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gait10dof18musc_cvt3.xml
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gait10dof18musc_cvt3.xml
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<mujoco model="template">
<!-- This model has been converted from an OpenSim model. Model conversion by MyoConverter https://github.com/MyoHub/myoConverter. This model is licensed under Apache 2.0. -->
<compiler angle="radian" autolimits="true"/>
<option timestep="0.005" collision="predefined"/>
<size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
<visual>
<scale framelength="0.5" framewidth="0.01"/>
</visual>
<default class="main">
<joint limited="true" armature="1e-05" damping="0.05"/>
<geom margin="0.001" rgba="0.8 0.6 0.4 1"/>
<site size="0.001 0.005 0.005"/>
<tendon width="0.005" rgba="0.95 0.3 0.3 1"/>
<default class="muscle">
<general ctrllimited="true" ctrlrange="0 1" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 0 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 200 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 200 0.5 1.6 1.5 1.3 1.2 0"/>
</default>
<default class="motor">
<general gainprm="5 0 0 0 0 0 0 0 0 0"/>
</default>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
<mesh name="pelvis_geom_1_sacrum" file="Geometry/sacrum.stl"/>
<mesh name="pelvis_geom_2_pelvis" file="Geometry/pelvis.stl"/>
<mesh name="pelvis_geom_3_l_pelvis" file="Geometry/l_pelvis.stl"/>
<mesh name="femur_r_geom_1_femur_r" file="Geometry/femur_r.stl"/>
<mesh name="tibia_r_geom_1_tibia_r" file="Geometry/tibia_r.stl"/>
<mesh name="tibia_r_geom_2_fibula" file="Geometry/fibula.stl"/>
<mesh name="talus_r_geom_1_talus" file="Geometry/talus.stl"/>
<mesh name="calcn_r_geom_1_foot" file="Geometry/foot.stl"/>
<mesh name="toes_r_geom_1_bofoot" file="Geometry/bofoot.stl"/>
<mesh name="femur_l_geom_1_femur_l" file="Geometry/femur_l.stl"/>
<mesh name="tibia_l_geom_1_tibia_l" file="Geometry/tibia_l.stl"/>
<mesh name="tibia_l_geom_2_l_fibula" file="Geometry/l_fibula.stl"/>
<mesh name="talus_l_geom_1_l_talus" file="Geometry/l_talus.stl"/>
<mesh name="calcn_l_geom_1_l_foot" file="Geometry/l_foot.stl"/>
<mesh name="toes_l_geom_1_l_bofoot" file="Geometry/l_bofoot.stl"/>
<mesh name="torso_geom_1_hat_spine" file="Geometry/hat_spine.stl"/>
<mesh name="torso_geom_2_hat_jaw" file="Geometry/hat_jaw.stl"/>
<mesh name="torso_geom_3_hat_skull" file="Geometry/hat_skull.stl"/>
<mesh name="torso_geom_4_hat_ribs" file="Geometry/hat_ribs.stl"/>
</asset>
<worldbody>
<light pos="0 0 0" dir="0 0 -1" directional="true"/>
<body name="ground" quat="0.707035 0.707179 0 0">
<geom name="ground-plane" size="10 10 0.125" quat="0.707035 -0.707179 0 0" type="plane" rgba="1 0.7 0.4 1"/>
</body>
<body name="pelvis" quat="0.707035 0.707179 0 0">
<inertial pos="-0.0707 0 0" mass="11.777" diaginertia="0.1028 0.0871 0.0579"/>
<joint name="pelvis_tx" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" damping="0"/>
<joint name="pelvis_ty" pos="0 0 0" axis="0 1 0" type="slide" range="-1 2" damping="0" user="0.95"/>
<joint name="pelvis_tilt" pos="0 0 0" axis="0 0 1" range="-1.571 1.571" damping="0"/>
<geom name="pelvis_geom_1" type="mesh" rgba="1 1 1 1" mesh="pelvis_geom_1_sacrum"/>
<geom name="pelvis_geom_2" type="mesh" rgba="1 1 1 1" mesh="pelvis_geom_2_pelvis"/>
<geom name="pelvis_geom_3" type="mesh" rgba="1 1 1 1" mesh="pelvis_geom_3_l_pelvis"/>
<site name="hamstrings_r_bifemlh_r-P1" pos="-0.12596 -0.10257 0.06944"/>
<site name="glut_max_r_glut_max_r-P1" pos="-0.1349 0.0176 0.0563"/>
<site name="glut_max_r_glut_max_r-P2" pos="-0.1376 -0.052 0.0914"/>
<site name="iliopsoas_r_psoas_r-P1" pos="-0.0647 0.0887 0.0289"/>
<site name="iliopsoas_r_psoas_r-P2" pos="-0.0238 -0.057 0.0759"/>
<site name="rect_fem_r_rect_fem_r-P1" pos="-0.0295 -0.0311 0.0968"/>
<site name="hamstrings_l_bifemlh_l-P1" pos="-0.12596 -0.10257 -0.06944"/>
<site name="glut_max_l_glut_max_l-P1" pos="-0.1349 0.0176 -0.0563"/>
<site name="glut_max_l_glut_max_l-P2" pos="-0.1376 -0.052 -0.0914"/>
<site name="iliopsoas_l_psoas_l-P1" pos="-0.0647 0.0887 -0.0289"/>
<site name="iliopsoas_l_psoas_l-P2" pos="-0.0238 -0.057 -0.0759"/>
<site name="rect_fem_l_rect_fem_l-P1" pos="-0.0295 -0.0311 -0.0968"/>
<body name="femur_r" pos="-0.0707 -0.0661 0.0835">
<inertial pos="0 -0.17 0" quat="0.5 0.5 -0.5 0.5" mass="9.3014" diaginertia="0.1412 0.1339 0.0351"/>
<joint name="hip_flexion_r" pos="0 0 0" axis="0 0 1" range="-2.094 2.094"/>
<geom name="femur_r_geom_1" type="mesh" rgba="1 1 1 1" mesh="femur_r_geom_1_femur_r"/>
<site name="bifemsh_r_bifemsh_r-P1" pos="0.005 -0.2111 0.0234"/>
<site name="glut_max_r_glut_max_r-P3" pos="-0.0426 -0.053 0.0293"/>
<site name="glut_max_r_glut_max_r-P4" pos="-0.0156 -0.1016 0.0419"/>
<site name="iliopsoas_r_psoas_r-P4" pos="0.0016 -0.0507 0.0038"/>
<site name="iliopsoas_r_psoas_r-P5" pos="-0.0188 -0.0597 0.0104"/>
<site name="rect_fem_r_rect_fem_r-P2" pos="0.0334 -0.403 0.0019"/>
<site name="vasti_r_vas_int_r-P1" pos="0.029 -0.1924 0.031"/>
<site name="vasti_r_vas_int_r-P2" pos="0.0335 -0.2084 0.0285"/>
<site name="gastroc_r_med_gas_r-P1" pos="-0.019 -0.3929 -0.0235"/>
<body name="tibia_r">
<inertial pos="0 -0.1867 0" quat="0.5 0.5 -0.5 0.5" mass="3.7075" diaginertia="0.0511 0.0504 0.0051"/>
<joint name="knee_r_translation1" pos="0 0 0" axis="1 0 0" type="slide" range="-0.005574 0.00411" user="-0.00363925"/>
<joint name="knee_r_translation2" pos="0 0 0" axis="0 1 0" type="slide" range="-0.4226 -0.3953" user="-0.395713"/>
<joint name="knee_angle_r" pos="0 0 0" axis="0 0 1" range="-2.094 0.1745"/>
<geom name="tibia_r_geom_1" type="mesh" rgba="1 1 1 1" mesh="tibia_r_geom_1_tibia_r"/>
<geom name="tibia_r_geom_2" type="mesh" rgba="1 1 1 1" mesh="tibia_r_geom_2_fibula"/>
<site name="hamstrings_r_bifemlh_r-P2" pos="-0.0301 -0.036 0.02943"/>
<site name="hamstrings_r_bifemlh_r-P3" pos="-0.0234 -0.0563 0.0343"/>
<site name="bifemsh_r_bifemsh_r-P2" pos="-0.0301 -0.036 0.02943"/>
<site name="bifemsh_r_bifemsh_r-P3" pos="-0.0234 -0.0563 0.0343"/>
<site name="soleus_r_soleus_r-P1" pos="-0.0024 -0.1533 0.0071"/>
<site name="tib_ant_r_tib_ant_r-P1" pos="0.0179 -0.1624 0.0115"/>
<site name="tib_ant_r_tib_ant_r-P2" pos="0.0329 -0.3951 -0.0177"/>
<body name="talus_r" pos="0 -0.43 0">
<inertial pos="0 0 0" mass="0.1" diaginertia="0.001 0.001 0.001"/>
<joint name="ankle_angle_r" pos="0 0 0" axis="0 0 1" range="-1.571 1.571"/>
<geom name="talus_r_geom_1" type="mesh" rgba="1 1 1 1" mesh="talus_r_geom_1_talus"/>
<body name="calcn_r" pos="-0.04877 -0.04195 0.00792">
<inertial pos="0.1 0.03 0" quat="0 0.707107 0 0.707107" mass="1.25" diaginertia="0.0041 0.0039 0.0014"/>
<geom name="calcn_r_geom_1" type="mesh" rgba="1 1 1 1" mesh="calcn_r_geom_1_foot"/>
<site name="gastroc_r_med_gas_r-P3" pos="0 0.031 -0.0053"/>
<site name="soleus_r_soleus_r-P2" pos="0 0.031 -0.0053"/>
<site name="tib_ant_r_tib_ant_r-P3" pos="0.1166 0.0178 -0.0305"/>
<body name="toes_r" pos="0.1788 -0.002 0.00108">
<inertial pos="0.0346 0.006 -0.0175" quat="0.707107 0 0 0.707107" mass="0.2166" diaginertia="0.001 0.001 0.001"/>
<geom name="toes_r_geom_1" type="mesh" rgba="1 1 1 1" mesh="toes_r_geom_1_bofoot"/>
</body>
</body>
</body>
<body name="rect_fem_r_rect_fem_r-P3" pos="0 0 0.001399">
<joint name="rect_fem_r_rect_fem_r-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="0.01558 0.0733"/>
<joint name="rect_fem_r_rect_fem_r-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.06738 0.02531"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="rect_fem_r_rect_fem_r-P3" pos="0 0 0"/>
</body>
<body name="vasti_r_vas_int_r-P4" pos="0 0 0.001799">
<joint name="vasti_r_vas_int_r-P4_x" pos="0 0 0" axis="1 0 0" type="slide" range="0.008273 0.06844"/>
<joint name="vasti_r_vas_int_r-P4_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.06857 0.02752"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="vasti_r_vas_int_r-P4" pos="0 0 0"/>
</body>
</body>
<body name="vasti_r_vas_int_r-P3" pos="0.0335 0 0">
<joint name="vasti_r_vas_int_r-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.403 -0.2084"/>
<joint name="vasti_r_vas_int_r-P3_z" pos="0 0 0" axis="0 0 1" type="slide" range="0.0055 0.0285"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="vasti_r_vas_int_r-P3" pos="0 0 0"/>
</body>
<body name="gastroc_r_med_gas_r-P2">
<joint name="gastroc_r_med_gas_r-P2_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.03 -0.019"/>
<joint name="gastroc_r_med_gas_r-P2_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.4022 -0.3929"/>
<joint name="gastroc_r_med_gas_r-P2_z" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0258 -0.0235"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="gastroc_r_med_gas_r-P2" pos="0 0 0"/>
</body>
</body>
<body name="femur_l" pos="-0.0707 -0.0661 -0.0835">
<inertial pos="0 -0.17 0" quat="0.5 0.5 -0.5 0.5" mass="9.3014" diaginertia="0.1412 0.1339 0.0351"/>
<joint name="hip_flexion_l" pos="0 0 0" axis="0 0 1" range="-2.094 2.094"/>
<geom name="femur_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="femur_l_geom_1_femur_l"/>
<site name="bifemsh_l_bifemsh_l-P1" pos="0.005 -0.2111 -0.0234"/>
<site name="glut_max_l_glut_max_l-P3" pos="-0.0426 -0.053 -0.0293"/>
<site name="glut_max_l_glut_max_l-P4" pos="-0.0156 -0.1016 -0.0419"/>
<site name="iliopsoas_l_psoas_l-P4" pos="0.0016 -0.0507 -0.0038"/>
<site name="iliopsoas_l_psoas_l-P5" pos="-0.0188 -0.0597 -0.0104"/>
<site name="rect_fem_l_rect_fem_l-P2" pos="0.0334 -0.403 -0.0019"/>
<site name="vasti_l_vas_int_l-P1" pos="0.029 -0.1924 -0.031"/>
<site name="vasti_l_vas_int_l-P2" pos="0.0335 -0.2084 -0.0285"/>
<site name="gastroc_l_med_gas_l-P1" pos="-0.019 -0.3929 0.0235"/>
<body name="tibia_l">
<inertial pos="0 -0.1867 0" quat="0.5 0.5 -0.5 0.5" mass="3.7075" diaginertia="0.0511 0.0504 0.0051"/>
<joint name="knee_l_translation1" pos="0 0 0" axis="1 0 0" type="slide" range="-0.005574 0.00411" user="-0.00363925"/>
<joint name="knee_l_translation2" pos="0 0 0" axis="0 1 0" type="slide" range="-0.4226 -0.3953" user="-0.395713"/>
<joint name="knee_angle_l" pos="0 0 0" axis="0 0 1" range="-2.094 0.1745"/>
<geom name="tibia_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="tibia_l_geom_1_tibia_l"/>
<geom name="tibia_l_geom_2" type="mesh" rgba="1 1 1 1" mesh="tibia_l_geom_2_l_fibula"/>
<site name="hamstrings_l_bifemlh_l-P2" pos="-0.0301 -0.036 -0.02943"/>
<site name="hamstrings_l_bifemlh_l-P3" pos="-0.0234 -0.0563 -0.0343"/>
<site name="bifemsh_l_bifemsh_l-P2" pos="-0.0301 -0.036 -0.02943"/>
<site name="bifemsh_l_bifemsh_l-P3" pos="-0.0234 -0.0563 -0.0343"/>
<site name="soleus_l_soleus_l-P1" pos="-0.0024 -0.1533 -0.0071"/>
<site name="tib_ant_l_tib_ant_l-P1" pos="0.0179 -0.1624 -0.0115"/>
<site name="tib_ant_l_tib_ant_l-P2" pos="0.0329 -0.3951 0.0177"/>
<body name="talus_l" pos="0 -0.43 0">
<inertial pos="0 0 0" mass="0.1" diaginertia="0.001 0.001 0.001"/>
<joint name="ankle_angle_l" pos="0 0 0" axis="0 0 1" range="-1.571 1.571"/>
<geom name="talus_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="talus_l_geom_1_l_talus"/>
<body name="calcn_l" pos="-0.04877 -0.04195 -0.00792">
<inertial pos="0.1 0.03 0" quat="0 0.707107 0 0.707107" mass="1.25" diaginertia="0.0041 0.0039 0.0014"/>
<geom name="calcn_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="calcn_l_geom_1_l_foot"/>
<site name="gastroc_l_med_gas_l-P3" pos="0 0.031 0.0053"/>
<site name="soleus_l_soleus_l-P2" pos="0 0.031 0.0053"/>
<site name="tib_ant_l_tib_ant_l-P3" pos="0.1166 0.0178 0.0305"/>
<body name="toes_l" pos="0.1788 -0.002 -0.00108">
<inertial pos="0.0346 0.006 0.0175" quat="0.707107 0 0 0.707107" mass="0.2166" diaginertia="0.001 0.001 0.001"/>
<geom name="toes_l_geom_1" type="mesh" rgba="1 1 1 1" mesh="toes_l_geom_1_l_bofoot"/>
</body>
</body>
</body>
<body name="rect_fem_l_rect_fem_l-P3" pos="0 0 -0.001401">
<joint name="rect_fem_l_rect_fem_l-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="0.01558 0.0733"/>
<joint name="rect_fem_l_rect_fem_l-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.06738 0.02531"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="rect_fem_l_rect_fem_l-P3" pos="0 0 0"/>
</body>
<body name="vasti_l_vas_int_l-P4" pos="0 0 -0.001801">
<joint name="vasti_l_vas_int_l-P4_x" pos="0 0 0" axis="1 0 0" type="slide" range="0.008273 0.06844"/>
<joint name="vasti_l_vas_int_l-P4_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.06857 0.02752"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="vasti_l_vas_int_l-P4" pos="0 0 0"/>
</body>
</body>
<body name="vasti_l_vas_int_l-P3" pos="0.0335 0 0">
<joint name="vasti_l_vas_int_l-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.403 -0.2084"/>
<joint name="vasti_l_vas_int_l-P3_z" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0285 -0.0055"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="vasti_l_vas_int_l-P3" pos="0 0 0"/>
</body>
<body name="gastroc_l_med_gas_l-P2">
<joint name="gastroc_l_med_gas_l-P2_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.03 -0.019"/>
<joint name="gastroc_l_med_gas_l-P2_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.4022 -0.3929"/>
<joint name="gastroc_l_med_gas_l-P2_z" pos="0 0 0" axis="0 0 1" type="slide" range="0.0235 0.0258"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="gastroc_l_med_gas_l-P2" pos="0 0 0"/>
</body>
</body>
<body name="torso" pos="-0.1007 0.0815 0">
<inertial pos="-0.03 0.32 0" quat="0.707107 0.707107 0 0" mass="34.2366" diaginertia="1.4745 1.4314 0.7555"/>
<joint name="lumbar_extension" pos="0 0 0" axis="0 0 1" range="-1.571 1.571"/>
<geom name="torso_geom_1" type="mesh" rgba="1 1 1 1" mesh="torso_geom_1_hat_spine"/>
<geom name="torso_geom_2" type="mesh" rgba="1 1 1 1" mesh="torso_geom_2_hat_jaw"/>
<geom name="torso_geom_3" type="mesh" rgba="1 1 1 1" mesh="torso_geom_3_hat_skull"/>
<geom name="torso_geom_4" type="mesh" rgba="1 1 1 1" mesh="torso_geom_4_hat_ribs"/>
</body>
<body name="iliopsoas_r_psoas_r-P3">
<joint name="iliopsoas_r_psoas_r-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.0288 -0.0238"/>
<joint name="iliopsoas_r_psoas_r-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.0805 -0.057"/>
<joint name="iliopsoas_r_psoas_r-P3_z" pos="0 0 0" axis="0 0 1" type="slide" range="0.0759 0.0816"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="iliopsoas_r_psoas_r-P3" pos="0 0 0"/>
</body>
<body name="iliopsoas_l_psoas_l-P3">
<joint name="iliopsoas_l_psoas_l-P3_x" pos="0 0 0" axis="1 0 0" type="slide" range="-0.0288 -0.0238"/>
<joint name="iliopsoas_l_psoas_l-P3_y" pos="0 0 0" axis="0 1 0" type="slide" range="-0.0805 -0.057"/>
<joint name="iliopsoas_l_psoas_l-P3_z" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0816 -0.0759"/>
<geom size="0.0005" contype="2" conaffinity="2" rgba="0 0 1 0"/>
<site name="iliopsoas_l_psoas_l-P3" pos="0 0 0"/>
</body>
</body>
</worldbody>
<contact>
<pair geom1="ground-plane" geom2="pelvis_geom_1"/>
<pair geom1="ground-plane" geom2="pelvis_geom_2"/>
<pair geom1="ground-plane" geom2="pelvis_geom_3"/>
<pair geom1="ground-plane" geom2="femur_r_geom_1"/>
<pair geom1="ground-plane" geom2="tibia_r_geom_1"/>
<pair geom1="ground-plane" geom2="tibia_r_geom_2"/>
<pair geom1="ground-plane" geom2="talus_r_geom_1"/>
<pair geom1="ground-plane" geom2="calcn_r_geom_1"/>
<pair geom1="ground-plane" geom2="toes_r_geom_1"/>
<pair geom1="ground-plane" geom2="femur_l_geom_1"/>
<pair geom1="ground-plane" geom2="tibia_l_geom_1"/>
<pair geom1="ground-plane" geom2="tibia_l_geom_2"/>
<pair geom1="ground-plane" geom2="talus_l_geom_1"/>
<pair geom1="ground-plane" geom2="calcn_l_geom_1"/>
<pair geom1="ground-plane" geom2="toes_l_geom_1"/>
<pair geom1="ground-plane" geom2="torso_geom_1"/>
<pair geom1="ground-plane" geom2="torso_geom_2"/>
<pair geom1="ground-plane" geom2="torso_geom_3"/>
<pair geom1="ground-plane" geom2="torso_geom_4"/>
</contact>
<equality>
<joint joint1="knee_r_translation1" joint2="knee_angle_r" polycoef="-0.003639 -0.006267 0.002807 0.00134 -0.0006776" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="knee_r_translation2" joint2="knee_angle_r" polycoef="-0.3957 0.003413 -0.005587 0.0006697 0.0005674" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="knee_l_translation1" joint2="knee_angle_l" polycoef="-0.003639 -0.006267 0.002807 0.00134 -0.0006776" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="knee_l_translation2" joint2="knee_angle_l" polycoef="-0.3957 0.003413 -0.005587 0.0006697 0.0005674" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="iliopsoas_r_psoas_r-P3_x" joint2="hip_flexion_r" polycoef="-0.0288 0 0.00114 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="iliopsoas_r_psoas_r-P3_y" joint2="hip_flexion_r" polycoef="-0.0805 0 0.005359 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="iliopsoas_r_psoas_r-P3_z" joint2="hip_flexion_r" polycoef="0.0816 0 -0.0013 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="rect_fem_r_rect_fem_r-P3_x" joint2="knee_angle_r" polycoef="0.06259 0.04199 0.01152 -0.007248 -0.004008" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="rect_fem_r_rect_fem_r-P3_y" joint2="knee_angle_r" polycoef="0.02032 -0.01159 -0.008624 -0.002308 -0.0002292" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_r_vas_int_r-P3_y" joint2="knee_angle_r" polycoef="-0.2234 0.08578 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_r_vas_int_r-P3_z" joint2="knee_angle_r" polycoef="0.02673 0.01014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_r_vas_int_r-P4_x" joint2="knee_angle_r" polycoef="0.05647 0.04555 0.01393 -0.007247 -0.004235" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_r_vas_int_r-P4_y" joint2="knee_angle_r" polycoef="0.02476 -0.006322 -0.00661 -0.003684 -0.0008973" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="gastroc_r_med_gas_r-P2_x" joint2="knee_angle_r" polycoef="-0.02915 -0.004849 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="gastroc_r_med_gas_r-P2_y" joint2="knee_angle_r" polycoef="-0.4015 -0.0041 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="gastroc_r_med_gas_r-P2_z" joint2="knee_angle_r" polycoef="-0.02562 -0.001014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="iliopsoas_l_psoas_l-P3_x" joint2="hip_flexion_l" polycoef="-0.0288 0 0.00114 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="iliopsoas_l_psoas_l-P3_y" joint2="hip_flexion_l" polycoef="-0.0805 0 0.005359 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="iliopsoas_l_psoas_l-P3_z" joint2="hip_flexion_l" polycoef="-0.0816 0 0.0013 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="rect_fem_l_rect_fem_l-P3_x" joint2="knee_angle_l" polycoef="0.06259 0.04199 0.01152 -0.007248 -0.004008" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="rect_fem_l_rect_fem_l-P3_y" joint2="knee_angle_l" polycoef="0.02032 -0.01159 -0.008624 -0.002308 -0.0002292" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_l_vas_int_l-P3_y" joint2="knee_angle_l" polycoef="-0.2234 0.08578 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_l_vas_int_l-P3_z" joint2="knee_angle_l" polycoef="-0.02673 -0.01014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_l_vas_int_l-P4_x" joint2="knee_angle_l" polycoef="0.05647 0.04555 0.01393 -0.007247 -0.004235" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="vasti_l_vas_int_l-P4_y" joint2="knee_angle_l" polycoef="0.02476 -0.006322 -0.00661 -0.003684 -0.0008973" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="gastroc_l_med_gas_l-P2_x" joint2="knee_angle_l" polycoef="-0.02915 -0.004849 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="gastroc_l_med_gas_l-P2_y" joint2="knee_angle_l" polycoef="-0.4015 -0.0041 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
<joint joint1="gastroc_l_med_gas_l-P2_z" joint2="knee_angle_l" polycoef="0.02562 0.001014 0 0 0" solimp="0.9999 0.9999 0.001 0.5 2"/>
</equality>
<tendon>
<spatial name="hamstrings_r_tendon">
<site site="hamstrings_r_bifemlh_r-P1"/>
<site site="hamstrings_r_bifemlh_r-P2"/>
<site site="hamstrings_r_bifemlh_r-P3"/>
</spatial>
<spatial name="bifemsh_r_tendon">
<site site="bifemsh_r_bifemsh_r-P1"/>
<site site="bifemsh_r_bifemsh_r-P2"/>
<site site="bifemsh_r_bifemsh_r-P3"/>
</spatial>
<spatial name="glut_max_r_tendon">
<site site="glut_max_r_glut_max_r-P1"/>
<site site="glut_max_r_glut_max_r-P2"/>
<site site="glut_max_r_glut_max_r-P3"/>
<site site="glut_max_r_glut_max_r-P4"/>
</spatial>
<spatial name="iliopsoas_r_tendon">
<site site="iliopsoas_r_psoas_r-P1"/>
<site site="iliopsoas_r_psoas_r-P2"/>
<site site="iliopsoas_r_psoas_r-P3"/>
<site site="iliopsoas_r_psoas_r-P4"/>
<site site="iliopsoas_r_psoas_r-P5"/>
</spatial>
<spatial name="rect_fem_r_tendon">
<site site="rect_fem_r_rect_fem_r-P1"/>
<site site="rect_fem_r_rect_fem_r-P2"/>
<site site="rect_fem_r_rect_fem_r-P3"/>
</spatial>
<spatial name="vasti_r_tendon">
<site site="vasti_r_vas_int_r-P1"/>
<site site="vasti_r_vas_int_r-P2"/>
<site site="vasti_r_vas_int_r-P3"/>
<site site="vasti_r_vas_int_r-P4"/>
</spatial>
<spatial name="gastroc_r_tendon">
<site site="gastroc_r_med_gas_r-P1"/>
<site site="gastroc_r_med_gas_r-P2"/>
<site site="gastroc_r_med_gas_r-P3"/>
</spatial>
<spatial name="soleus_r_tendon">
<site site="soleus_r_soleus_r-P1"/>
<site site="soleus_r_soleus_r-P2"/>
</spatial>
<spatial name="tib_ant_r_tendon">
<site site="tib_ant_r_tib_ant_r-P1"/>
<site site="tib_ant_r_tib_ant_r-P2"/>
<site site="tib_ant_r_tib_ant_r-P3"/>
</spatial>
<spatial name="hamstrings_l_tendon">
<site site="hamstrings_l_bifemlh_l-P1"/>
<site site="hamstrings_l_bifemlh_l-P2"/>
<site site="hamstrings_l_bifemlh_l-P3"/>
</spatial>
<spatial name="bifemsh_l_tendon">
<site site="bifemsh_l_bifemsh_l-P1"/>
<site site="bifemsh_l_bifemsh_l-P2"/>
<site site="bifemsh_l_bifemsh_l-P3"/>
</spatial>
<spatial name="glut_max_l_tendon">
<site site="glut_max_l_glut_max_l-P1"/>
<site site="glut_max_l_glut_max_l-P2"/>
<site site="glut_max_l_glut_max_l-P3"/>
<site site="glut_max_l_glut_max_l-P4"/>
</spatial>
<spatial name="iliopsoas_l_tendon">
<site site="iliopsoas_l_psoas_l-P1"/>
<site site="iliopsoas_l_psoas_l-P2"/>
<site site="iliopsoas_l_psoas_l-P3"/>
<site site="iliopsoas_l_psoas_l-P4"/>
<site site="iliopsoas_l_psoas_l-P5"/>
</spatial>
<spatial name="rect_fem_l_tendon">
<site site="rect_fem_l_rect_fem_l-P1"/>
<site site="rect_fem_l_rect_fem_l-P2"/>
<site site="rect_fem_l_rect_fem_l-P3"/>
</spatial>
<spatial name="vasti_l_tendon">
<site site="vasti_l_vas_int_l-P1"/>
<site site="vasti_l_vas_int_l-P2"/>
<site site="vasti_l_vas_int_l-P3"/>
<site site="vasti_l_vas_int_l-P4"/>
</spatial>
<spatial name="gastroc_l_tendon">
<site site="gastroc_l_med_gas_l-P1"/>
<site site="gastroc_l_med_gas_l-P2"/>
<site site="gastroc_l_med_gas_l-P3"/>
</spatial>
<spatial name="soleus_l_tendon">
<site site="soleus_l_soleus_l-P1"/>
<site site="soleus_l_soleus_l-P2"/>
</spatial>
<spatial name="tib_ant_l_tendon">
<site site="tib_ant_l_tib_ant_l-P1"/>
<site site="tib_ant_l_tib_ant_l-P2"/>
<site site="tib_ant_l_tib_ant_l-P3"/>
</spatial>
</tendon>
<actuator>
<general name="hamstrings_r" class="muscle" tendon="hamstrings_r_tendon" lengthrange="0.338137 0.526421" gainprm="0.0237377 1.52915 2456 1 0 2 10 1.21361 1.4 0" biasprm="0.0237377 1.52915 2456 1 0 2 10 1.21361 1.4 0"/>
<general name="bifemsh_r" class="muscle" tendon="bifemsh_r_tendon" lengthrange="0.191264 0.249268" gainprm="0.647963 1.37805 640.647 1 0 2 10 1.67573 1.4 0" biasprm="0.647963 1.37805 640.647 1 0 2 10 1.67573 1.4 0"/>
<general name="glut_max_r" class="muscle" tendon="glut_max_r_tendon" lengthrange="0.156724 0.27299" gainprm="0.01 1.12891 1670.26 1 0 2 10 2.70269 1.4 0" biasprm="0.01 1.12891 1670.26 1 0 2 10 2.70269 1.4 0"/>
<general name="iliopsoas_r" class="muscle" tendon="iliopsoas_r_tendon" lengthrange="0.202788 0.28868" gainprm="0.177317 1.5553 2166.47 1 0 2 10 0.922468 1.4 0" biasprm="0.177317 1.5553 2166.47 1 0 2 10 0.922468 1.4 0"/>
<general name="rect_fem_r" class="muscle" tendon="rect_fem_r_tendon" lengthrange="0.383692 0.508395" gainprm="0.301787 1.77259 841.266 1 0 2 10 1.35281 1.4 0" biasprm="0.301787 1.77259 841.266 1 0 2 10 1.35281 1.4 0"/>
<general name="vasti_r" class="muscle" tendon="vasti_r_tendon" lengthrange="0.173169 0.25581" gainprm="0.167885 1.6314 4926.68 1 0 2 10 0.801504 1.4 0" biasprm="0.167885 1.6314 4926.68 1 0 2 10 0.801504 1.4 0"/>
<general name="gastroc_r" class="muscle" tendon="gastroc_r_tendon" lengthrange="0.354064 0.493252" gainprm="0.01 1 2290.77 1 0 2 10 4.67649 1.4 0" biasprm="0.01 1 2290.77 1 0 2 10 4.67649 1.4 0"/>
<general name="soleus_r" class="muscle" tendon="soleus_r_tendon" lengthrange="0.228134 0.326673" gainprm="0.0196184 1.30496 3433.02 1 0 2 10 3.11971 1.4 0" biasprm="0.0196184 1.30496 3433.02 1 0 2 10 3.11971 1.4 0"/>
<general name="tib_ant_r" class="muscle" tendon="tib_ant_r_tendon" lengthrange="0.259564 0.352614" gainprm="0.0858784 1.67738 2683.61 1 0 2 10 1.06367 1.4 0" biasprm="0.0858784 1.67738 2683.61 1 0 2 10 1.06367 1.4 0"/>
<general name="hamstrings_l" class="muscle" tendon="hamstrings_l_tendon" lengthrange="0.338137 0.526421" gainprm="0.118713 1.30263 2489.58 1 0 2 10 1.96373 1.4 0" biasprm="0.118713 1.30263 2489.58 1 0 2 10 1.96373 1.4 0"/>
<general name="bifemsh_l" class="muscle" tendon="bifemsh_l_tendon" lengthrange="0.191264 0.249268" gainprm="0.655512 1.48193 631.067 1 0 2 10 1.4656 1.4 0" biasprm="0.655512 1.48193 631.067 1 0 2 10 1.4656 1.4 0"/>
<general name="glut_max_l" class="muscle" tendon="glut_max_l_tendon" lengthrange="0.156724 0.27299" gainprm="0.117066 1.40642 1118.28 1 0 2 10 3.75067 1.4 0" biasprm="0.117066 1.40642 1118.28 1 0 2 10 3.75067 1.4 0"/>
<general name="iliopsoas_l" class="muscle" tendon="iliopsoas_l_tendon" lengthrange="0.202788 0.28868" gainprm="0.122016 1.52889 2269.1 1 0 2 10 0.745088 1.4 0" biasprm="0.122016 1.52889 2269.1 1 0 2 10 0.745088 1.4 0"/>
<general name="rect_fem_l" class="muscle" tendon="rect_fem_l_tendon" lengthrange="0.383692 0.508395" gainprm="0.339135 1.48706 830.687 1 0 2 10 2.07856 1.4 0" biasprm="0.339135 1.48706 830.687 1 0 2 10 2.07856 1.4 0"/>
<general name="vasti_l" class="muscle" tendon="vasti_l_tendon" lengthrange="0.173168 0.25581" gainprm="0.155394 1.46878 5041.75 1 0 2 10 0.499227 1.4 0" biasprm="0.155394 1.46878 5041.75 1 0 2 10 0.499227 1.4 0"/>
<general name="gastroc_l" class="muscle" tendon="gastroc_l_tendon" lengthrange="0.354064 0.493252" gainprm="0.0471754 1.00657 2078.34 1 0 2 10 2.00636 1.4 0" biasprm="0.0471754 1.00657 2078.34 1 0 2 10 2.00636 1.4 0"/>
<general name="soleus_l" class="muscle" tendon="soleus_l_tendon" lengthrange="0.228134 0.326673" gainprm="0.101114 1.01922 4031.84 1 0 2 10 0.01 1.4 0" biasprm="0.101114 1.01922 4031.84 1 0 2 10 0.01 1.4 0"/>
<general name="tib_ant_l" class="muscle" tendon="tib_ant_l_tendon" lengthrange="0.259564 0.352614" gainprm="0.110446 1.3008 2946.36 1 0 2 10 0.750184 1.4 0" biasprm="0.110446 1.3008 2946.36 1 0 2 10 0.750184 1.4 0"/>
</actuator>
<keyframe>
<key name="default-pose" qpos="0 0.95 0 0 -0.003639 -0.3957 0 0 0.06259 0.02032 0.05647 0.02476 -0.2234 0.02673 -0.02915 -0.4015 -0.02562 0 -0.003639 -0.3957 0 0 0.06259 0.02032 0.05647 0.02476 -0.2234 -0.02673 -0.02915 -0.4015 0.02562 0 -0.0288 -0.0805 0.0816 -0.0288 -0.0805 -0.0816"/>
</keyframe>
</mujoco>