999996 0.025402999999999998</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.021100000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.070000000000000007</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMmid_at_femshaft_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>1.6113900000000001 0.13655999999999999 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.023012500000000002 -0.16071099999999999 0.0205842</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.021399999999999999</radius>
 								<!--The length of the cylinder.-->
 								<length>0.12</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMdist_at_femshaft_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>1.7118800000000001 0.186636 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.031606500000000003 -0.26073600000000002 0.0093646000000000007</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.0218</radius>
 								<!--The length of the cylinder.-->
 								<length>0.20000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMisch_at_condyles_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>1.7111499999999999 -0.46336300000000002 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0226511 -0.37683100000000003 -0.0031543700000000001</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.23999999999999999</length>
 							</WrapCylinder>
 							<WrapCylinder name="PECT_at_femshaft_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>1.8129500000000001 0.27634399999999998 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0060857300000000001 -0.084502900000000006 0.030440499999999999</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.014999999999999999</radius>
 								<!--The length of the cylinder.-->
 								<length>0.050000000000000003</length>
 							</WrapCylinder>
 						</objects>
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>9.3013999999999992</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.17000000000000001 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.13389999999999999 0.035099999999999999 0.14119999999999999 0 0 0</inertia>
 				</Body>
 				<Body name="tibia_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="tibia_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_tibia.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="tibia_r_geom_2">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_fibula.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects>
 							<WrapCylinder name="GasLat_at_shank_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>2.9672299999999998 -0.279725 -1.4781200000000001</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0074000000000000003 -0.073999999999999996 -0.0033</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.055</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="GasMed_at_shank_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>2.9672299999999998 0.027972500000000001 -1.4781200000000001</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0074000000000000003 -0.073999999999999996 -0.0033</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.055</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="GR_at_condyles_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 -0.40000000000000002 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0030000000000000001 -0.02 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.035999999999999997</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="SM_at_condyles_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 -0.10000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.001 -0.02 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.035200000000000002</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="ST_at_condyles_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 -0.20000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.002 -0.020500000000000001 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.042500000000000003</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="BF_at_gastroc_r">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 0 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.058000000000000003 -0.059999999999999998 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.029999999999999999</radius>
 								<!--The length of the cylinder.-->
 								<length>0.14999999999999999</length>
 							</WrapCylinder>
 						</objects>
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>3.7075</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.1867 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0504 0.0051000000000000004 0.0511 0 0 0</inertia>
 				</Body>
 				<Body name="patella_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="patella_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_patella.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.086199999999999999</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.0018 0.0264 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>2.8700000000000001e-06 1.311e-05 1.311e-05 0 0 0</inertia>
 				</Body>
 				<Body name="talus_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="talus_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_talus.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.10000000000000001</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.001 0.001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="calcn_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="calcn_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_foot.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>1.25</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.10000000000000001 0.029999999999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0014 0.0038999999999999998 0.0041000000000000003 0 0 0</inertia>
 				</Body>
 				<Body name="toes_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="toes_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>r_bofoot.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.21659999999999999</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 -0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="femur_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="femur_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_femur.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects>
 							<WrapCylinder name="Gastroc_at_condyles_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 0 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0050000000000000001 -0.40999999999999998 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.025000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="KnExt_at_fem_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0.062336599999999999 -0.050760100000000002 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0035882800000000001 -0.40273199999999998 -0.0020911100000000002</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.025000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="AB_at_femshaft_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-1.66157 -0.186644 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.014643400000000001 -0.112595 -0.023365</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.016500000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.070000000000000007</length>
 							</WrapCylinder>
 							<WrapCylinder name="AL_at_femshaft_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-1.77711 -0.136489 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.030732700000000002 -0.231909 -0.015113700000000001</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.0201</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMprox_at_femshaft_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-1.6112599999999999 -0.18656 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0051829900000000002 -0.072894799999999996 -0.025402999999999998</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.021100000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.070000000000000007</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMmid_at_femshaft_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-1.6113900000000001 -0.13655999999999999 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.023012500000000002 -0.16071099999999999 -0.0205842</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.021399999999999999</radius>
 								<!--The length of the cylinder.-->
 								<length>0.12</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMdist_at_femshaft_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-1.7118800000000001 -0.186636 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.031606500000000003 -0.26073600000000002 -0.0093646000000000007</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.0218</radius>
 								<!--The length of the cylinder.-->
 								<length>0.20000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="AMisch_at_condyles_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-1.7111499999999999 0.46336300000000002 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0226511 -0.37683100000000003 0.0031543700000000001</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.040000000000000001</radius>
 								<!--The length of the cylinder.-->
 								<length>0.23999999999999999</length>
 							</WrapCylinder>
 							<WrapCylinder name="PECT_at_femshaft_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-1.8129500000000001 -0.27634399999999998 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>0.0060857300000000001 -0.084502900000000006 -0.030440499999999999</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.014999999999999999</radius>
 								<!--The length of the cylinder.-->
 								<length>0.050000000000000003</length>
 							</WrapCylinder>
 						</objects>
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>9.3013999999999992</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.17000000000000001 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.13389999999999999 0.035099999999999999 0.14119999999999999 0 0 0</inertia>
 				</Body>
 				<Body name="tibia_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="tibia_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_tibia.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="tibia_l_geom_2">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_fibula.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects>
 							<WrapCylinder name="GasLat_at_shank_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-2.9672299999999998 0.279725 -1.4781200000000001</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0074000000000000003 -0.073999999999999996 0.0033</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.055</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="GasMed_at_shank_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>-2.9672299999999998 -0.027972500000000001 -1.4781200000000001</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0074000000000000003 -0.073999999999999996 0.0033</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>-y</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.055</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="GR_at_condyles_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 0.40000000000000002 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.0030000000000000001 -0.02 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.035999999999999997</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="SM_at_condyles_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 0.10000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.001 -0.02 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.035200000000000002</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="ST_at_condyles_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 0.20000000000000001 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.002 -0.020500000000000001 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.042500000000000003</radius>
 								<!--The length of the cylinder.-->
 								<length>0.10000000000000001</length>
 							</WrapCylinder>
 							<WrapCylinder name="BF_at_gastroc_l">
 								<!--Whether or not the WrapObject is considered active in computing paths-->
 								<active>true</active>
 								<!--Body-fixed Euler angle sequence for the orientation of the WrapObject-->
 								<xyz_body_rotation>0 0 0</xyz_body_rotation>
 								<!--Translation of the WrapObject.-->
 								<translation>-0.058000000000000003 -0.059999999999999998 0</translation>
 								<!--The name of quadrant over which the wrap object is active. For example, '+x' or '-y' to set the sidedness of the wrapping.-->
 								<quadrant>all</quadrant>
 								<!--Default appearance for this Geometry-->
 								<Appearance>
 									<!--Flag indicating whether the associated Geometry is visible or hidden.-->
 									<visible>false</visible>
 									<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 									<opacity>0.5</opacity>
 									<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 									<color>0 1 1</color>
 									<!--Visuals applied to surfaces associated with this Appearance.-->
 									<SurfaceProperties>
 										<!--The representation (1:Points, 2:Wire, 3:Shaded) used to display the object.-->
 										<representation>3</representation>
 									</SurfaceProperties>
 								</Appearance>
 								<!--The radius of the cylinder.-->
 								<radius>0.029999999999999999</radius>
 								<!--The length of the cylinder.-->
 								<length>0.14999999999999999</length>
 							</WrapCylinder>
 						</objects>
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>3.7075</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.1867 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0504 0.0051000000000000004 0.0511 0 0 0</inertia>
 				</Body>
 				<Body name="patella_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="patella_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_patella.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.086199999999999999</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.0018 0.0264 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>2.8700000000000001e-06 1.311e-05 1.311e-05 0 0 0</inertia>
 				</Body>
 				<Body name="talus_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="talus_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_talus.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.10000000000000001</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 0 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.001 0.001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="calcn_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="calcn_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_foot.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>1.25</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.10000000000000001 0.029999999999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0014 0.0038999999999999998 0.0041000000000000003 0 0 0</inertia>
 				</Body>
 				<Body name="toes_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="toes_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>l_bofoot.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.21659999999999999</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0.034599999999999999 0.0060000000000000001 0.017500000000000002</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0001 0.00020000000000000001 0.001 0 0 0</inertia>
 				</Body>
 				<Body name="torso">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="torso_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>hat_spine.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="torso_geom_2">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>hat_jaw.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="torso_geom_3">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>hat_skull.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="torso_geom_4">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>hat_ribs_scap.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>26.826599999999999</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>-0.029999999999999999 0.32000000000000001 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>1.4744999999999999 0.75549999999999995 1.4314 0 0 0</inertia>
 				</Body>
 				<Body name="humerus_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="humerus_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>humerus_rv.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>2.0325000000000002</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.16450200000000001 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.011946 0.0041209999999999997 0.013409000000000001 0 0 0</inertia>
 				</Body>
 				<Body name="ulna_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="ulna_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ulna_rv.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.60750000000000004</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.12052499999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
 				</Body>
 				<Body name="radius_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="radius_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>radius_rv.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.60750000000000004</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.12052499999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
 				</Body>
 				<Body name="hand_r">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="hand_r_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>pisiform_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_2">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>lunate_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_3">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>scaphoid_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_4">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>triquetrum_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_5">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>hamate_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_6">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>capitate_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_7">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>trapezoid_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_8">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>trapezium_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_9">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal2_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_10">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>index_proximal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_11">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>index_medial_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_12">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>index_distal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_13">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal3_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_14">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>middle_proximal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_15">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>middle_medial_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_16">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>middle_distal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_17">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal4_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_18">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ring_proximal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_19">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ring_medial_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_20">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ring_distal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_21">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal5_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_22">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>little_proximal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_23">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>little_medial_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_24">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>little_distal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_25">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal1_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_26">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>thumb_proximal_rvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_r_geom_27">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>thumb_distal_rvs.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.45750000000000002</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.068095000000000003 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.000892 0.00054699999999999996 0.00134 0 0 0</inertia>
 				</Body>
 				<Body name="humerus_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="humerus_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>humerus_lv.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>2.0325000000000002</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.16450200000000001 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.011946 0.0041209999999999997 0.013409000000000001 0 0 0</inertia>
 				</Body>
 				<Body name="ulna_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="ulna_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ulna_lv.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.60750000000000004</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.12052499999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
 				</Body>
 				<Body name="radius_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="radius_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>1 1 1</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>radius_lv.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.60750000000000004</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.12052499999999999 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.0029619999999999998 0.00061799999999999995 0.0032130000000000001 0 0 0</inertia>
 				</Body>
 				<Body name="hand_l">
 					<!--The geometry used to display the axes of this Frame.-->
 					<FrameGeometry name="frame_geometry">
 						<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 						<socket_frame>..</socket_frame>
 						<!--Scale factors in X, Y, Z directions respectively.-->
 						<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 					</FrameGeometry>
 					<!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
 					<attached_geometry>
 						<Mesh name="hand_l_geom_1">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>pisiform_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_2">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>lunate_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_3">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>scaphoid_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_4">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>triquetrum_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_5">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>hamate_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_6">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>capitate_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_7">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>trapezoid_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_8">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>trapezium_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_9">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal2_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_10">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>index_proximal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_11">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>index_medial_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_12">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>index_distal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_13">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal3_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_14">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>middle_proximal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_15">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>middle_medial_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_16">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>middle_distal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_17">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal4_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_18">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ring_proximal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_19">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ring_medial_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_20">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>ring_distal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_21">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal5_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_22">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>little_proximal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_23">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>little_medial_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_24">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>little_distal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_25">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>metacarpal1_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_26">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>thumb_proximal_lvs.vtp</mesh_file>
 						</Mesh>
 						<Mesh name="hand_l_geom_27">
 							<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 							<socket_frame>..</socket_frame>
 							<!--Scale factors in X, Y, Z directions respectively.-->
 							<scale_factors>0.84999999999999998 0.84999999999999998 0.84999999999999998</scale_factors>
 							<!--Default appearance attributes for this Geometry-->
 							<Appearance>
 								<!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
 								<opacity>1</opacity>
 								<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 								<color>1 1 1</color>
 							</Appearance>
 							<!--Name of geometry file.-->
 							<mesh_file>thumb_distal_lvs.vtp</mesh_file>
 						</Mesh>
 					</attached_geometry>
 					<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.This property used to be a member of Body but was moved up with the introduction of Frames.-->
 					<WrapObjectSet name="wrapobjectset">
 						<objects />
 						<groups />
 					</WrapObjectSet>
 					<!--The mass of the body (kg)-->
 					<mass>0.45750000000000002</mass>
 					<!--The location (Vec3) of the mass center in the body frame.-->
 					<mass_center>0 -0.068095000000000003 0</mass_center>
 					<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
 					<inertia>0.000892 0.00054699999999999996 0.00134 0 0 0</inertia>
 				</Body>
 			</objects>
 			<groups />
 		</BodySet>
 		<!--List of joints that connect the bodies.-->
 		<JointSet name="jointset">
 			<objects>
 				<CustomJoint name="ground_pelvis">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>ground_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>pelvis_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="pelvis_tilt">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="pelvis_list">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="pelvis_rotation">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="pelvis_tx">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-5 5</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="pelvis_ty">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0.93999999999999995</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1 2</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="pelvis_tz">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-3 3</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="ground_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/ground</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="pelvis_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/pelvis</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>pelvis_tilt</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>pelvis_list</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>pelvis_rotation</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>pelvis_tx</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>pelvis_ty</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>pelvis_tz</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<CustomJoint name="hip_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>pelvis_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>/ground</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="hip_flexion_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.52359878000000004 2.0943950999999998</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="hip_adduction_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.87266463000000005 0.52359878000000004</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="hip_rotation_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.69813170000000002 0.69813170000000002</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="pelvis_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/pelvis</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.056276 -0.078490000000000004 0.077259999999999995</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="femur_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/femur_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>hip_flexion_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>hip_adduction_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>hip_rotation_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<CustomJoint name="walker_knee_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>femur_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>tibia_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="knee_angle_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>0 2.0943999999999998</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="femur_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/femur_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.00809 -0.40795999999999999 -0.0027499999999999998</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.64157 1.44618 1.5708</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="tibia_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/tibia_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.0080895399999999992 -0.0035347999999999998 -0.00148474</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.64157 1.44618 1.5708</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<CustomJoint name="patellofemoral_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>femur_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>patella_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="knee_angle_r_beta">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-99999.899999999994 99999.899999999994</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>false</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="femur_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/femur_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.00809 -0.40795999999999999 -0.0027499999999999998</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="patella_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/patella_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r_beta</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r_beta</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_r_beta</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0.0027499999999999998</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<PinJoint name="ankle_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>tibia_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>talus_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="ankle_angle_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.69813170000000002 0.52359878000000004</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="tibia_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/tibia_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.01 -0.40000000000000002 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0.175895 -0.105208 0.0186622</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="talus_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/talus_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0.175895 -0.105208 0.0186622</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<PinJoint name="subtalar_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>talus_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>calcn_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="subtalar_angle_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.34906585000000001 0.34906585000000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="talus_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/talus_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.048770000000000001 -0.041950000000000001 0.00792</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.7681899999999999 0.906223 1.8196000000000001</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="calcn_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/calcn_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.7681899999999999 0.906223 1.8196000000000001</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<PinJoint name="mtp_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>calcn_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>toes_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="mtp_angle_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.52359878000000004 0.52359878000000004</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="calcn_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/calcn_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0.17879999999999999 -0.002 0.00108</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-3.1415899999999999 0.61990100000000004 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="toes_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/toes_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-3.1415899999999999 0.61990100000000004 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<CustomJoint name="hip_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>pelvis_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>femur_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="hip_flexion_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.52359878000000004 2.0943950999999998</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="hip_adduction_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.87266463000000005 0.52359878000000004</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="hip_rotation_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.69813170000000002 0.69813170000000002</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="pelvis_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/pelvis</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.056276 -0.078490000000000004 -0.077259999999999995</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="femur_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/femur_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>hip_flexion_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>hip_adduction_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> -1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>hip_rotation_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> -1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<CustomJoint name="walker_knee_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>femur_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>tibia_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="knee_angle_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>0 2.0943999999999998</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="femur_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/femur_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.00809 -0.40795999999999999 0.0027499999999999998</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.64157 -1.44618 1.5708</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="tibia_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/tibia_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.0080895399999999992 -0.0035347999999999998 0.00148474</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.64157 -1.44618 1.5708</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>-1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<CustomJoint name="patellofemoral_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>femur_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>patella_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="knee_angle_l_beta">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-99999.899999999994 99999.899999999994</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>false</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="femur_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/femur_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.00809 -0.40795999999999999 0.0027499999999999998</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="patella_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/patella_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l_beta</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l_beta</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>knee_angle_l_beta</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<SimmSpline name="function">
 								<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>
 								<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>
 							</SimmSpline>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>-0.0027499999999999998</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<PinJoint name="ankle_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>tibia_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>talus_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="ankle_angle_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.69813170000000002 0.52359878000000004</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="tibia_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/tibia_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.01 -0.40000000000000002 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-0.175895 0.105208 0.0186622</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="talus_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/talus_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-0.175895 0.105208 0.0186622</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<PinJoint name="subtalar_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>talus_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>calcn_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="subtalar_angle_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.34906585000000001 0.34906585000000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="talus_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/talus_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.048770000000000001 -0.041950000000000001 -0.00792</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.7681899999999999 -0.906223 1.8196000000000001</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="calcn_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/calcn_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.7681899999999999 -0.906223 1.8196000000000001</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<PinJoint name="mtp_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>calcn_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>toes_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="mtp_angle_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.52359878000000004 0.52359878000000004</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="calcn_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/calcn_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0.17879999999999999 -0.002 -0.00108</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-3.1415899999999999 -0.61990100000000004 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="toes_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/toes_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-3.1415899999999999 -0.61990100000000004 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<CustomJoint name="back">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>pelvis_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>torso_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="lumbar_extension">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="lumbar_bending">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="lumbar_rotation">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="pelvis_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/pelvis</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.1007 0.081500000000000003 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="torso_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/torso</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>lumbar_extension</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>lumbar_bending</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>lumbar_rotation</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<CustomJoint name="acromial_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>torso_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>humerus_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="arm_flex_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="arm_add_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-2.0943950999999998 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="arm_rot_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="torso_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/torso</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0.0031549999999999998 0.3715 0.17000000000000001</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="humerus_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/humerus_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>arm_flex_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>arm_add_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>arm_rot_r</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<PinJoint name="elbow_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>humerus_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>ulna_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="elbow_flex_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>0 2.6179999999999999</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="humerus_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/humerus_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0.013143999999999999 -0.286273 -0.0095949999999999994</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-0.0228627 0.228018 0.0051688999999999997</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="ulna_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/ulna_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-0.0228627 0.228018 0.0051688999999999997</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<PinJoint name="radioulnar_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>ulna_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>radius_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="pro_sup_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>0 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="ulna_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/ulna_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.0067270000000000003 -0.013006999999999999 0.026082999999999999</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.56884 0.056427999999999999 1.5361400000000001</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="radius_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/radius_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.56884 0.056427999999999999 1.5361400000000001</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<UniversalJoint name="radius_hand_r">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>radius_r_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>hand_r_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="wrist_flex_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.22173048 1.22173048</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="wrist_dev_r">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.43633231 0.61086523999999998</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="radius_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/radius_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.0087969999999999993 -0.235841 0.013610000000000001</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.5708 0 -1.5708</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="hand_r_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/hand_r</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>-1.5708 0 -1.5708</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</UniversalJoint>
 				<CustomJoint name="acromial_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>torso_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>humerus_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="arm_flex_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="arm_add_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-2.0943950999999998 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="arm_rot_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.5707963300000001 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="torso_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/torso</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0.0031549999999999998 0.3715 -0.17000000000000001</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="humerus_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/humerus_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0 0 0</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 					<!--Defines how the child body moves with respect to the parent as a function of the generalized coordinates.-->
 					<SpatialTransform>
 						<!--3 Axes for rotations are listed first.-->
 						<TransformAxis name="rotation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>arm_flex_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>arm_add_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>-1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<TransformAxis name="rotation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates>arm_rot_l</coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 -1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<LinearFunction name="function">
 								<coefficients> 1 0</coefficients>
 							</LinearFunction>
 						</TransformAxis>
 						<!--3 Axes for translations are listed next.-->
 						<TransformAxis name="translation1">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>1 0 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation2">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 1 0</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 						<TransformAxis name="translation3">
 							<!--Names of the coordinates that serve as the independent variables         of the transform function.-->
 							<coordinates></coordinates>
 							<!--Rotation or translation axis for the transform.-->
 							<axis>0 0 1</axis>
 							<!--Transform function of the generalized coordinates used to        represent the amount of displacement along a specified axis.-->
 							<Constant name="function">
 								<value>0</value>
 							</Constant>
 						</TransformAxis>
 					</SpatialTransform>
 				</CustomJoint>
 				<PinJoint name="elbow_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>humerus_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>ulna_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="elbow_flex_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>0 2.6179999999999999</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="humerus_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/humerus_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0.013143999999999999 -0.286273 0.0095949999999999994</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0.0228627 -0.228018 0.0051688999999999997</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="ulna_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/ulna_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>0.0228627 -0.228018 0.0051688999999999997</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<PinJoint name="radioulnar_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>ulna_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>radius_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="pro_sup_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>0 1.5707963300000001</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>false</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="ulna_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/ulna_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.0067270000000000003 -0.013006999999999999 -0.026082999999999999</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.56884 -0.056427999999999999 1.5361400000000001</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="radius_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/radius_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.56884 -0.056427999999999999 1.5361400000000001</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</PinJoint>
 				<UniversalJoint name="radius_hand_l">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
 					<socket_parent_frame>radius_l_offset</socket_parent_frame>
 					<!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
 					<socket_child_frame>hand_l_offset</socket_child_frame>
 					<!--List containing the generalized coordinates (q's) that parameterize this joint.-->
 					<coordinates>
 						<Coordinate name="wrist_flex_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-1.22173048 1.22173048</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 						<Coordinate name="wrist_dev_l">
 							<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
 							<default_value>0</default_value>
 							<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
 							<default_speed_value>0</default_speed_value>
 							<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
 							<range>-0.43633231 0.61086523999999998</range>
 							<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
 							<clamped>true</clamped>
 							<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
 							<locked>true</locked>
 							<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
 							<prescribed_function />
 							<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
 							<prescribed>false</prescribed>
 						</Coordinate>
 					</coordinates>
 					<!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
 					<frames>
 						<PhysicalOffsetFrame name="radius_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/radius_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>-0.0087969999999999993 -0.235841 -0.013610000000000001</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.5708 0 1.5708</orientation>
 						</PhysicalOffsetFrame>
 						<PhysicalOffsetFrame name="hand_l_offset">
 							<!--The geometry used to display the axes of this Frame.-->
 							<FrameGeometry name="frame_geometry">
 								<!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
 								<socket_frame>..</socket_frame>
 								<!--Scale factors in X, Y, Z directions respectively.-->
 								<scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
 							</FrameGeometry>
 							<!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
 							<socket_parent>/bodyset/hand_l</socket_parent>
 							<!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
 							<translation>0 0 0</translation>
 							<!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
 							<orientation>1.5708 0 1.5708</orientation>
 						</PhysicalOffsetFrame>
 					</frames>
 				</UniversalJoint>
 			</objects>
 		</JointSet>
 		<!--Controllers that provide the control inputs for Actuators.-->
 		<ControllerSet name="controllerset">
 			<objects />
 			<groups />
 		</ControllerSet>
 		<!--Constraints in the model.-->
 		<ConstraintSet name="constraintset">
 			<objects>
 				<CoordinateCouplerConstraint name="patellofemoral_knee_angle_r_con">
 					<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
 					<isEnforced>true</isEnforced>
 					<!--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 the constraint.-->
 					<coupled_coordinates_function>
 						<LinearFunction>
 							<coefficients> 1 0</coefficients>
 						</LinearFunction>
 					</coupled_coordinates_function>
 					<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
 					<independent_coordinate_names>knee_angle_r</independent_coordinate_names>
 					<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
 					<dependent_coordinate_name>knee_angle_r_beta</dependent_coordinate_name>
 					<!--Scale factor for the coupling function.-->
 					<scale_factor>1</scale_factor>
 				</CoordinateCouplerConstraint>
 				<CoordinateCouplerConstraint name="patellofemoral_knee_angle_l_con">
 					<!--Flag indicating whether the constraint is enforced or not.Enforced means that the constraint is active in subsequent dynamics realizations. NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant the constraint was not being enforced. Thus, if 'isDisabled' is'true', then 'isEnforced' is false.-->
 					<isEnforced>true</isEnforced>
 					<!--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 the constraint.-->
 					<coupled_coordinates_function>
 						<LinearFunction>
 							<coefficients> 1 0</coefficients>
 						</LinearFunction>
 					</coupled_coordinates_function>
 					<!--List of names of the right hand side (independent) coordinates. Note the constraint function above, must be able to handle multiple coordinate values if more than one coordinate name is provided.-->
 					<independent_coordinate_names>knee_angle_l</independent_coordinate_names>
 					<!--Name of the left-hand side (dependent) coordinate of the constraint coupling function.-->
 					<dependent_coordinate_name>knee_angle_l_beta</dependent_coordinate_name>
 					<!--Scale factor for the coupling function.-->
 					<scale_factor>1</scale_factor>
 				</CoordinateCouplerConstraint>
 			</objects>
 			<groups />
 		</ConstraintSet>
 		<!--Forces in the model (includes Actuators).-->
 		<ForceSet name="forceset">
 			<objects>
 				<Millard2012EquilibriumMuscle name="addbrev_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addbrev_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.019099999999999999 -0.094 0.0154</location>
 								</PathPoint>
 								<PathPoint name="addbrev_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.002 -0.11799999999999999 0.024899999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AB_at_femshaft_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>625.81967213114797</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1031</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.035450291324676003</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.11478091999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addbrev_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addbrev_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addbrev_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addbrev_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addlong_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addlong_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0075799999999999999 -0.088900000000000007 0.018880000000000001</location>
 								</PathPoint>
 								<PathPoint name="addlong_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.011259999999999999 -0.23937 0.01583</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AL_at_femshaft_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>916.79999999999995</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1082</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.13179936334202599</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.13777038999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addlong_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addlong_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addlong_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addlong_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagDist_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagDist_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.074039999999999995 -0.12767000000000001 0.039820000000000001</location>
 								</PathPoint>
 								<PathPoint name="addmagDist_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.01125 -0.26250000000000001 0.019300000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMdist_at_femshaft_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1772</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.087380695461772698</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.19470502000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagDist_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagDist_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagDist_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagDist_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagIsch_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagIsch_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.089620000000000005 -0.12975999999999999 0.041709999999999997</location>
 								</PathPoint>
 								<PathPoint name="addmagIsch_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.00481 -0.38796999999999998 -0.032730000000000002</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMisch_at_condyles_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.15620000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.216343023454343</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.16804429000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagIsch_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagIsch_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagIsch_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagIsch_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagMid_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagMid_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.052659999999999998 -0.12075 0.028539999999999999</location>
 								</PathPoint>
 								<PathPoint name="addmagMid_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0024199999999999998 -0.16239999999999999 0.029219999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMmid_at_femshaft_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.13769999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.046627699907046398</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.20730759000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagMid_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagMid_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagMid_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagMid_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagProx_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagProx_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.030980000000000001 -0.10755000000000001 0.013650000000000001</location>
 								</PathPoint>
 								<PathPoint name="addmagProx_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.015270000000000001 -0.07886 0.03202</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMprox_at_femshaft_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1056</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.0403240979232675</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31148325999999998</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagProx_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagProx_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagProx_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagProx_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="bflh_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="bflh_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.104 -0.1191 0.058599999999999999</location>
 								</PathPoint>
 								<PathPoint name="bflh_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.033700000000000001 -0.035000000000000003 0.0253</location>
 								</PathPoint>
 								<PathPoint name="bflh_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0287 -0.045499999999999999 0.030300000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1313.18360655738</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.097600000000000006</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.32522664751645702</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17591823000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="bflh_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="bflh_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="bflh_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="bflh_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="bfsh_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="bfsh_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 -0.21110000000000001 0.023400000000000001</location>
 								</PathPoint>
 								<PathPoint name="bfsh_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.030099999999999998 -0.0419 0.031800000000000002</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>BF_at_gastroc_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>557.11475409835998</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1103</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.105817218589115</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.26422317000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="bfsh_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="bfsh_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="bfsh_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="bfsh_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="edl_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="edl_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.016 -0.1157 0.020500000000000001</location>
 								</PathPoint>
 								<PathPoint name="edl_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.016400000000000001 -0.376 0.0112</location>
 								</PathPoint>
 								<PathPoint name="edl_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.091899999999999996 0.035999999999999997 0.00080000000000000004</location>
 								</PathPoint>
 								<PathPoint name="edl_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.16159999999999999 0.0054999999999999997 0.012999999999999999</location>
 								</PathPoint>
 								<PathPoint name="edl_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.00029999999999999997 0.0047000000000000002 0.015299999999999999</location>
 								</PathPoint>
 								<PathPoint name="edl_r-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.044299999999999999 -0.00040000000000000002 0.025000000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>603.49815560000002</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.0693</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.36887524546522499</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21825824999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="edl_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="edl_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="edl_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="edl_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="ehl_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="ehl_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.014 -0.155 0.0189</location>
 								</PathPoint>
 								<PathPoint name="ehl_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0071000000000000004 -0.29089999999999999 0.016400000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.02 -0.36930000000000002 -0.0028</location>
 								</PathPoint>
 								<PathPoint name="ehl_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.097000000000000003 0.038899999999999997 -0.021100000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1293 0.0309 -0.025700000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_r-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1734 0.013899999999999999 -0.028000000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_r-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0298 0.0041000000000000003 -0.024500000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_r-P8">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.056300000000000003 0.0033999999999999998 -0.018599999999999998</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>285.86754739999998</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.074800000000000005</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.32679527953718701</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.19726811</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="ehl_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="ehl_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="ehl_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="ehl_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="fdl_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="fdl_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0023 -0.1832 -0.0018</location>
 								</PathPoint>
 								<PathPoint name="fdl_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.017600000000000001 -0.36449999999999999 -0.0124</location>
 								</PathPoint>
 								<PathPoint name="fdl_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0436 0.0315 -0.028000000000000001</location>
 								</PathPoint>
 								<PathPoint name="fdl_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.070800000000000002 0.017600000000000001 -0.0263</location>
 								</PathPoint>
 								<PathPoint name="fdl_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1658 -0.0080999999999999996 0.011599999999999999</location>
 								</PathPoint>
 								<PathPoint name="fdl_r-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0019 -0.0077999999999999996 0.0147</location>
 								</PathPoint>
 								<PathPoint name="fdl_r-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.028500000000000001 -0.0071000000000000004 0.021499999999999998</location>
 								</PathPoint>
 								<PathPoint name="fdl_r-P8">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0441 -0.0060000000000000001 0.024199999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>423.17704918032803</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.044600000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.37877285679384198</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.22483914999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="fdl_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="fdl_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="fdl_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="fdl_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="fhl_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="fhl_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031 -0.21629999999999999 0.02</location>
 								</PathPoint>
 								<PathPoint name="fhl_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.024199999999999999 -0.36709999999999998 -0.0076</location>
 								</PathPoint>
 								<PathPoint name="fhl_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.037400000000000003 0.0276 -0.0241</location>
 								</PathPoint>
 								<PathPoint name="fhl_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1038 0.0067999999999999996 -0.025600000000000001</location>
 								</PathPoint>
 								<PathPoint name="fhl_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1726 -0.0053 -0.0269</location>
 								</PathPoint>
 								<PathPoint name="fhl_r-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0155 -0.0064000000000000003 -0.026499999999999999</location>
 								</PathPoint>
 								<PathPoint name="fhl_r-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0562 -0.010200000000000001 -0.018100000000000002</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>907.83934426229405</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.052699999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.354339676836818</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.25802551000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="fhl_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="fhl_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="fhl_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="fhl_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="gaslat_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="gaslat_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0030000000000000001 -0.38140000000000002 0.027699999999999999</location>
 								</PathPoint>
 								<PathPoint name="gaslat_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0044000000000000003 0.031 -0.0053</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="shank">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>GasLat_at_shank_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 								<PathWrap name="condyles">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gastroc_at_condyles_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1575.0590163934401</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.058799999999999998</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.376070169933794</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21022682000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="gaslat_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="gaslat_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="gaslat_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="gaslat_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="gasmed_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="gasmed_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0080000000000000002 -0.37880000000000003 -0.020799999999999999</location>
 								</PathPoint>
 								<PathPoint name="gasmed_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0044000000000000003 0.031 -0.0053</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="shank">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>GasMed_at_shank_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 								<PathWrap name="condyles">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gastroc_at_condyles_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>3115.5147540983598</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.050999999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.39871633262642903</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.16568155000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="gasmed_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="gasmed_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="gasmed_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="gasmed_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmax1_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmax1_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1231 0.034500000000000003 0.056300000000000003</location>
 								</PathPoint>
 								<PathPoint name="glmax1_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.12570000000000001 -0.024199999999999999 0.077899999999999997</location>
 								</PathPoint>
 								<PathPoint name="glmax1_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.044400000000000002 -0.032599999999999997 0.030200000000000001</location>
 								</PathPoint>
 								<PathPoint name="glmax1_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.027699999999999999 -0.056599999999999998 0.047</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gmax1_at_pelvis_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>983.78360655737799</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.14699999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.048840888946285299</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.35401178</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmax1_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmax1_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmax1_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmax1_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmax2_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmax2_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.13170000000000001 0.0086999999999999994 0.046199999999999998</location>
 								</PathPoint>
 								<PathPoint name="glmax2_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.13439999999999999 -0.060900000000000003 0.081299999999999997</location>
 								</PathPoint>
 								<PathPoint name="glmax2_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.044999999999999998 -0.058400000000000001 0.0252</location>
 								</PathPoint>
 								<PathPoint name="glmax2_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.015599999999999999 -0.1016 0.0419</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gmax2_at_pelvis_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1406.0459016393499</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.157</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.067887151179264096</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.36738206000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmax2_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmax2_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmax2_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmax2_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmax3_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmax3_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.13 -0.052499999999999998 0.0089999999999999993</location>
 								</PathPoint>
 								<PathPoint name="glmax3_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1273 -0.1263 0.043499999999999997</location>
 								</PathPoint>
 								<PathPoint name="glmax3_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0281 -0.1125 0.0094000000000000004</location>
 								</PathPoint>
 								<PathPoint name="glmax3_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0060000000000000001 -0.1419 0.041099999999999998</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gmax3_at_pelvis_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>947.75409836065603</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.16700000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.069716605884370703</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.38241613000000002</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmax3_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmax3_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmax3_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmax3_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmed1_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmed1_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.044499999999999998 0.024500000000000001 0.1172</location>
 								</PathPoint>
 								<PathPoint name="glmed1_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0218 -0.0117 0.055500000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1093.4667688</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.072999999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.055816831943655401</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31655591</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmed1_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmed1_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmed1_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmed1_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmed2_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmed2_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.085000000000000006 0.031600000000000003 0.067500000000000004</location>
 								</PathPoint>
 								<PathPoint name="glmed2_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0258 -0.0057999999999999996 0.052699999999999997</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>765.09166159999995</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.072999999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.065248811199234799</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31655591</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmed2_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmed2_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmed2_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmed2_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmed3_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmed3_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1152 -0.0073000000000000001 0.052600000000000001</location>
 								</PathPoint>
 								<PathPoint name="glmed3_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0309 -0.0047000000000000002 0.051799999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>871.19926420000002</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.072999999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.045232843601358298</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31655591</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmed3_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmed3_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmed3_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmed3_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmin1_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmin1_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.046399999999999997 -0.0149 0.1042</location>
 								</PathPoint>
 								<PathPoint name="glmin1_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0071999999999999998 -0.0104 0.056000000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>374.04590163934398</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.068000000000000005</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.016137782374970301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmin1_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmin1_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmin1_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmin1_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmin2_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmin2_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.061600000000000002 -0.014200000000000001 0.097100000000000006</location>
 								</PathPoint>
 								<PathPoint name="glmin2_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0095999999999999992 -0.0104 0.056000000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>394.81967213114802</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.056000000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.026099052409878899</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmin2_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmin2_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmin2_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmin2_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmin3_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmin3_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.078899999999999998 -0.0155 0.079799999999999996</location>
 								</PathPoint>
 								<PathPoint name="glmin3_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0135 -0.0083000000000000001 0.055</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>446.77377049180399</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.037999999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.050872500000000001</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.01745329</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmin3_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmin3_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmin3_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmin3_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="grac_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="grac_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.047359999999999999 -0.12931999999999999 0.024559999999999998</location>
 								</PathPoint>
 								<PathPoint name="grac_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.018419999999999999 -0.047550000000000002 -0.029610000000000001</location>
 								</PathPoint>
 								<PathPoint name="grac_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0017799999999999999 -0.069620000000000001 -0.015730000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>GR_at_condyles_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>281.31147540983602</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.2278</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.17201381056437301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17200156</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="grac_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="grac_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="grac_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="grac_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="iliacus_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="iliacus_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.060499999999999998 0.0309 0.0843</location>
 								</PathPoint>
 								<PathPoint name="iliacus_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0135 -0.0557 0.075600000000000001</location>
 								</PathPoint>
 								<PathPoint name="iliacus_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0023 -0.056500000000000002 0.013899999999999999</location>
 								</PathPoint>
 								<PathPoint name="iliacus_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.012200000000000001 -0.063700000000000007 0.019599999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>IL_at_brim_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>2 3</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1021.14098360656</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1066</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.096120708398325802</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.27991397000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="iliacus_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="iliacus_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="iliacus_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="iliacus_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="perbrev_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="perbrev_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.024299999999999999 -0.25319999999999998 0.025100000000000001</location>
 								</PathPoint>
 								<PathPoint name="perbrev_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0339 -0.38929999999999998 0.024899999999999999</location>
 								</PathPoint>
 								<PathPoint name="perbrev_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.028500000000000001 -0.40039999999999998 0.025499999999999998</location>
 								</PathPoint>
 								<PathPoint name="perbrev_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.047100000000000003 0.027 0.023300000000000001</location>
 								</PathPoint>
 								<PathPoint name="perbrev_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.067699999999999996 0.021899999999999999 0.034299999999999997</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>521.20159880000006</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.045400000000000003</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.147527533956538</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.20523611999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="perbrev_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="perbrev_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="perbrev_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="perbrev_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="perlong_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="perlong_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.02 -0.13730000000000001 0.028199999999999999</location>
 								</PathPoint>
 								<PathPoint name="perlong_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031699999999999999 -0.39000000000000001 0.023699999999999999</location>
 								</PathPoint>
 								<PathPoint name="perlong_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.027199999999999998 -0.40139999999999998 0.024</location>
 								</PathPoint>
 								<PathPoint name="perlong_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.043799999999999999 0.023 0.022100000000000002</location>
 								</PathPoint>
 								<PathPoint name="perlong_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.068099999999999994 0.0106 0.028400000000000002</location>
 								</PathPoint>
 								<PathPoint name="perlong_r-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.085199999999999998 0.0068999999999999999 0.0118</location>
 								</PathPoint>
 								<PathPoint name="perlong_r-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1203 0.0085000000000000006 -0.0184</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1115.3714213999999</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.050799999999999998</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.33222076263797801</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.24795247000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="perlong_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="perlong_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="perlong_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="perlong_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="piri_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="piri_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.10181 -0.0065300000000000002 0.013509999999999999</location>
 								</PathPoint>
 								<PathPoint name="piri_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.10202 -0.03066 0.060920000000000002</location>
 								</PathPoint>
 								<PathPoint name="piri_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.014800000000000001 -0.0035999999999999999 0.043700000000000003</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1029.7868852459001</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.025999999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.114906238342785</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="piri_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="piri_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="piri_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="piri_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="psoas_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="psoas_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.060600000000000001 0.062 0.039</location>
 								</PathPoint>
 								<PathPoint name="psoas_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.020500000000000001 -0.0654 0.065600000000000006</location>
 								</PathPoint>
 								<PathPoint name="psoas_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0132 -0.046699999999999998 0.0045999999999999999</location>
 								</PathPoint>
 								<PathPoint name="psoas_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0235 -0.052400000000000002 0.0088000000000000005</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>PS_at_brim_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>2 3</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1426.79016393443</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1169</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.099543165855508306</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21552513000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="psoas_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="psoas_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="psoas_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="psoas_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="recfem_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="recfem_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.024 -0.038800000000000001 0.093299999999999994</location>
 								</PathPoint>
 								<PathPoint name="recfem_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.01 0.049000000000000002 0.00069999999999999999</location>
 								</PathPoint>
 								<PathPoint name="recfem_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0121 0.043700000000000003 -0.001</location>
 								</PathPoint>
 								<PathPoint name="recfem_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 3.0000000000000001e-05</location>
 								</PathPoint>
 								<PathPoint name="recfem_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.032599999999999997 -0.063119999999999996 -0.00046999999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>2191.7409836065599</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.075899999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.448493537399412</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21701490000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="recfem_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="recfem_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="recfem_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="recfem_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="sart_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="sart_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0195 -0.015599999999999999 0.1056</location>
 								</PathPoint>
 								<PathPoint name="sart_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0030000000000000001 -0.35680000000000001 -0.042099999999999999</location>
 								</PathPoint>
 								<PathPoint name="sart_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.025100000000000001 -0.040099999999999997 -0.036499999999999998</location>
 								</PathPoint>
 								<PathPoint name="sart_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.015900000000000001 -0.059900000000000002 -0.0264</location>
 								</PathPoint>
 								<PathPoint name="sart_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.013599999999999999 -0.081000000000000003 -0.0025999999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>249.41311475409799</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.40300000000000002</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.123999830194402</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.026135419999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="sart_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="sart_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="sart_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="sart_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="semimem_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="semimem_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.098699999999999996 -0.114 0.061400000000000003</location>
 								</PathPoint>
 								<PathPoint name="semimem_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.029000000000000001 -0.041700000000000001 -0.019599999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>SM_at_condyles_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>2200.9868852458999</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.069000000000000006</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.34758597953321402</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.25456146000000002</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="semimem_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="semimem_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="semimem_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="semimem_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="semiten_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="semiten_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1038 -0.12529999999999999 0.051499999999999997</location>
 								</PathPoint>
 								<PathPoint name="semiten_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031199999999999999 -0.050799999999999998 -0.0229</location>
 								</PathPoint>
 								<PathPoint name="semiten_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0019 -0.077299999999999994 -0.0117</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>ST_at_condyles_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>591.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.193</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.24719894503751</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.24129500000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="semiten_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="semiten_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="semiten_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="semiten_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="soleus_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="soleus_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0076 -0.091600000000000001 0.0097999999999999997</location>
 								</PathPoint>
 								<PathPoint name="soleus_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0044000000000000003 0.031 -0.0053</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>6194.8426229508204</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.043999999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.27675587237597599</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.38142888000000003</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="soleus_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="soleus_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="soleus_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="soleus_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="tfl_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="tfl_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031099999999999999 0.021399999999999999 0.1241</location>
 								</PathPoint>
 								<PathPoint name="tfl_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.029399999999999999 -0.099500000000000005 0.059700000000000003</location>
 								</PathPoint>
 								<PathPoint name="tfl_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.010699999999999999 -0.40500000000000003 0.032399999999999998</location>
 								</PathPoint>
 								<PathPoint name="tfl_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.010800000000000001 -0.041000000000000002 0.034599999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>411.20655737704999</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.095000000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.44949705380542798</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.052359879999999998</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="tfl_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="tfl_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="tfl_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="tfl_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="tibant_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="tibant_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0154 -0.13120000000000001 0.016199999999999999</location>
 								</PathPoint>
 								<PathPoint name="tibant_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.025100000000000001 -0.19059999999999999 0.012800000000000001</location>
 								</PathPoint>
 								<PathPoint name="tibant_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.023300000000000001 -0.3659 -0.0132</location>
 								</PathPoint>
 								<PathPoint name="tibant_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1166 0.0178 -0.030499999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1227.4524590163901</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.0683</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.24046102640936701</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.19518281000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="tibant_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="tibant_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="tibant_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="tibant_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="tibpost_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="tibpost_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0041000000000000003 -0.13039999999999999 0.0103</location>
 								</PathPoint>
 								<PathPoint name="tibpost_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.016400000000000001 -0.36549999999999999 -0.017500000000000002</location>
 								</PathPoint>
 								<PathPoint name="tibpost_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.041700000000000001 0.033399999999999999 -0.0286</location>
 								</PathPoint>
 								<PathPoint name="tibpost_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.077200000000000005 0.015900000000000001 -0.0281</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1730.1540983606501</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.0378</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.280779613883954</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.22648906999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="tibpost_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="tibpost_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="tibpost_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="tibpost_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="vasint_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="vasint_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.029000000000000001 -0.19239999999999999 0.031</location>
 								</PathPoint>
 								<PathPoint name="vasint_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.033500000000000002 -0.2084 0.028500000000000001</location>
 								</PathPoint>
 								<PathPoint name="vasint_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0057999999999999996 0.048000000000000001 -0.00059999999999999995</location>
 								</PathPoint>
 								<PathPoint name="vasint_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 -0.00038999999999999999</location>
 								</PathPoint>
 								<PathPoint name="vasint_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.032570000000000002 -0.063200000000000006 0.00042999999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1697.36065573771</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.099299999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.20221067034576301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.063099730000000007</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="vasint_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="vasint_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="vasint_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="vasint_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="vaslat_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="vaslat_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0047999999999999996 -0.18540000000000001 0.0349</location>
 								</PathPoint>
 								<PathPoint name="vaslat_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0269 -0.2591 0.040899999999999999</location>
 								</PathPoint>
 								<PathPoint name="vaslat_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0103 0.042299999999999997 0.0141</location>
 								</PathPoint>
 								<PathPoint name="vaslat_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 0.0073299999999999997</location>
 								</PathPoint>
 								<PathPoint name="vaslat_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.032539999999999999 -0.063380000000000006 0.00511</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>5148.7672131147601</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.099400000000000002</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.22060128483460301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.25286729000000002</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="vaslat_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="vaslat_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="vaslat_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="vaslat_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="vasmed_r">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="vasmed_r-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.014 -0.2099 0.018800000000000001</location>
 								</PathPoint>
 								<PathPoint name="vasmed_r-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0356 -0.27689999999999998 0.00089999999999999998</location>
 								</PathPoint>
 								<PathPoint name="vasmed_r-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0063 0.044499999999999998 -0.017000000000000001</location>
 								</PathPoint>
 								<PathPoint name="vasmed_r-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 -0.0085000000000000006</location>
 								</PathPoint>
 								<PathPoint name="vasmed_r-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.031899999999999998 -0.063570000000000002 -0.0067799999999999996</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_r</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>2747.82295081966</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.096799999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.19990427084231699</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.42222252999999998</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="vasmed_r_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="vasmed_r_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="vasmed_r_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="vasmed_r_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addbrev_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addbrev_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.019099999999999999 -0.094 -0.0154</location>
 								</PathPoint>
 								<PathPoint name="addbrev_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.002 -0.11799999999999999 -0.024899999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AB_at_femshaft_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>625.81967213114797</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1031</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.035450291324676003</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.11478091999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addbrev_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addbrev_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addbrev_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addbrev_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addlong_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addlong_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0075799999999999999 -0.088900000000000007 -0.018880000000000001</location>
 								</PathPoint>
 								<PathPoint name="addlong_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.011259999999999999 -0.23937 -0.01583</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AL_at_femshaft_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>916.79999999999995</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1082</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.13179936334202599</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.13777038999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addlong_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addlong_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addlong_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addlong_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagDist_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagDist_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.074039999999999995 -0.12767000000000001 -0.039820000000000001</location>
 								</PathPoint>
 								<PathPoint name="addmagDist_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.01125 -0.26250000000000001 -0.019300000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMdist_at_femshaft_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1772</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.087380695461772698</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.19470502000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagDist_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagDist_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagDist_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagDist_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagIsch_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagIsch_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.089620000000000005 -0.12975999999999999 -0.041709999999999997</location>
 								</PathPoint>
 								<PathPoint name="addmagIsch_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.00481 -0.38796999999999998 0.032730000000000002</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMisch_at_condyles_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.15620000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.216343023454343</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.16804429000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagIsch_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagIsch_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagIsch_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagIsch_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagMid_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagMid_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.052659999999999998 -0.12075 -0.028539999999999999</location>
 								</PathPoint>
 								<PathPoint name="addmagMid_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0024199999999999998 -0.16239999999999999 -0.029219999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMmid_at_femshaft_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.13769999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.046627699907046398</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.20730759000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagMid_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagMid_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagMid_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagMid_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="addmagProx_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="addmagProx_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.030980000000000001 -0.10755000000000001 -0.013650000000000001</location>
 								</PathPoint>
 								<PathPoint name="addmagProx_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.015270000000000001 -0.07886 -0.03202</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>AMprox_at_femshaft_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>597.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1056</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.0403240979232675</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31148325999999998</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="addmagProx_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="addmagProx_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="addmagProx_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="addmagProx_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="bflh_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="bflh_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.104 -0.1191 -0.058599999999999999</location>
 								</PathPoint>
 								<PathPoint name="bflh_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.033700000000000001 -0.035000000000000003 -0.0253</location>
 								</PathPoint>
 								<PathPoint name="bflh_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0287 -0.045499999999999999 -0.030300000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1313.18360655738</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.097600000000000006</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.32522664751645702</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17591823000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="bflh_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="bflh_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="bflh_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="bflh_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="bfsh_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="bfsh_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 -0.21110000000000001 -0.023400000000000001</location>
 								</PathPoint>
 								<PathPoint name="bfsh_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.030099999999999998 -0.0419 -0.031800000000000002</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>BF_at_gastroc_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>557.11475409835998</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1103</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.105817218589115</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.26422317000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="bfsh_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="bfsh_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="bfsh_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="bfsh_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="edl_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="edl_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.016 -0.1157 -0.020500000000000001</location>
 								</PathPoint>
 								<PathPoint name="edl_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.016400000000000001 -0.376 -0.0112</location>
 								</PathPoint>
 								<PathPoint name="edl_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.091899999999999996 0.035999999999999997 -0.00080000000000000004</location>
 								</PathPoint>
 								<PathPoint name="edl_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.16159999999999999 0.0054999999999999997 -0.012999999999999999</location>
 								</PathPoint>
 								<PathPoint name="edl_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.00029999999999999997 0.0047000000000000002 -0.015299999999999999</location>
 								</PathPoint>
 								<PathPoint name="edl_l-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.044299999999999999 -0.00040000000000000002 -0.025000000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>603.49815560000002</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.0693</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.36887524546522499</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21825824999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="edl_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="edl_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="edl_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="edl_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="ehl_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="ehl_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.014 -0.155 -0.0189</location>
 								</PathPoint>
 								<PathPoint name="ehl_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0071000000000000004 -0.29089999999999999 -0.016400000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.02 -0.36930000000000002 0.0028</location>
 								</PathPoint>
 								<PathPoint name="ehl_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.097000000000000003 0.038899999999999997 0.021100000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1293 0.0309 0.025700000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_l-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1734 0.013899999999999999 0.028000000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_l-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0298 0.0041000000000000003 0.024500000000000001</location>
 								</PathPoint>
 								<PathPoint name="ehl_l-P8">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.056300000000000003 0.0033999999999999998 0.018599999999999998</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>285.86754739999998</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.074800000000000005</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.32679527953718701</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.19726811</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="ehl_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="ehl_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="ehl_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="ehl_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="fdl_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="fdl_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0023 -0.1832 0.0018</location>
 								</PathPoint>
 								<PathPoint name="fdl_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.017600000000000001 -0.36449999999999999 0.0124</location>
 								</PathPoint>
 								<PathPoint name="fdl_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0436 0.0315 0.028000000000000001</location>
 								</PathPoint>
 								<PathPoint name="fdl_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.070800000000000002 0.017600000000000001 0.0263</location>
 								</PathPoint>
 								<PathPoint name="fdl_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1658 -0.0080999999999999996 -0.011599999999999999</location>
 								</PathPoint>
 								<PathPoint name="fdl_l-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0019 -0.0077999999999999996 -0.0147</location>
 								</PathPoint>
 								<PathPoint name="fdl_l-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.028500000000000001 -0.0071000000000000004 -0.021499999999999998</location>
 								</PathPoint>
 								<PathPoint name="fdl_l-P8">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0441 -0.0060000000000000001 -0.024199999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>423.17704918032803</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.044600000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.37877285679384198</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.22483914999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="fdl_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="fdl_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="fdl_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="fdl_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="fhl_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="fhl_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031 -0.21629999999999999 -0.02</location>
 								</PathPoint>
 								<PathPoint name="fhl_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.024199999999999999 -0.36709999999999998 0.0076</location>
 								</PathPoint>
 								<PathPoint name="fhl_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.037400000000000003 0.0276 0.0241</location>
 								</PathPoint>
 								<PathPoint name="fhl_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1038 0.0067999999999999996 0.025600000000000001</location>
 								</PathPoint>
 								<PathPoint name="fhl_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1726 -0.0053 0.0269</location>
 								</PathPoint>
 								<PathPoint name="fhl_l-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0155 -0.0064000000000000003 0.026499999999999999</location>
 								</PathPoint>
 								<PathPoint name="fhl_l-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/toes_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0562 -0.010200000000000001 0.018100000000000002</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>907.83934426229405</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.052699999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.354339676836818</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.25802551000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="fhl_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="fhl_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="fhl_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="fhl_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="gaslat_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="gaslat_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0030000000000000001 -0.38140000000000002 -0.027699999999999999</location>
 								</PathPoint>
 								<PathPoint name="gaslat_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0044000000000000003 0.031 0.0053</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="shank">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>GasLat_at_shank_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 								<PathWrap name="condyles">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gastroc_at_condyles_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1575.0590163934401</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.058799999999999998</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.376070169933794</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21022682000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="gaslat_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="gaslat_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="gaslat_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="gaslat_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="gasmed_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="gasmed_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0080000000000000002 -0.37880000000000003 0.020799999999999999</location>
 								</PathPoint>
 								<PathPoint name="gasmed_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0044000000000000003 0.031 0.0053</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="shank">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>GasMed_at_shank_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 								<PathWrap name="condyles">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gastroc_at_condyles_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>3115.5147540983598</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.050999999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.39871633262642903</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.16568155000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="gasmed_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="gasmed_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="gasmed_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="gasmed_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmax1_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmax1_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1231 0.034500000000000003 -0.056300000000000003</location>
 								</PathPoint>
 								<PathPoint name="glmax1_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.12570000000000001 -0.024199999999999999 -0.077899999999999997</location>
 								</PathPoint>
 								<PathPoint name="glmax1_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.044400000000000002 -0.032599999999999997 -0.030200000000000001</location>
 								</PathPoint>
 								<PathPoint name="glmax1_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.027699999999999999 -0.056599999999999998 -0.047</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gmax1_at_pelvis_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>983.78360655737799</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.14699999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.048840888946285299</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.35401178</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmax1_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmax1_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmax1_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmax1_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmax2_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmax2_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.13170000000000001 0.0086999999999999994 -0.046199999999999998</location>
 								</PathPoint>
 								<PathPoint name="glmax2_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.13439999999999999 -0.060900000000000003 -0.081299999999999997</location>
 								</PathPoint>
 								<PathPoint name="glmax2_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.044999999999999998 -0.058400000000000001 -0.0252</location>
 								</PathPoint>
 								<PathPoint name="glmax2_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.015599999999999999 -0.1016 -0.0419</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gmax2_at_pelvis_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1406.0459016393499</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.157</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.067887151179264096</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.36738206000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmax2_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmax2_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmax2_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmax2_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmax3_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmax3_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.13 -0.052499999999999998 -0.0089999999999999993</location>
 								</PathPoint>
 								<PathPoint name="glmax3_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1273 -0.1263 -0.043499999999999997</location>
 								</PathPoint>
 								<PathPoint name="glmax3_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0281 -0.1125 -0.0094000000000000004</location>
 								</PathPoint>
 								<PathPoint name="glmax3_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0060000000000000001 -0.1419 -0.041099999999999998</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>Gmax3_at_pelvis_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>947.75409836065603</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.16700000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.069716605884370703</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.38241613000000002</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmax3_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmax3_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmax3_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmax3_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmed1_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmed1_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.044499999999999998 0.024500000000000001 -0.1172</location>
 								</PathPoint>
 								<PathPoint name="glmed1_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0218 -0.0117 -0.055500000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1093.4667688</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.072999999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.055816831943655401</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31655591</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmed1_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmed1_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmed1_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmed1_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmed2_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmed2_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.085000000000000006 0.031600000000000003 -0.067500000000000004</location>
 								</PathPoint>
 								<PathPoint name="glmed2_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0258 -0.0057999999999999996 -0.052699999999999997</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>765.09166159999995</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.072999999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.065248811199234799</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31655591</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmed2_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmed2_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmed2_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmed2_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmed3_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmed3_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1152 -0.0073000000000000001 -0.052600000000000001</location>
 								</PathPoint>
 								<PathPoint name="glmed3_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0309 -0.0047000000000000002 -0.051799999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>871.19926420000002</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.072999999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.045232843601358298</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.31655591</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmed3_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmed3_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmed3_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmed3_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmin1_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmin1_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.046399999999999997 -0.0149 -0.1042</location>
 								</PathPoint>
 								<PathPoint name="glmin1_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0071999999999999998 -0.0104 -0.056000000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>374.04590163934398</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.068000000000000005</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.016137782374970301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmin1_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmin1_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmin1_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmin1_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmin2_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmin2_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.061600000000000002 -0.014200000000000001 -0.097100000000000006</location>
 								</PathPoint>
 								<PathPoint name="glmin2_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0095999999999999992 -0.0104 -0.056000000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>394.81967213114802</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.056000000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.026099052409878899</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmin2_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmin2_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmin2_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmin2_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="glmin3_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="glmin3_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.078899999999999998 -0.0155 -0.079799999999999996</location>
 								</PathPoint>
 								<PathPoint name="glmin3_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0135 -0.0083000000000000001 -0.055</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>446.77377049180399</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.037999999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.050872500000000001</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.01745329</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="glmin3_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="glmin3_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="glmin3_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="glmin3_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="grac_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="grac_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.047359999999999999 -0.12931999999999999 -0.024559999999999998</location>
 								</PathPoint>
 								<PathPoint name="grac_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.018419999999999999 -0.047550000000000002 0.029610000000000001</location>
 								</PathPoint>
 								<PathPoint name="grac_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0017799999999999999 -0.069620000000000001 0.015730000000000001</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>GR_at_condyles_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>281.31147540983602</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.2278</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.17201381056437301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17200156</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="grac_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="grac_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="grac_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="grac_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="iliacus_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="iliacus_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.060499999999999998 0.0309 -0.0843</location>
 								</PathPoint>
 								<PathPoint name="iliacus_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0135 -0.0557 -0.075600000000000001</location>
 								</PathPoint>
 								<PathPoint name="iliacus_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0023 -0.056500000000000002 -0.013899999999999999</location>
 								</PathPoint>
 								<PathPoint name="iliacus_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.012200000000000001 -0.063700000000000007 -0.019599999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>IL_at_brim_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>2 3</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1021.14098360656</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1066</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.096120708398325802</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.27991397000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="iliacus_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="iliacus_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="iliacus_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="iliacus_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="perbrev_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="perbrev_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.024299999999999999 -0.25319999999999998 -0.025100000000000001</location>
 								</PathPoint>
 								<PathPoint name="perbrev_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0339 -0.38929999999999998 -0.024899999999999999</location>
 								</PathPoint>
 								<PathPoint name="perbrev_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.028500000000000001 -0.40039999999999998 -0.025499999999999998</location>
 								</PathPoint>
 								<PathPoint name="perbrev_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.047100000000000003 0.027 -0.023300000000000001</location>
 								</PathPoint>
 								<PathPoint name="perbrev_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.067699999999999996 0.021899999999999999 -0.034299999999999997</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>521.20159880000006</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.045400000000000003</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.147527533956538</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.20523611999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="perbrev_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="perbrev_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="perbrev_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="perbrev_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="perlong_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="perlong_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.02 -0.13730000000000001 -0.028199999999999999</location>
 								</PathPoint>
 								<PathPoint name="perlong_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031699999999999999 -0.39000000000000001 -0.023699999999999999</location>
 								</PathPoint>
 								<PathPoint name="perlong_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.027199999999999998 -0.40139999999999998 -0.024</location>
 								</PathPoint>
 								<PathPoint name="perlong_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.043799999999999999 0.023 -0.022100000000000002</location>
 								</PathPoint>
 								<PathPoint name="perlong_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.068099999999999994 0.0106 -0.028400000000000002</location>
 								</PathPoint>
 								<PathPoint name="perlong_l-P6">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.085199999999999998 0.0068999999999999999 -0.0118</location>
 								</PathPoint>
 								<PathPoint name="perlong_l-P7">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1203 0.0085000000000000006 0.0184</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1115.3714213999999</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.050799999999999998</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.33222076263797801</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.24795247000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="perlong_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="perlong_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="perlong_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="perlong_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="piri_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="piri_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.10181 -0.0065300000000000002 -0.013509999999999999</location>
 								</PathPoint>
 								<PathPoint name="piri_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.10202 -0.03066 -0.060920000000000002</location>
 								</PathPoint>
 								<PathPoint name="piri_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.014800000000000001 -0.0035999999999999999 -0.043700000000000003</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1029.7868852459001</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.025999999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.114906238342785</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.17453293</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="piri_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="piri_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="piri_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="piri_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="psoas_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="psoas_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.060600000000000001 0.062 -0.039</location>
 								</PathPoint>
 								<PathPoint name="psoas_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.020500000000000001 -0.0654 -0.065600000000000006</location>
 								</PathPoint>
 								<PathPoint name="psoas_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0132 -0.046699999999999998 -0.0045999999999999999</location>
 								</PathPoint>
 								<PathPoint name="psoas_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0235 -0.052400000000000002 -0.0088000000000000005</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>PS_at_brim_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>2 3</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1426.79016393443</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.1169</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.099543165855508306</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21552513000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="psoas_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="psoas_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="psoas_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="psoas_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="recfem_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="recfem_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.024 -0.038800000000000001 -0.093299999999999994</location>
 								</PathPoint>
 								<PathPoint name="recfem_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.01 0.049000000000000002 -0.00069999999999999999</location>
 								</PathPoint>
 								<PathPoint name="recfem_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0121 0.043700000000000003 0.001</location>
 								</PathPoint>
 								<PathPoint name="recfem_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 -3.0000000000000001e-05</location>
 								</PathPoint>
 								<PathPoint name="recfem_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.032599999999999997 -0.063119999999999996 0.00046999999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>2191.7409836065599</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.075899999999999995</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.448493537399412</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.21701490000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="recfem_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="recfem_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="recfem_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="recfem_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="sart_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="sart_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0195 -0.015599999999999999 -0.1056</location>
 								</PathPoint>
 								<PathPoint name="sart_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0030000000000000001 -0.35680000000000001 0.042099999999999999</location>
 								</PathPoint>
 								<PathPoint name="sart_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.025100000000000001 -0.040099999999999997 0.036499999999999998</location>
 								</PathPoint>
 								<PathPoint name="sart_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.015900000000000001 -0.059900000000000002 0.0264</location>
 								</PathPoint>
 								<PathPoint name="sart_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.013599999999999999 -0.081000000000000003 0.0025999999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>249.41311475409799</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.40300000000000002</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.123999830194402</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.026135419999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>true</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="sart_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="sart_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="sart_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="sart_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="semimem_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="semimem_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.098699999999999996 -0.114 -0.061400000000000003</location>
 								</PathPoint>
 								<PathPoint name="semimem_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.029000000000000001 -0.041700000000000001 0.019599999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>SM_at_condyles_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>2200.9868852458999</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.069000000000000006</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.34758597953321402</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.25456146000000002</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="semimem_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="semimem_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="semimem_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="semimem_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="semiten_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="semiten_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.1038 -0.12529999999999999 -0.051499999999999997</location>
 								</PathPoint>
 								<PathPoint name="semiten_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031199999999999999 -0.050799999999999998 0.0229</location>
 								</PathPoint>
 								<PathPoint name="semiten_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0019 -0.077299999999999994 0.0117</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>ST_at_condyles_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>591.29508196721395</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.193</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.24719894503751</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.24129500000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="semiten_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="semiten_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="semiten_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="semiten_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="soleus_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="soleus_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0076 -0.091600000000000001 -0.0097999999999999997</location>
 								</PathPoint>
 								<PathPoint name="soleus_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0044000000000000003 0.031 0.0053</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>6194.8426229508204</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.043999999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.27675587237597599</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.38142888000000003</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="soleus_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="soleus_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="soleus_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="soleus_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="tfl_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="tfl_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.031099999999999999 0.021399999999999999 -0.1241</location>
 								</PathPoint>
 								<PathPoint name="tfl_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.029399999999999999 -0.099500000000000005 -0.059700000000000003</location>
 								</PathPoint>
 								<PathPoint name="tfl_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.010699999999999999 -0.40500000000000003 -0.032399999999999998</location>
 								</PathPoint>
 								<PathPoint name="tfl_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.010800000000000001 -0.041000000000000002 -0.034599999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>411.20655737704999</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.095000000000000001</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.44949705380542798</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.052359879999999998</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="tfl_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="tfl_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="tfl_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="tfl_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="tibant_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="tibant_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0154 -0.13120000000000001 -0.016199999999999999</location>
 								</PathPoint>
 								<PathPoint name="tibant_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.025100000000000001 -0.19059999999999999 -0.012800000000000001</location>
 								</PathPoint>
 								<PathPoint name="tibant_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.023300000000000001 -0.3659 0.0132</location>
 								</PathPoint>
 								<PathPoint name="tibant_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.1166 0.0178 0.030499999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1227.4524590163901</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.0683</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.24046102640936701</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.19518281000000001</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="tibant_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="tibant_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="tibant_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="tibant_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="tibpost_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="tibpost_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.0041000000000000003 -0.13039999999999999 -0.0103</location>
 								</PathPoint>
 								<PathPoint name="tibpost_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>-0.016400000000000001 -0.36549999999999999 0.017500000000000002</location>
 								</PathPoint>
 								<PathPoint name="tibpost_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.041700000000000001 0.033399999999999999 0.0286</location>
 								</PathPoint>
 								<PathPoint name="tibpost_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.077200000000000005 0.015900000000000001 0.0281</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects />
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1730.1540983606501</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.0378</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.280779613883954</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.22648906999999999</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="tibpost_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="tibpost_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="tibpost_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="tibpost_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="vasint_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="vasint_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.029000000000000001 -0.19239999999999999 -0.031</location>
 								</PathPoint>
 								<PathPoint name="vasint_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.033500000000000002 -0.2084 -0.028500000000000001</location>
 								</PathPoint>
 								<PathPoint name="vasint_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0057999999999999996 0.048000000000000001 0.00059999999999999995</location>
 								</PathPoint>
 								<PathPoint name="vasint_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 0.00038999999999999999</location>
 								</PathPoint>
 								<PathPoint name="vasint_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.032570000000000002 -0.063200000000000006 -0.00042999999999999999</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>1697.36065573771</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.099299999999999999</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.20221067034576301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.063099730000000007</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="vasint_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="vasint_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="vasint_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="vasint_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="vaslat_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="vaslat_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0047999999999999996 -0.18540000000000001 -0.0349</location>
 								</PathPoint>
 								<PathPoint name="vaslat_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0269 -0.2591 -0.040899999999999999</location>
 								</PathPoint>
 								<PathPoint name="vaslat_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0103 0.042299999999999997 -0.0141</location>
 								</PathPoint>
 								<PathPoint name="vaslat_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 -0.0073299999999999997</location>
 								</PathPoint>
 								<PathPoint name="vaslat_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.032539999999999999 -0.063380000000000006 -0.00511</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>5148.7672131147601</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.099400000000000002</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.22060128483460301</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.25286729000000002</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="vaslat_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="vaslat_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="vaslat_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="vaslat_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<Millard2012EquilibriumMuscle name="vasmed_l">
 					<!--The set of points defining the path of the actuator.-->
 					<GeometryPath name="geometrypath">
 						<!--The set of points defining the path-->
 						<PathPointSet>
 							<objects>
 								<PathPoint name="vasmed_l-P1">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.014 -0.2099 -0.018800000000000001</location>
 								</PathPoint>
 								<PathPoint name="vasmed_l-P2">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0356 -0.27689999999999998 -0.00089999999999999998</location>
 								</PathPoint>
 								<PathPoint name="vasmed_l-P3">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0063 0.044499999999999998 0.017000000000000001</location>
 								</PathPoint>
 								<PathPoint name="vasmed_l-P4">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/patella_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.0050000000000000001 0.00247 0.0085000000000000006</location>
 								</PathPoint>
 								<PathPoint name="vasmed_l-P5">
 									<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
 									<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 									<!--The fixed location of the path point expressed in its parent frame.-->
 									<location>0.031899999999999998 -0.063570000000000002 0.0067799999999999996</location>
 								</PathPoint>
 							</objects>
 							<groups />
 						</PathPointSet>
 						<!--The wrap objects that are associated with this path-->
 						<PathWrapSet>
 							<objects>
 								<PathWrap name="pathwrap">
 									<!--A WrapObject that this PathWrap interacts with.-->
 									<wrap_object>KnExt_at_fem_l</wrap_object>
 									<!--The wrapping method used to solve the path around the wrap object.-->
 									<method>hybrid</method>
 									<!--The range of indices to use to compute the path over the wrap object.-->
 									<range>-1 -1</range>
 								</PathWrap>
 							</objects>
 							<groups />
 						</PathWrapSet>
 						<!--Default appearance attributes for this GeometryPath-->
 						<Appearance>
 							<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
 							<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
 						</Appearance>
 					</GeometryPath>
 					<!--Maximum isometric force that the fibers can generate-->
 					<max_isometric_force>2747.82295081966</max_isometric_force>
 					<!--Optimal length of the muscle fibers-->
 					<optimal_fiber_length>0.096799999999999997</optimal_fiber_length>
 					<!--Resting length of the tendon-->
 					<tendon_slack_length>0.19990427084231699</tendon_slack_length>
 					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
 					<pennation_angle_at_optimal>0.42222252999999998</pennation_angle_at_optimal>
 					<!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
 					<ignore_tendon_compliance>false</ignore_tendon_compliance>
 					<!--The linear damping of the fiber.-->
 					<fiber_damping>0.01</fiber_damping>
 					<!--Assumed initial activation level if none is assigned.-->
 					<default_activation>0.01</default_activation>
 					<!--Activation lower bound.-->
 					<minimum_activation>0.01</minimum_activation>
 					<!--Active-force-length curve.-->
 					<ActiveForceLengthCurve name="vasmed_l_ActiveForceLengthCurve">
 						<!--Normalized fiber length where the steep ascending limb starts-->
 						<min_norm_active_fiber_length>0.25</min_norm_active_fiber_length>
 						<!--Normalized fiber length where the steep ascending limb transitions to the shallow ascending limb-->
 						<transition_norm_fiber_length>0.77000000000000002</transition_norm_fiber_length>
 						<!--Normalized fiber length where the descending limb ends-->
 						<max_norm_active_fiber_length>1.8999999999999999</max_norm_active_fiber_length>
 						<!--Slope of the shallow ascending limb-->
 						<shallow_ascending_slope>0.75</shallow_ascending_slope>
 						<!--Minimum value of the active-force-length curve-->
 						<minimum_value>0</minimum_value>
 					</ActiveForceLengthCurve>
 					<!--Force-velocity curve.-->
 					<ForceVelocityCurve name="vasmed_l_ForceVelocityCurve">
 						<!--Curve slope at the maximum normalized concentric (shortening) velocity (normalized velocity of -1)-->
 						<concentric_slope_at_vmax>0</concentric_slope_at_vmax>
 						<!--Curve slope just before reaching concentric_slope_at_vmax-->
 						<concentric_slope_near_vmax>0.25</concentric_slope_near_vmax>
 						<!--Curve slope at isometric (normalized velocity of 0)-->
 						<isometric_slope>5</isometric_slope>
 						<!--Curve slope at the maximum normalized eccentric (lengthening) velocity (normalized velocity of 1)-->
 						<eccentric_slope_at_vmax>0</eccentric_slope_at_vmax>
 						<!--Curve slope just before reaching eccentric_slope_at_vmax-->
 						<eccentric_slope_near_vmax>0.14999999999999999</eccentric_slope_near_vmax>
 						<!--Curve value at the maximum normalized eccentric contraction velocity-->
 						<max_eccentric_velocity_force_multiplier>1.3999999999999999</max_eccentric_velocity_force_multiplier>
 					</ForceVelocityCurve>
 					<!--Passive-force-length curve.-->
 					<FiberForceLengthCurve name="vasmed_l_FiberForceLengthCurve">
 						<!--Fiber strain at zero force-->
 						<strain_at_zero_force>0</strain_at_zero_force>
 						<!--Fiber strain at a tension of 1 normalized force-->
 						<strain_at_one_norm_force>0.69999999999999996</strain_at_one_norm_force>
 					</FiberForceLengthCurve>
 					<!--Tendon-force-length curve.-->
 					<TendonForceLengthCurve name="vasmed_l_TendonForceLengthCurve">
 						<!--All properties of this object have their default values.-->
 					</TendonForceLengthCurve>
 				</Millard2012EquilibriumMuscle>
 				<CoordinateActuator name="lumbar_ext">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>lumbar_extension</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="lumbar_bend">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>lumbar_bending</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="lumbar_rot">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>lumbar_rotation</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="shoulder_flex_r">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>arm_flex_r</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="shoulder_add_r">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>arm_add_r</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="shoulder_rot_r">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>arm_rot_r</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="elbow_flex_r">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>elbow_flex_r</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="pro_sup_r">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>pro_sup_r</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="wrist_flex_r">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>wrist_flex_r</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="wrist_dev_r">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>wrist_dev_r</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="shoulder_flex_l">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>arm_flex_l</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="shoulder_add_l">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>arm_add_l</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="shoulder_rot_l">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>arm_rot_l</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="elbow_flex_l">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>elbow_flex_l</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="pro_sup_l">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>pro_sup_l</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="wrist_flex_l">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>wrist_flex_l</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 				<CoordinateActuator name="wrist_dev_l">
 					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
 					<min_control>-Inf</min_control>
 					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
 					<max_control>Inf</max_control>
 					<!--Name of the generalized coordinate to which the actuator applies.-->
 					<coordinate>wrist_dev_l</coordinate>
 					<!--The maximum generalized force produced by this actuator.-->
 					<optimal_force>10</optimal_force>
 				</CoordinateActuator>
 			</objects>
 			<groups>
 				<ObjectGroup name="right_leg">
 					<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>
 				</ObjectGroup>
 				<ObjectGroup name="left_leg">
 					<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 piri_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>
 				</ObjectGroup>
 				<ObjectGroup name="hip_add_r">
 					<members> addbrev_r addlong_r addmagDist_r addmagIsch_r addmagMid_r addmagProx_r bflh_r grac_r semimem_r semiten_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_abd_r">
 					<members> glmax1_r glmed1_r glmed2_r glmed3_r glmin1_r glmin2_r glmin3_r piri_r sart_r tfl_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_flex_r">
 					<members> addbrev_r addlong_r glmin1_r grac_r iliacus_r psoas_r recfem_r sart_r tfl_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_ext_r">
 					<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>
 				</ObjectGroup>
 				<ObjectGroup name="hip_inrot_r">
 					<members> glmed1_r glmed2_r glmed3_r glmin1_r iliacus_r psoas_r tfl_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_exrot_r">
 					<members> glmin3_r piri_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="knee_flex_r">
 					<members> bflh_r bfsh_r gaslat_r gasmed_r grac_r sart_r semimem_r semiten_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="knee_ext_r">
 					<members> recfem_r vasint_r vaslat_r vasmed_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="ankle_df_r">
 					<members> edl_r ehl_r tibant_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="ankle_pf_r">
 					<members> fdl_r fhl_r gaslat_r gasmed_r perbrev_r perlong_r soleus_r tibpost_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="everter_r">
 					<members> edl_r perbrev_r perlong_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="inverter_r">
 					<members> ehl_r fdl_r fhl_r tibant_r tibpost_r</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_add_l">
 					<members> addbrev_l addlong_l addmagDist_l addmagIsch_l addmagMid_l addmagProx_l bflh_l grac_l semimem_l semiten_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_abd_l">
 					<members> glmax1_l glmed1_l glmed2_l glmed3_l glmin1_l glmin2_l glmin3_l piri_l sart_l tfl_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_flex_l">
 					<members> addbrev_l addlong_l glmin1_l grac_l iliacus_l psoas_l recfem_l sart_l tfl_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_ext_l">
 					<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>
 				</ObjectGroup>
 				<ObjectGroup name="hip_exrot_l">
 					<members> glmin3_l piri_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="hip_inrot_l">
 					<members> glmed1_l glmed2_l glmed3_l glmin1_l iliacus_l psoas_l tfl_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="knee_flex_l">
 					<members> bflh_l bfsh_l gaslat_l gasmed_l grac_l sart_l semimem_l semiten_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="knee_ext_l">
 					<members> recfem_l vasint_l vaslat_l vasmed_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="ankle_df_l">
 					<members> edl_l ehl_l tibant_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="ankle_pf_l">
 					<members> fdl_l fhl_l gaslat_l gasmed_l perbrev_l perlong_l soleus_l tibpost_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="everter_l">
 					<members> edl_l perbrev_l perlong_l</members>
 				</ObjectGroup>
 				<ObjectGroup name="inverter_l">
 					<members> ehl_l fdl_l fhl_l tibant_l tibpost_l</members>
 				</ObjectGroup>
 			</groups>
 		</ForceSet>
 		<!--Markers in the model.-->
 		<MarkerSet name="markerset">
 			<objects>
 				<Marker name="RACR">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0030000000000000001 0.42499999999999999 0.13</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LACR">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0030000000000000001 0.42499999999999999 -0.13</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="C7">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.085000000000000006 0.435 0.0016542600000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="CLAV">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.040000000000000001 0.38 0.017000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RASH">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.050000000000000003 0.3715 0.17000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RPSH">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.050000000000000003 0.3715 0.17000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LASH">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.050000000000000003 0.3715 -0.17000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LPSH">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/torso</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.058000000000000003 0.3715 -0.17000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RSJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RUA1">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.050000000000000003 0.02</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RUA2">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.20000000000000001 0.02</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RUA3">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.029999999999999999 -0.13 0.02</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RLEL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.014999999999999999 -0.28000000000000003 0.040000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RMEL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0022499999999999998 -0.28599999999999998 -0.045999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RFAsuperior">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/ulna_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0046045299999999999 -0.080057900000000001 0.045319600000000002</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RFAradius">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/radius_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.00050000000000000001 -0.22500000000000001 0.050000000000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RFAulna">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/radius_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.021999999999999999 -0.22500000000000001 -0.021999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LSJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LUA1">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.050000000000000003 -0.02</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LUA2">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.20000000000000001 -0.02</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LUA3">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.029999999999999999 -0.13 -0.02</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LLEL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.014999999999999999 -0.28000000000000003 -0.040000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LMEL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/humerus_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.00225005 -0.28599999999999998 0.045999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LFAsuperior">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/ulna_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0046045299999999999 -0.080057900000000001 -0.045319600000000002</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LFAradius">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/radius_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.00050000000000000001 -0.22500000000000001 -0.050000000000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LFAulna">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/radius_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.021999999999999999 -0.22500000000000001 0.021999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RASI">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0095304699999999992 0.0180816 0.12846399999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LASI">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0095304699999999992 0.0180816 -0.12846399999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RPSI">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.155 0.035000000000000003 0.044999999999999998</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LPSI">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.155 0.035000000000000003 -0.044999999999999998</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LHJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RHJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RTH1">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.017999999999999999 -0.14999999999999999 0.064000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RTH2">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.080000000000000002 -0.23000000000000001 0.0047000000000000002</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RTH3">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.01 -0.29999999999999999 0.059999999999999998</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RLFC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.40400000000000003 0.050000000000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RMFC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.40400000000000003 -0.050000000000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RKJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0017309999999999999 -0.0023890000000000001 -0.0084519999999999994</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RTB1">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0016617800000000001 -0.15648799999999999 0.049239400000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RTB2">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.036964299999999999 -0.23010700000000001 -0.0039169900000000004</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RTB3">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0113793 -0.295236 0.055354100000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RLMAL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0050000000000000001 -0.38879999999999998 0.052999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RMMAL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0060000000000000001 -0.38879999999999998 -0.037999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RAJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/talus_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RCAL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.025000000000000001 0.02 -0.0050000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RTOE">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.20499999999999999 0.029730800000000002 -0.029999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="RMT5">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.14499999999999999 0.024910000000000002 0.058999999999999997</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LTH1">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.017999999999999999 -0.14999999999999999 -0.064000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LTH2">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.080000000000000002 -0.23000000000000001 -0.0047000000000000002</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LTH3">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.01 -0.29999999999999999 -0.059999999999999998</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LLFC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.40400000000000003 -0.050000000000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LMFC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 -0.40400000000000003 0.050000000000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LKJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0017309999999999999 -0.0023890000000000001 0.0084519999999999994</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LTB1">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0016617800000000001 -0.15648799999999999 -0.049239400000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LTB2">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.036964299999999999 -0.23010700000000001 0.0039169900000000004</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LTB3">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0113793 -0.295236 -0.055354100000000003</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LLMAL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0050000000000000001 -0.38879999999999998 -0.052999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LMMAL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.0060000000000000001 -0.38879999999999998 0.037999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LAJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/talus_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LCAL">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.025000000000000001 0.02 0.0050000000000000001</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LTOE">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.20499999999999999 0.029729999999999999 0.029999999999999999</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LMT5">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0.14499999999999999 0.024909000000000001 -0.058999999999999997</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="REJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/ulna_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="LEJC">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/ulna_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>0 0 0</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="R_tibial_plateau">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0080895399999999992 -0.017000000000000001 -0.00148474</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 				<Marker name="L_tibial_plateau">
 					<!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame to which this station is fixed.).-->
 					<socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
 					<!--The fixed location of the station expressed in its parent frame.-->
 					<location>-0.0080895399999999992 -0.017000000000000001 0.00148474</location>
 					<!--Flag (true or false) specifying whether the marker is fixed in its parent frame during the marker placement step of scaling.  If false, the marker is free to move within its parent Frame to match its experimental counterpart.-->
 					<fixed>false</fixed>
 				</Marker>
 			</objects>
 			<groups />
 		</MarkerSet>
 		<!--Geometry to be used in contact forces.-->
 		<ContactGeometrySet name="contactgeometryset">
 			<objects />
 			<groups />
 		</ContactGeometrySet>
 	</Model>
 </OpenSimDocument>
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