// MUSCLE NOTES:
// joint1 == -1 indicates this MTU only acts on a single joint (joint0)  
// phi_max0 == -10000 indicates a constant moment arm is used for joint0  
//
// The parameters of our MTUs that actuate DOFs in the coronal and transverse 
// planes are motivated by parameters of major muscles that are capable of 
// generating significant torques in those DOFs based on the Delp et al. 1990 
// model.  An exception is the hip internal rotator (HIR), where torques arise 
// from muscles already captured by other MTUs such as the hip abductor (HAB). 
// For simplicity, we do not model effects of muscles across multiple DOFs in 
// the same joint.  We instead set HIR parameters to be the same as its 
// antagonist MTU, the hip external rotator (HER).   


BODY 00: 'world'
{
  mass  	+0.000
  inertia	+0.000 +0.000 +0.000
  local_pos		+0.000 +0.000 +0.000
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.000 +0.000 +0.000
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	00 'world'

  GEOM 00
  {
    type  	''
    local_pos   	+0.000 +0.000 -1.440
    local_quat  	+1.000 +0.000 +0.000 +0.000
    size   				+0.000 +0.000
  }
}
BODY 01: 'trunk'
{
  mass  	+19.734
  inertia	+0.019 +0.014 +0.011
  local_pos		+0.000 +0.000 -0.100
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.000 +0.000 -0.100
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	00 'world'

  JOINT 00
  {
    type  	'SLIDE'
    local_pos   	+0.000 +0.000 +0.000
    local_axis  	+1.000 +0.000 +0.000
    limit 				+0.000 +0.000
    islimited	0
  }

  JOINT 01
  {
    type  	'SLIDE'
    local_pos   	+0.000 +0.000 +0.000
    local_axis  	+0.000 +1.000 +0.000
    limit 				+0.000 +0.000
    islimited	0
  }

  JOINT 02
  {
    type  	'SLIDE'
    local_pos   	+0.000 +0.000 +0.000
    local_axis  	+0.000 +0.000 +1.000
    limit 				+0.000 +0.000
    islimited	0
  }

  JOINT 03
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.000
    local_axis  	+1.000 +0.000 +0.000
    limit 				+0.000 +0.000
    islimited	0
  }

  JOINT 04
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.000
    local_axis  	+0.000 +1.000 +0.000
    limit 				+0.000 +0.000
    islimited	0
  }

  JOINT 05
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.000
    local_axis  	+0.000 +0.000 +1.000
    limit 				+0.000 +0.000
    islimited	0
  }

  GEOM 01
  {
    type  	'CAPSULE'
    local_pos   	+0.015 +0.000 +0.023
    local_quat  	-0.000 +0.000 +0.000 +0.000
    size   				+0.130 +0.052
  }
}
BODY 02: 'head'
{
  mass  	+4.340
  inertia	+0.005 +0.006 +0.003
  local_pos		+0.010 +0.000 +0.323
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.010 +0.000 +0.223
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	01 'trunk'

  JOINT 06
  {
    type  	'HINGE'
    local_pos   	-0.030 +0.000 -0.080
    local_axis  	+1.000 +0.000 +0.000
    limit 				-1.047 +1.047
    islimited	1
  }

  JOINT 07
  {
    type  	'HINGE'
    local_pos   	-0.030 +0.000 -0.080
    local_axis  	+0.000 +1.000 +0.000
    limit 				-0.873 +1.571
    islimited	1
  }

  JOINT 08
  {
    type  	'HINGE'
    local_pos   	-0.030 +0.000 -0.080
    local_axis  	+0.000 +0.000 +1.000
    limit 				-1.396 +1.396
    islimited	1
  }

  GEOM 02
  {
    type  	'CAPSULE'
    local_pos   	+0.010 +0.000 +0.000
    local_quat  	+1.000 +0.000 +0.000 +0.000
    size   				+0.080 +0.035
  }
}
BODY 03: 'right upper arm'
{
  mass  	+2.071
  inertia	+0.007 +0.007 +0.001
  local_pos		-0.024 +0.165 -0.023
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	-0.024 +0.165 -0.123
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	01 'trunk'

  JOINT 09
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.102
    local_axis  	+1.000 +0.000 +0.000
    limit 				+0.087 +1.047
    islimited	1
  }

  JOINT 10
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.102
    local_axis  	+0.000 +1.000 +0.000
    limit 				-2.793 +1.047
    islimited	1
  }

  JOINT 11
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.102
    local_axis  	+0.000 +0.000 +1.000
    limit 				-0.785 -0.087
    islimited	1
  }

  GEOM 03
  {
    type  	'CAPSULE'
    local_pos   	+0.000 +0.000 -0.032
    local_quat  	+1.000 +0.000 +0.000 +0.000
    size   				+0.050 +0.134
  }
}
BODY 04: 'right forearm'
{
  mass  	+1.107
  inertia	+0.004 +0.004 +0.001
  local_pos		+0.000 +0.000 -0.263
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	-0.024 +0.165 -0.386
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	03 'right upper arm'

  JOINT 12
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.096
    local_axis  	+0.000 +1.000 +0.000
    limit 				-2.094 -0.087
    islimited	1
  }

  GEOM 04
  {
    type  	'CAPSULE'
    local_pos   	+0.000 +0.000 -0.032
    local_quat  	+1.000 +0.000 +0.000 +0.000
    size   				+0.050 +0.129
  }
}
BODY 05: 'left upper arm'
{
  mass  	+2.071
  inertia	+0.007 +0.007 +0.001
  local_pos		-0.024 -0.165 -0.023
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	-0.024 -0.165 -0.123
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	01 'trunk'

  JOINT 13
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.102
    local_axis  	+1.000 +0.000 +0.000
    limit 				-1.047 -0.087
    islimited	1
  }

  JOINT 14
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.102
    local_axis  	+0.000 +1.000 +0.000
    limit 				-2.793 +1.047
    islimited	1
  }

  JOINT 15
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.102
    local_axis  	+0.000 +0.000 +1.000
    limit 				+0.087 +0.785
    islimited	1
  }

  GEOM 05
  {
    type  	'CAPSULE'
    local_pos   	+0.000 +0.000 -0.032
    local_quat  	+1.000 +0.000 +0.000 +0.000
    size   				+0.050 +0.134
  }
}
BODY 06: 'left forearm'
{
  mass  	+1.107
  inertia	+0.004 +0.004 +0.001
  local_pos		+0.000 +0.000 -0.263
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	-0.024 -0.165 -0.386
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	05 'left upper arm'

  JOINT 16
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.000 +0.096
    local_axis  	+0.000 +1.000 +0.000
    limit 				-2.094 -0.087
    islimited	1
  }

  GEOM 06
  {
    type  	'CAPSULE'
    local_pos   	+0.000 +0.000 -0.032
    local_quat  	+1.000 +0.000 +0.000 +0.000
    size   				+0.050 +0.129
  }
}
BODY 07: 'pelvis'
{
  mass  	+13.925
  inertia	+0.013 +0.009 +0.010
  local_pos		+0.018 +0.000 -0.363
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.018 +0.000 -0.463
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	01 'trunk'

  JOINT 17
  {
    type  	'HINGE'
    local_pos   	+0.023 +0.000 +0.153
    local_axis  	+1.000 +0.000 +0.000
    limit 				-0.349 +0.349
    islimited	1
  }

  JOINT 18
  {
    type  	'HINGE'
    local_pos   	+0.023 +0.000 +0.153
    local_axis  	+0.000 +1.000 +0.000
    limit 				-0.349 +0.175
    islimited	1
  }

  JOINT 19
  {
    type  	'HINGE'
    local_pos   	+0.023 +0.000 +0.153
    local_axis  	+0.000 +0.000 +1.000
    limit 				-0.349 +0.349
    islimited	1
  }

  GEOM 07
  {
    type  	'CAPSULE'
    local_pos   	+0.000 +0.000 +0.000
    local_quat  	+1.000 +0.000 +0.000 +0.000
    size   				+0.120 +0.050
  }
}
BODY 08: 'right thigh'
{
  mass  	+8.082
  inertia	+0.014 +0.015 +0.004
  local_pos		-0.008 +0.119 -0.217
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.010 +0.119 -0.680
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	07 'pelvis'

  JOINT 20
  {
    type  	'HINGE'
    local_pos   	+0.000 -0.002 +0.179
    local_axis  	+1.000 +0.000 +0.000
    limit 				-0.524 +0.524
    islimited	1
  }

  JOINT 21
  {
    type  	'HINGE'
    local_pos   	+0.000 -0.002 +0.179
    local_axis  	+0.000 +1.000 +0.000
    limit 				-2.793 +1.047
    islimited	1
  }

  JOINT 22
  {
    type  	'HINGE'
    local_pos   	+0.000 -0.002 +0.179
    local_axis  	+0.000 +0.000 +1.000
    limit 				-0.175 +0.524
    islimited	1
  }

  GEOM 08
  {
    type  	'CAPSULE'
    local_pos   	-0.002 +0.001 -0.030
    local_quat  	+1.000 +0.005 +0.006 +0.000
    size   				+0.074 +0.208
  }
}
BODY 09: 'right shank'
{
  mass  	+3.222
  inertia	+0.014 +0.014 +0.001
  local_pos		-0.005 +0.008 -0.421
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.005 +0.127 -1.101
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	08 'right thigh'

  JOINT 23
  {
    type  	'HINGE'
    local_pos   	+0.000 -0.006 +0.183
    local_axis  	+0.000 +1.000 +0.000
    limit 				+0.035 +2.880
    islimited	1
  }

  GEOM 09
  {
    type  	'CAPSULE'
    local_pos   	+0.000 -0.012 -0.028
    local_quat  	+1.000 -0.014 +0.000 +0.000
    size   				+0.050 +0.211
  }
}
BODY 10: 'right foot'
{
  mass  	+1.362
  inertia	+0.001 +0.005 +0.005
  local_pos		+0.053 -0.018 -0.293
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.058 +0.109 -1.393
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	09 'right shank'

  JOINT 24
  {
    type  	'HINGE'
    local_pos   	-0.053 +0.001 +0.055
    local_axis  	+0.000 +1.000 +0.000
    limit 				-0.349 +0.524
    islimited	1
  }

  JOINT 25
  {
    type  	'HINGE'
    local_pos   	-0.053 +0.001 +0.055
    local_axis  	+1.000 +0.000 +0.000
    limit 				-0.524 +0.175
    islimited	1
  }

  GEOM 10
  {
    type  	'CAPSULE'
    local_pos   	+0.001 +0.001 +0.000
    local_quat  	+0.707 -0.003 -0.707 +0.000
    size   				+0.040 +0.066
  }
}
BODY 11: 'left thigh'
{
  mass  	+8.082
  inertia	+0.014 +0.015 +0.004
  local_pos		-0.008 -0.119 -0.217
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.010 -0.119 -0.680
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	07 'pelvis'

  JOINT 26
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.002 +0.179
    local_axis  	+1.000 +0.000 +0.000
    limit 				-0.524 +0.524
    islimited	1
  }

  JOINT 27
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.002 +0.179
    local_axis  	+0.000 +1.000 +0.000
    limit 				-2.793 +1.047
    islimited	1
  }

  JOINT 28
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.002 +0.179
    local_axis  	+0.000 +0.000 +1.000
    limit 				-0.524 +0.175
    islimited	1
  }

  GEOM 11
  {
    type  	'CAPSULE'
    local_pos   	-0.002 -0.001 -0.030
    local_quat  	+1.000 -0.005 +0.006 +0.000
    size   				+0.074 +0.208
  }
}
BODY 12: 'left shank'
{
  mass  	+3.222
  inertia	+0.014 +0.014 +0.001
  local_pos		-0.005 -0.008 -0.421
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.005 -0.127 -1.101
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	11 'left thigh'

  JOINT 29
  {
    type  	'HINGE'
    local_pos   	+0.000 +0.006 +0.183
    local_axis  	+0.000 +1.000 +0.000
    limit 				+0.035 +2.880
    islimited	1
  }

  GEOM 12
  {
    type  	'CAPSULE'
    local_pos   	+0.000 +0.012 -0.028
    local_quat  	+1.000 +0.014 +0.000 +0.000
    size   				+0.050 +0.211
  }
}
BODY 13: 'left foot'
{
  mass  	+1.362
  inertia	+0.001 +0.005 +0.005
  local_pos		+0.053 +0.018 -0.293
  local_quat	+1.000 +0.000 +0.000 +0.000
  global_pos	+0.058 -0.109 -1.393
  global_quat	+1.000 +0.000 +0.000 +0.000
  parent	12 'left shank'

  JOINT 30
  {
    type  	'HINGE'
    local_pos   	-0.053 -0.001 +0.055
    local_axis  	+0.000 +1.000 +0.000
    limit 				-0.349 +0.524
    islimited	1
  }

  JOINT 31
  {
    type  	'HINGE'
    local_pos   	-0.053 -0.001 +0.055
    local_axis  	+1.000 +0.000 +0.000
    limit 				-0.175 +0.524
    islimited	1
  }

  GEOM 13
  {
    type  	'CAPSULE'
    local_pos   	+0.001 -0.001 +0.000
    local_quat  	+0.707 +0.003 -0.707 +0.000
    size   				+0.040 +0.066
  }
}

MUSCLE 00: 'GLU right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	21
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	-0.500
  phi_ref0  	+2.620
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.122
  l_opt  	+0.103
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.103
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 01: 'HFL right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	21
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	+0.500
  phi_ref0  	+3.142
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.094
  l_opt  	+0.103
  F_max  	+2000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.008
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.103
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 02: 'HAM right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	21
  joint1  	23

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+2.710
  phi_max0  	-10000.000
  r01  	+0.047
  rho1  	+0.700
  phi_ref1  	+3.142
  phi_max1  	-10000.000

  // MTU properties
  l_slack  	+0.290
  l_opt  	+0.094
  F_max  	+3000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.012
  typeI_protion  	+0.440

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.094
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 03: 'RF right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	21
  joint1  	23

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	+0.700
  phi_ref0  	+3.142
  phi_max0  	-10000.000
  r01  	+0.047
  rho1  	-0.700
  phi_ref1  	+2.180
  phi_max1  	-10000.000

  // MTU properties
  l_slack  	+0.281
  l_opt  	+0.075
  F_max  	+1000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.004
  typeI_protion  	+0.423

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.075
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 04: 'VAS right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	23
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.047
  rho0  	-0.700
  phi_ref0  	+2.180
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.215
  l_opt  	+0.075
  F_max  	+6000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.024
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.075
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 05: 'GAS right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	23
  joint1  	24

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.047
  rho0  	+0.700
  phi_ref0  	+2.880
  phi_max0  	-10000.000
  r01  	+0.047
  rho1  	-0.700
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.374
  l_opt  	+0.047
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.540

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.100
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.047
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 06: 'SOL right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	24
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.047
  rho0  	-0.500
  phi_ref0  	+1.400
  phi_max0  	+1.920
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.243
  l_opt  	+0.037
  F_max  	+4000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.016
  typeI_protion  	+0.810

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.100
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.037
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 07: 'TA right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	24
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.037
  rho0  	+0.700
  phi_ref0  	+1.920
  phi_max0  	+1.400
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.225
  l_opt  	+0.056
  F_max  	+800.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.003
  typeI_protion  	+0.700

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.056
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 08: 'HAD right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	20
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	-0.500
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.103
  l_opt  	+0.122
  F_max  	+2000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.008
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.122
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 09: 'HAB right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	20
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.047
  l_opt  	+0.075
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.075
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 10: 'TP right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	25
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.019
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-0.175
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.281
  l_opt  	+0.028
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.028
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 11: 'AEV right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	25
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.028
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.328
  l_opt  	+0.047
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.047
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 12: 'HER right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	22
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.094
  l_opt  	+0.019
  F_max  	+1000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.004
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.019
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 13: 'HIR right'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	22
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.094
  l_opt  	+0.019
  F_max  	+1000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.004
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.019
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 14: 'GLU left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	27
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	-0.500
  phi_ref0  	+2.620
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.122
  l_opt  	+0.103
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.103
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 15: 'HFL left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	27
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	+0.500
  phi_ref0  	+3.142
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.094
  l_opt  	+0.103
  F_max  	+2000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.008
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.103
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 16: 'HAM left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	27
  joint1  	29

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+2.710
  phi_max0  	-10000.000
  r01  	+0.047
  rho1  	+0.700
  phi_ref1  	+3.142
  phi_max1  	-10000.000

  // MTU properties
  l_slack  	+0.290
  l_opt  	+0.094
  F_max  	+3000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.012
  typeI_protion  	+0.440

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.094
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 17: 'RF left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	27
  joint1  	29

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	+0.700
  phi_ref0  	+3.142
  phi_max0  	-10000.000
  r01  	+0.047
  rho1  	-0.700
  phi_ref1  	+2.180
  phi_max1  	-10000.000

  // MTU properties
  l_slack  	+0.281
  l_opt  	+0.075
  F_max  	+1000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.004
  typeI_protion  	+0.423

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.075
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 18: 'VAS left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	29
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.047
  rho0  	-0.700
  phi_ref0  	+2.180
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.215
  l_opt  	+0.075
  F_max  	+6000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.024
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.075
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 19: 'GAS left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	29
  joint1  	30

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.047
  rho0  	+0.700
  phi_ref0  	+2.880
  phi_max0  	-10000.000
  r01  	+0.047
  rho1  	-0.700
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.374
  l_opt  	+0.047
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.540

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.100
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.047
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 20: 'SOL left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	30
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.047
  rho0  	-0.500
  phi_ref0  	+1.400
  phi_max0  	+1.920
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.243
  l_opt  	+0.037
  F_max  	+4000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.016
  typeI_protion  	+0.810

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.100
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.037
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 21: 'TA left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	30
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.037
  rho0  	+0.700
  phi_ref0  	+1.920
  phi_max0  	+1.400
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.225
  l_opt  	+0.056
  F_max  	+800.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.003
  typeI_protion  	+0.700

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.056
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 22: 'HAD left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	26
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.094
  rho0  	-0.500
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.103
  l_opt  	+0.122
  F_max  	+2000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.008
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.122
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 23: 'HAB left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	26
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.047
  l_opt  	+0.075
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.075
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 24: 'TP left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	31
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.019
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-0.175
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.281
  l_opt  	+0.028
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.028
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 25: 'AEV left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	31
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.028
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.328
  l_opt  	+0.047
  F_max  	+1500.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.006
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.047
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 26: 'HER left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	28
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.094
  l_opt  	+0.019
  F_max  	+1000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.004
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.019
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}

MUSCLE 27: 'HIR left'
{

  // Global JOINT indices this muscle acts on (two for biarticular muscles)
  joint0  	28
  joint1  	-1

  // Attachment parameters, for moment arm and l_mtu calculation
  r00  	+0.075
  rho0  	-0.700
  phi_ref0  	+0.000
  phi_max0  	-10000.000
  r01  	-1.000
  rho1  	+0.500
  phi_ref1  	+1.400
  phi_max1  	+1.920

  // MTU properties
  l_slack  	+0.094
  l_opt  	+0.019
  F_max  	+1000.000
  v_max  	-10.000

  // Properties for metabolics calculation
  csa  	+0.004
  typeI_protion  	+0.500

  // Force-length, Force-velocity, and passive force curve shape parameters
  epsilon_ref  	+0.040
  w  	+0.560
  K  	+5.000
  N  	+1.500

  // State variables, only used when integrating the muscle fiber length
  l_ce  	+0.019
  A  	+0.010
  S  	+0.010

  // Activation dynamics time constant
  T  	+0.010
}