APPENDIX
Complete specification of the hadrosaur model. This version includes the driver values required to generate galloping.
<?xml version="1.0"?>
<GAITSYMODE>
<STATE SimulationTime="0"/>
<IOCONTROL OldStyleInputs="false"/>
<GLOBAL IntegrationStepSize="1e-4" GravityVector="0.0 0.0 -9.81" ERP="0.2" CFM="1e-10" ContactMaxCorrectingVel="100" ContactSurfaceLayer="0.001" AllowInternalCollisions="false" BMR="0" TimeLimit="5" MetabolicEnergyLimit="0" MechanicalEnergyLimit="0" FitnessType="DistanceTravelled" DistanceTravelledBodyID="HT"/>
<INTERFACE TrackBodyID="HT" EnvironmentAxisSize="1 1 1" EnvironmentColour="0.5 0.5 1.0 1.0" BodyAxisSize="0.1 0.1 0.1" BodyColour=".275 .725 .451 .9" JointAxisSize="0.1 0.1 0.1" JointColour="0 1 0 1" GeomColour="0 0 1 0.5" StrapColour="1 0 0 1" StrapRadius="0.005" StrapForceColour="1 0 0 0.5" StrapForceRadius="0.01" StrapForceScale="0.000001" StrapCylinderColour="0 1 1 0.5" StrapCylinderLength="0.1" DrawingOrder="Environment Joint Muscle Geom Body"/>
<ENVIRONMENT Plane="0 0 1 0"/>
<BODY ID="HT" GraphicFile="ht_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="0.071370853363158349 -9.4219898522232949e-05 -1.4276420322582368" Mass="571.91967814278394" MOI="35.467054948732468 443.45901409449215 420.93678159649011 -0.46274408883735624 50.392194389226113 0.015575301414043233" Density="-1" Position="World 0 0 1.3716550848989824" Quaternion="World 0.99770454359839089 -0.0043580001230305752 -0.067532375554171992 -0.0024555590126144737" LinearVelocity="12.401420201193885 0.048234022799837663 0.10113881627253112" AngularVelocity="-0.29817868392487623 0.74649964861457019 0.12217124622782705"/>
<BODY ID="LeftThigh" GraphicFile="left_thigh_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="0.44524259230361951 -0.24267163006437489 -1.272116959478172" Mass="42.37400036566666" MOI="2.5494657883395786 2.886681458017534 0.52041527044607561 0.038217851162187462 0.4548132296108659 0.086986222471630556" Density="-1" Position="World -0.37944703501216193 0.24289876746329406 1.1596809720856798" Quaternion="World 0.99986327261642338 -0.0042251998040302337 -0.015761032859227461 -0.0026783581916058796" LinearVelocity="15.101513650062664 -0.074312204189691131 0.66081062823457881" AngularVelocity="-0.35033975328662725 -8.7455374217370725 0.20143992993130427"/>
<BODY ID="LeftShank" GraphicFile="left_shank_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="0.44784536956295701 -0.25423894995604207 -0.66910018074046107" Mass="15.081917241166668" MOI="0.40764307257214594 0.44731405191911799 0.10632384970216729 -0.00092403911851659582 -0.11183436002002527 -0.0020490408577721669" Density="-1" Position="World -0.52622752335635958 0.25147080094670915 0.70525449985165201" Quaternion="World 0.92939438744127789 -0.0028742484102449212 0.36905426185928236 -0.0040942755437635772" LinearVelocity="18.620440188079865 -0.25255160703693524 0.33871368111170563" AngularVelocity="-0.32994527847390576 -5.0344330009691989 0.17044241076909039"/>
<BODY ID="LeftFoot" GraphicFile="left_foot_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="0.52824217186034217 -0.24345652133462703 -0.2240724416016866" Mass="6.3933479319999984" MOI="0.084445760114794419 0.073878881997155407 0.030202243625299819 0.00025059024321312826 0.018202696755688058 -0.0084908119161335813" Density="-1" Position="World -0.87176488592125878 0.24030293245971721 0.43249829554078117" Quaternion="World 0.95579207042555125 -0.0031906748516766469 0.29400083797348059 -0.0038529179228283432" LinearVelocity="20.268774352243 -0.40326729794103922 -1.4378887468610126" AngularVelocity="-0.34280777481409103 -7.375260285790926 0.18999672261409037"/>
<BODY ID="RightThigh" GraphicFile="right_thigh_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="0.44524212936624091 0.24267148598192351 -1.2721175597186958" Mass="42.37395754700001" MOI="2.5494597643557939 2.8866708375447456 0.52041099469890195 -0.038217910113828357 0.45480205383710109 -0.086988165315726326" Density="-1" Position="World -0.27650685048111701 -0.24272401444901404 1.1966569471328932" Quaternion="World 0.98060023557473763 -0.0046389024823999328 -0.19595447424316556 -0.0018715230729268615" LinearVelocity="12.133491965222774 -0.037543534858323804 0.29223810443447162" AngularVelocity="-0.29479753052919266 1.3617851706492758 0.11703303143883377"/>
<BODY ID="RightShank" GraphicFile="right_shank_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="0.44777574374667545 0.25422629178699513 -0.66905948226573841" Mass="15.079339094500002" MOI="0.40761068903493353 0.44720317310237018 0.10623657993005366 0.00093238783241814886 -0.11173839591398642 0.0020454794347930056" Density="-1" Position="World -0.11556561659192344 -0.25976959018170165 0.64595041611014459" Quaternion="World 0.99699220177418169 -0.0043824463458763526 -0.077340286227521801 -0.0024132740706307972" LinearVelocity="17.114848290849579 -0.22333009487919347 -1.2125374552796784" AngularVelocity="-0.40700591501061589 -19.056943726963055 0.28755065188806656"/>
<BODY ID="RightFoot" GraphicFile="right_foot_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="0.52807215606083047 0.24342356711426938 -0.22404605213970355" Mass="6.3937735455000002" MOI="0.084436566792715259 0.073882384716655508 0.030218118654412436 -0.00025860630405514698 0.018223197958682134 0.008497342835060831" Density="-1" Position="World -0.11032537506902784 -0.25266772628711776 0.2069874121425879" Quaternion="World 0.98640396777132666 -0.0045768092906801382 -0.16426253991279316 -0.0020206838195725866" LinearVelocity="25.568918884634968 -0.40035947380895737 -1.0338858661525421" AngularVelocity="-0.41293641523648095 -20.135813787158515 0.29656099013655796"/>
<BODY ID="LeftArm" GraphicFile="left_arm_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="-0.69268956944496685 -0.16658494440840449 -0.61592609661063658" Mass="4.7362533456666664" MOI="0.049907087247126614 0.079018136000938294 0.037057097114955792 -0.0012936705694527705 -0.034999355420406608 -0.0015754134243998327" Density="-1" Position="World 0.81029145325124485 0.15649628762924522 0.70751549903207112" Quaternion="World 0.99702574922530895 -0.0039587763617395227 0.07690665460707706 -0.0030577685616784921" LinearVelocity="12.108183324816498 -0.053693948600552481 -0.75228944947689003" AngularVelocity="-0.30507012850762633 -0.5075780489067464 0.1326439147689796"/>
<BODY ID="LeftForearm" GraphicFile="left_forearm_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="-0.67308134034437705 -0.16331368160306101 -0.34308849378137507" Mass="2.0512079895000004" MOI="0.015799437534319779 0.023132047750820964 0.008943951190149518 0.00026505662375837064 0.0098226641772959523 -0.00039948382355820726" Density="-1" Position="World 0.78399253744623731 0.15126500751259012 0.45596631975444946" Quaternion="World 0.99973028766020267 -0.0042434314601332325 -0.022678829301267803 -0.002648759297455072" LinearVelocity="12.279446120262486 -0.13396200804890637 -0.74030444566545339" AngularVelocity="-0.30648053007596443 -0.76405387885816711 0.13478303712738424"/>
<BODY ID="LeftHand" GraphicFile="left_hand_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="-0.83508426926748747 -0.13907729605806479 -0.082641601601437964" Mass="1.03309238" MOI="0.0052284097176611482 0.0059675982228598557 0.0018759007731578182 0.00030556638302727424 0.0021898187004173834 -0.00061144454414326836" Density="-1" Position="World 0.95750867503413684 0.12396182450171173 0.20333303615788711" Quaternion="World 0.99973028835854072 -0.0042433328634663816 -0.022678829140629853 -0.0026486550490781914" LinearVelocity="12.476158375805969 -0.18800614395165091 -0.59937153348884653" AngularVelocity="-0.30648052973949563 -0.76405387893108745 0.13478303733462732"/>
<BODY ID="RightArm" GraphicFile="right_arm_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="-0.69281136793356946 0.16564324440002809 -0.61600853358313512" Mass="4.7361686123333371" MOI="0.049911250361925487 0.079032126492164678 0.037056200702229154 0.0012548178747346171 -0.035004978265535065 0.0015267219736502147" Density="-1" Position="World 0.97717447294669757 -0.17716058823408382 0.64823464203981518" Quaternion="World 0.95278253671555091 -0.0048183440671644871 -0.30361227162681348 -0.0013452910228591167" LinearVelocity="15.202922808338712 -0.065447049251488476 -0.46890207487642144" AngularVelocity="-0.37455743828203869 -13.155437578272981 0.23831278661193001"/>
<BODY ID="RightForearm" GraphicFile="right_forearm_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="-0.67317816135674458 0.16248996401868518 -0.34317225300432985" Mass="2.0516586884999994" MOI="0.015812845847471755 0.023148464008991565 0.0089489996579531581 -0.0002651638051287213 0.0098302552302545424 0.00039937768908864847" Density="-1" Position="World 1.1080156569819755 -0.17683331645915912 0.39625102157648717" Quaternion="World 0.9681273686119497 -0.0047363509108884578 -0.25040841443568651 -0.0016096907642349947" LinearVelocity="20.017255376366556 -0.11925160827090889 3.4086580362796237" AngularVelocity="-0.45038335112683603 -26.899094064959876 0.35234760166500001"/>
<BODY ID="RightHand" GraphicFile="right_hand_hull.obj" Scale="1" PositionLowBound="-10 -1 0.0" PositionHighBound="1000 1 10" Offset="-0.83516730502368886 0.13829638131619049 -0.082724261365819118" Mass="1.0324114568333342" MOI="0.0052250846912375876 0.0059640730504343245 0.0018736868948854761 -0.00030470483856247303 0.0021883554246982448 0.00061035415222671216" Density="-1" Position="World 1.3767149851085376 -0.15536162791074951 0.24713815570089961" Quaternion="World 0.96762629135170053 -0.0047401774720662289 -0.25233772320758308 -0.0016013896778810134" LinearVelocity="20.596206988068786 -0.11523919786259472 5.4825301496962018" AngularVelocity="-0.22471623764284532 13.997842227855708 0.013743759339826189"/>
<JOINT ID="RightHip" Type="Hinge" Body1ID="HT" Body2ID="RightThigh" ParamLoStop="-0.785398163" ParamHiStop="0.785398163" HingeAnchor="HT -0.40112914663684152 -0.15409421989852226 0.14970796774176209" HingeAxis="HT 0 1 0" StartAngleReference="0.25929708128534829"/>
<JOINT ID="RightKnee" Type="Hinge" Body1ID="RightThigh" Body2ID="RightShank" ParamLoStop="-1.570796327" ParamHiStop="0" HingeAnchor="RightThigh 0.10294212936624075 0.023271485981923495 -0.33551755971869557" HingeAxis="RightThigh 0 1 0" StartAngleReference="-0.2396292693189323"/>
<JOINT ID="RightAnkle" Type="Hinge" Body1ID="RightShank" Body2ID="RightFoot" ParamLoStop="0" ParamHiStop="0.785398163" HingeAnchor="RightShank -0.13192425625332455 0.025976291786995065 -0.33865948226573817" HingeAxis="RightShank 0 1 0" StartAngleReference="0.17518773217656869"/>
<JOINT ID="LeftHip" Type="Hinge" Body1ID="HT" Body2ID="LeftThigh" ParamLoStop="-0.785398163" ParamHiStop="0.785398163" HingeAnchor="HT -0.40112914663684152 0.15390578010147773 0.14970796774176209" HingeAxis="HT 0 1 0" StartAngleReference="-0.10364555550966217"/>
<JOINT ID="LeftKnee" Type="Hinge" Body1ID="LeftThigh" Body2ID="LeftShank" ParamLoStop="-1.570796327" ParamHiStop="0" HingeAnchor="LeftThigh 0.10294212936624036 -0.023271485981922996 -0.33551755971869579" HingeAxis="LeftThigh 0 1 0" StartAngleReference="-0.78751619016521479"/>
<JOINT ID="LeftAnkle" Type="Hinge" Body1ID="LeftShank" Body2ID="LeftFoot" ParamLoStop="0" ParamHiStop="0.785398163" HingeAnchor="LeftShank -0.13192425625332443 -0.025976291786995287 -0.33865948226573772" HingeAxis="LeftShank 0 1 0" StartAngleReference="0.1591647497700302"/>
<JOINT ID="RightShoulder" Type="Hinge" Body1ID="HT" Body2ID="RightArm" ParamLoStop="-0.785398163" ParamHiStop="0.785398163" HingeAnchor="HT 0.8960208533631584 -0.15009421989852226 -0.61239203225823791" HingeAxis="HT 0 1 0" StartAngleReference="0.48180187316424339"/>
<JOINT ID="RightElbow" Type="Hinge" Body1ID="RightArm" Body2ID="RightForearm" ParamLoStop="-0.785398163" ParamHiStop="0.785398163" HingeAnchor="RightArm -0.10451136793356963 0.0056432444000281967 -0.10160853358313515" HingeAxis="RightArm 0 1 0" StartAngleReference="-0.11076054718322098"/>
<JOINT ID="RightWrist" Type="Hinge" Body1ID="RightForearm" Body2ID="RightHand" ParamLoStop="-0.785398163" ParamHiStop="0" HingeAnchor="RightForearm 0.090571838643254909 0.017389964018685283 -0.12742225300432991" HingeAxis="RightForearm 0 1 0" StartAngleReference="0.0039866748198729152"/>
<JOINT ID="LeftShoulder" Type="Hinge" Body1ID="HT" Body2ID="LeftArm" ParamLoStop="-0.785398163" ParamHiStop="0.785398163" HingeAnchor="HT 0.8960208533631584 0.14990578010147773 -0.61239203225823791" HingeAxis="HT 0 1 0" StartAngleReference="-0.28913658838891287"/>
<JOINT ID="LeftElbow" Type="Hinge" Body1ID="LeftArm" Body2ID="LeftForearm" ParamLoStop="-0.785398163" ParamHiStop="0.785398163" HingeAnchor="LeftArm -0.10451136793356919 -0.0056432444000283633 -0.10160853358313438" HingeAxis="LeftArm 0 1 0" StartAngleReference="0.19932938422182639"/>
<JOINT ID="LeftWrist" Type="Hinge" Body1ID="LeftForearm" Body2ID="LeftHand" ParamLoStop="-0.785398163" ParamHiStop="0" HingeAnchor="LeftForearm 0.090571838643260016 -0.01738996401868359 -0.1274222530043268" HingeAxis="LeftForearm 0 1 0" StartAngleReference="1.1990408665951691e-11"/>
<GEOM ID="RightFootPP1Contact" Type="Sphere" BodyID="RightFoot" Radius="0.018" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="RightFoot 0.090072156060830466 0.14402356711426945 -0.20604605213970359" Quaternion="RightFoot 1 0 0 0"/>
<GEOM ID="RightFootPP2Contact" Type="Sphere" BodyID="RightFoot" Radius="0.00179" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="RightFoot 0.16527215606083046 0.00822356711426947 -0.20614605213970358" Quaternion="RightFoot 1 0 0 0"/>
<GEOM ID="RightFootPP3Contact" Type="Sphere" BodyID="RightFoot" Radius="0.0219" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="RightFoot 0.15507215606083047 -0.11787643288573055 -0.20214605213970357" Quaternion="RightFoot 1 0 0 0"/>
<GEOM ID="LeftFootPP1Contact" Type="Sphere" BodyID="LeftFoot" Radius="0.018" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="LeftFoot 0.090072156060830022 -0.14402356711426878 -0.20604605213970353" Quaternion="LeftFoot 1 0 0 0"/>
<GEOM ID="LeftFootPP2Contact" Type="Sphere" BodyID="LeftFoot" Radius="0.00179" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="LeftFoot 0.16527215606083001 -0.0082235671142687761 -0.20614605213970352" Quaternion="LeftFoot 1 0 0 0"/>
<GEOM ID="LeftFootPP3Contact" Type="Sphere" BodyID="LeftFoot" Radius="0.0219" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="LeftFoot 0.15507215606083002 0.11787643288573124 -0.20214605213970352" Quaternion="LeftFoot 1 0 0 0"/>
<GEOM ID="RightHandPP1Contact" Type="Sphere" BodyID="RightHand" Radius="0.013" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="RightHand 0.057832694976312604 0.048296381316189962 -0.06972426136581901" Quaternion="RightHand 1 0 0 0"/>
<GEOM ID="RightHandPP3Contact" Type="Sphere" BodyID="RightHand" Radius="0.013" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="RightHand 0.060732694976312618 -0.033103618683810038 -0.06972426136581901" Quaternion="RightHand 1 0 0 0"/>
<GEOM ID="LeftHandPP1Contact" Type="Sphere" BodyID="LeftHand" Radius="0.013" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="LeftHand 0.057832694976307719 -0.048296381316182441 -0.069724261365819981" Quaternion="LeftHand 1 0 0 0"/>
<GEOM ID="LeftHandPP3Contact" Type="Sphere" BodyID="LeftHand" Radius="0.013" SpringConstant="2e6" ContactSoftERP="0.1" Mu="1.0" Abort="false" Position="LeftHand 0.060732694976307733 0.033103618683817559 -0.069724261365819981" Quaternion="LeftHand 1 0 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="RightDeepDorsalGroup" OriginBodyID="HT" InsertionBodyID="RightThigh" PCA=" 0.151664796 " FibreLength=" 0.104205 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.06232791" Origin="HT -0.20002914663684154 -0.17979421989852226 0.23615796774176201" Insertion="RightThigh 0.066342129366240732 0.0065714859819235028 0.27768244028130451"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightTricepsFemorisGroup" OriginBodyID="HT" InsertionBodyID="RightShank" CylinderBodyID="RightShank" PCA=" 0.017856488 " FibreLength=" 0.663802 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.128012601" Origin="HT -0.037829146636841574 -0.15109421989852226 0.12665796774176208" Insertion="RightShank 0.14707574374667542 -0.019173708213004903 0.13024051773426182" CylinderPosition="RightShank 0.10547574374667545 0.034826291786995062 0.2675405177342618" CylinderRadius="0.10000000000000001" CylinderQuaternion="RightShank -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightFemoroTibialisGroup" OriginBodyID="RightThigh" InsertionBodyID="RightShank" CylinderBodyID="RightShank" PCA=" 0.075716382 " FibreLength=" 0.156547 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.39132054599999999" Origin="RightThigh 0.075142129366240762 0.021171485981923505 0.037382440281304552" Insertion="RightShank 0.14707574374667542 -0.019173708213004903 0.13024051773426182" CylinderPosition="RightShank 0.10547574374667545 0.034826291786995062 0.2675405177342618" CylinderRadius="0.10000000000000001" CylinderQuaternion="RightShank -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="RightCaudoFemoralisGroup" OriginBodyID="HT" InsertionBodyID="RightThigh" PCA=" 0.063139805 " FibreLength=" 0.375458 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.53659248699999995" Origin="HT -1.1549291466368414 -0.083894219898522249 0.29665796774176201" Insertion="RightThigh -0.0032578706337592633 0.029871485981923518 -0.0063175597186955201"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="RightFlexorCrurisGroup" OriginBodyID="HT" InsertionBodyID="RightShank" PCA=" 0.030344782 " FibreLength=" 0.520822 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.41878636000000002" Origin="HT -0.71612914663684157 -0.098194219898522256 0.29305796774176196" Insertion="RightShank -0.021624256253324536 0.026026291786995087 0.17714051773426176"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightGastrocnemiusLateralis+FD" OriginBodyID="RightThigh" InsertionBodyID="RightFoot" CylinderBodyID="RightFoot" PCA=" 0.055201899 " FibreLength=" 0.214724 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.68294359500000001" Origin="RightThigh 0.069942129366240724 -0.014728514018076511 -0.21981755971869554" Insertion="RightFoot -0.040527843939169528 -0.0070764328857305381 0.002753947860296424" CylinderPosition="RightFoot -0.051627843939169527 0.015173567114269454 0.10635394786029645" CylinderRadius="0.059999999999999998" CylinderQuaternion="RightFoot 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightGastrocnemiusMedialis" OriginBodyID="RightShank" InsertionBodyID="RightFoot" CylinderBodyID="RightFoot" PCA=" 0.251633001 " FibreLength=" 0.047105 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.62518922899999996" Origin="RightShank -0.021624256253324536 0.026026291786995087 0.17714051773426176" Insertion="RightFoot -0.040527843939169528 -0.0070764328857305381 0.002753947860296424" CylinderPosition="RightFoot -0.051627843939169527 0.015173567114269454 0.10635394786029645" CylinderRadius="0.059999999999999998" CylinderQuaternion="RightFoot 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="RightTibialisAnterior+ED" OriginBodyID="RightShank" InsertionBodyID="RightFoot" PCA=" 0.190648998 " FibreLength=" 0.082897 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.40996096100000001" Origin="RightShank 0.075675743746675461 0.013626291786995065 0.026640517734261793" Insertion="RightFoot 0.0045721560608305012 -0.0022764328857305394 0.002653947860296435"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="LeftDeepDorsalGroup" OriginBodyID="HT" InsertionBodyID="LeftThigh" PCA=" 0.151664796 " FibreLength=" 0.104205 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.06232791" Origin="HT -0.20002914663684154 0.17960578010147774 0.23615796774176201" Insertion="LeftThigh 0.066342129366240343 -0.0065714859819230032 0.27768244028130429"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftTricepsFemorisGroup" OriginBodyID="HT" InsertionBodyID="LeftShank" CylinderBodyID="LeftShank" PCA=" 0.017856488 " FibreLength=" 0.663802 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.128012601" Origin="HT -0.037829146636841574 0.15090578010147773 0.12665796774176208" Insertion="LeftShank 0.14707574374667554 0.019173708213004681 0.13024051773426226" CylinderPosition="LeftShank 0.10547574374667557 -0.034826291786995284 0.26754051773426224" CylinderRadius="0.10000000000000001" CylinderQuaternion="LeftShank -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftFemoroTibialisGroup" OriginBodyID="LeftThigh" InsertionBodyID="LeftShank" CylinderBodyID="LeftShank" PCA=" 0.075716382 " FibreLength=" 0.156547 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.39132054599999999" Origin="LeftThigh 0.075142129366240373 -0.021171485981923005 0.03738244028130433" Insertion="LeftShank 0.14707574374667554 0.019173708213004681 0.13024051773426226" CylinderPosition="LeftShank 0.10547574374667557 -0.034826291786995284 0.26754051773426224" CylinderRadius="0.10000000000000001" CylinderQuaternion="LeftShank -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="LeftCaudoFemoralisGroup" OriginBodyID="HT" InsertionBodyID="LeftThigh" PCA=" 0.063139805 " FibreLength=" 0.375458 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.53659248699999995" Origin="HT -1.1549291466368414 0.08370578010147775 0.29665796774176201" Insertion="LeftThigh -0.0032578706337596519 -0.029871485981923018 -0.0063175597186957422"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="LeftFlexorCrurisGroup" OriginBodyID="HT" InsertionBodyID="LeftShank" PCA=" 0.030344782 " FibreLength=" 0.520822 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.41878636000000002" Origin="HT -0.71612914663684157 0.098005780101477757 0.29305796774176196" Insertion="LeftShank -0.021624256253324425 -0.026026291786995309 0.1771405177342622"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftGastrocnemiusLateralis+FD" OriginBodyID="LeftThigh" InsertionBodyID="LeftFoot" CylinderBodyID="LeftFoot" PCA=" 0.055201899 " FibreLength=" 0.214724 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.68294359500000001" Origin="LeftThigh 0.069942129366240335 0.01472851401807701 -0.21981755971869577" Insertion="LeftFoot -0.040527843939169972 0.007076432885731232 0.0027539478602964795" CylinderPosition="LeftFoot -0.051627843939169971 -0.01517356711426876 0.1063539478602965" CylinderRadius="0.059999999999999998" CylinderQuaternion="LeftFoot 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftGastrocnemiusMedialis" OriginBodyID="LeftShank" InsertionBodyID="LeftFoot" CylinderBodyID="LeftFoot" PCA=" 0.251633001 " FibreLength=" 0.047105 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.62518922899999996" Origin="LeftShank -0.021624256253324425 -0.026026291786995309 0.1771405177342622" Insertion="LeftFoot -0.040527843939169972 0.007076432885731232 0.0027539478602964795" CylinderPosition="LeftFoot -0.051627843939169971 -0.01517356711426876 0.1063539478602965" CylinderRadius="0.059999999999999998" CylinderQuaternion="LeftFoot 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="LeftTibialisAnterior+ED" OriginBodyID="LeftShank" InsertionBodyID="LeftFoot" PCA=" 0.190648998 " FibreLength=" 0.082897 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.40996096100000001" Origin="LeftShank 0.075675743746675572 -0.013626291786995287 0.026640517734262237" Insertion="LeftFoot 0.0045721560608300571 0.0022764328857312333 0.0026539478602964905"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="RightShoulderFlexors" OriginBodyID="HT" InsertionBodyID="RightArm" PCA=" 0.027493045 " FibreLength=" 0.246362 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.29325024999999999" Origin="HT 0.56887085336315846 -0.24859421989852226 -0.30144203225823785" Insertion="RightArm 0.029188632066430298 -0.021156755599971794 0.023391466416864848"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightShoulderExtensors" OriginBodyID="HT" InsertionBodyID="RightArm" CylinderBodyID="RightArm" PCA=" 0.161703997 " FibreLength=" 0.06283 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.485243588" Origin="HT 0.82517085336315843 -0.18599421989852227 -0.322242032258238" Insertion="RightArm 0.069988632066430356 -0.016256755599971806 -0.014208533583135119" CylinderPosition="RightArm 0.13183863206643032 0.015643244400028206 0.19924146641686491" CylinderRadius="0.040000000000000001" CylinderQuaternion="RightArm -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightTricepsBrachii" OriginBodyID="HT" InsertionBodyID="RightForearm" CylinderBodyID="RightForearm" PCA=" 0.029642022 " FibreLength=" 0.171376 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.23191341900000001" Origin="HT 0.80817085336315841 -0.17609421989852225 -0.58584203225823794" Insertion="RightForearm -0.10957816135674514 -0.019710035981314711 0.14202774699567011" CylinderPosition="RightForearm -0.084878161356745085 0.0024899640186852867 0.17122774699567006" CylinderRadius="0.029999999999999999" CylinderQuaternion="RightForearm 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightBicepsBrachii" OriginBodyID="HT" InsertionBodyID="RightForearm" CylinderBodyID="RightArm" PCA=" 0.021103596 " FibreLength=" 0.160476 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.30081610399999997" Origin="HT 0.93067085336315836 -0.15539421989852226 -0.55494203225823791" Insertion="RightForearm -0.025978161356745133 -0.01811003598131472 0.13442774699567012" CylinderPosition="RightArm 0.13183863206643032 0.015643244400028206 0.19924146641686491" CylinderRadius="0.040000000000000001" CylinderQuaternion="RightArm -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="RightElbowFlexors" OriginBodyID="RightArm" InsertionBodyID="RightForearm" PCA=" 0.034570053 " FibreLength=" 0.097964 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.016623651999999999" Origin="RightArm 0.001288632066430373 -0.0093567555999717889 -0.034008533583135159" Insertion="RightForearm -0.025978161356745133 -0.01811003598131472 0.13442774699567012"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightElbowExtensors" OriginBodyID="RightArm" InsertionBodyID="RightForearm" CylinderBodyID="RightForearm" PCA=" 0.107989436 " FibreLength=" 0.047041 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.138083762" Origin="RightArm -0.033811367933569647 -0.0056567555999718078 0.013691466416864917" Insertion="RightForearm -0.10957816135674514 -0.019710035981314711 0.14202774699567011" CylinderPosition="RightForearm -0.084878161356745085 0.0024899640186852867 0.17122774699567006" CylinderRadius="0.029999999999999999" CylinderQuaternion="RightForearm 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightWristFlexors" OriginBodyID="RightForearm" InsertionBodyID="RightHand" CylinderBodyID="RightHand" PCA=" 0.252337435 " FibreLength=" 0.026842 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.31183402999999998" Origin="RightForearm -0.092578161356745126 -0.017010035981314703 0.080127746995670102" Insertion="RightHand -0.045567305023687443 -0.0092036186838100331 0.079975738634181004" CylinderPosition="RightHand -0.071417305023687372 -0.0068036186838100476 0.13302573863418099" CylinderRadius="0.029999999999999999" CylinderQuaternion="RightHand 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="RightWristExtensors" OriginBodyID="RightForearm" InsertionBodyID="RightHand" CylinderBodyID="RightHand" PCA=" 0.323480074 " FibreLength=" 0.031408 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.336866043" Origin="RightForearm -0.054378161356745114 0.027589964018685298 0.12252774699567009" Insertion="RightHand -0.017067305023687362 -0.005603618683810041 0.079375738634180987" CylinderPosition="RightHand -0.071417305023687372 -0.0068036186838100476 0.13302573863418099" CylinderRadius="0.040000000000000001" CylinderQuaternion="RightHand -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="LeftShoulderFlexors" OriginBodyID="HT" InsertionBodyID="LeftArm" PCA=" 0.027493045 " FibreLength=" 0.246362 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.29325024999999999" Origin="HT 0.56887085336315846 0.24840578010147774 -0.30144203225823785" Insertion="LeftArm 0.029188632066430742 0.021156755599971627 0.023391466416865625"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftShoulderExtensors" OriginBodyID="HT" InsertionBodyID="LeftArm" CylinderBodyID="LeftArm" PCA=" 0.161703997 " FibreLength=" 0.06283 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.485243588" Origin="HT 0.82517085336315843 0.18580578010147775 -0.322242032258238" Insertion="LeftArm 0.0699886320664308 0.01625675559997164 -0.014208533583134342" CylinderPosition="LeftArm 0.13183863206643076 -0.015643244400028372 0.19924146641686569" CylinderRadius="0.040000000000000001" CylinderQuaternion="LeftArm -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftTricepsBrachii" OriginBodyID="HT" InsertionBodyID="LeftForearm" CylinderBodyID="LeftForearm" PCA=" 0.029642022 " FibreLength=" 0.171376 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.23191341900000001" Origin="HT 0.80817085336315841 0.17590578010147773 -0.58584203225823794" Insertion="LeftForearm -0.10957816135674003 0.019710035981316404 0.14202774699567322" CylinderPosition="LeftForearm -0.084878161356739978 -0.0024899640186835936 0.17122774699567317" CylinderRadius="0.029999999999999999" CylinderQuaternion="LeftForearm 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftBicepsBrachii" OriginBodyID="HT" InsertionBodyID="LeftForearm" CylinderBodyID="LeftArm" PCA=" 0.021103596 " FibreLength=" 0.160476 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.30081610399999997" Origin="HT 0.93067085336315836 0.15520578010147773 -0.55494203225823791" Insertion="LeftForearm -0.025978161356740026 0.018110035981316414 0.13442774699567323" CylinderPosition="LeftArm 0.13183863206643076 -0.015643244400028372 0.19924146641686569" CylinderRadius="0.040000000000000001" CylinderQuaternion="LeftArm -0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="TwoPoint" ID="LeftElbowFlexors" OriginBodyID="LeftArm" InsertionBodyID="LeftForearm" PCA=" 0.034570053 " FibreLength=" 0.097964 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.016623651999999999" Origin="LeftArm 0.0012886320664308171 0.0093567555999716223 -0.034008533583134382" Insertion="LeftForearm -0.025978161356740026 0.018110035981316414 0.13442774699567323"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftElbowExtensors" OriginBodyID="LeftArm" InsertionBodyID="LeftForearm" CylinderBodyID="LeftForearm" PCA=" 0.107989436 " FibreLength=" 0.047041 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.138083762" Origin="LeftArm -0.033811367933569203 0.0056567555999716412 0.013691466416865694" Insertion="LeftForearm -0.10957816135674003 0.019710035981316404 0.14202774699567322" CylinderPosition="LeftForearm -0.084878161356739978 -0.0024899640186835936 0.17122774699567317" CylinderRadius="0.029999999999999999" CylinderQuaternion="LeftForearm 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftWristFlexors" OriginBodyID="LeftForearm" InsertionBodyID="LeftHand" CylinderBodyID="LeftHand" PCA=" 0.252337435 " FibreLength=" 0.026842 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.31183402999999998" Origin="LeftForearm -0.092578161356740019 0.017010035981316396 0.08012774699567321" Insertion="LeftHand -0.045567305023692328 0.0092036186838175549 0.079975738634180032" CylinderPosition="LeftHand -0.071417305023692257 0.0068036186838175694 0.13302573863418002" CylinderRadius="0.029999999999999999" CylinderQuaternion="LeftHand 0.70710678100000002 0.70710678100000002 0 0"/>
<MUSCLE Type="MinettiAlexanderExtended" Strap="CylinderWrap" ID="LeftWristExtensors" OriginBodyID="LeftForearm" InsertionBodyID="LeftHand" CylinderBodyID="LeftHand" PCA=" 0.323480074 " FibreLength=" 0.031408 " ForcePerUnitArea="300000" VMaxFactor="8" ActivationK="0.17" SerialStrainAtFmax="0.06" ParallelStrainAtFmax="0.6" ActivationKinetics="false" TendonLength="0.336866043" Origin="LeftForearm -0.054378161356740007 -0.027589964018683605 0.1225277469956732" Insertion="LeftHand -0.017067305023692247 0.0056036186838175628 0.079375738634180015" CylinderPosition="LeftHand -0.071417305023692257 0.0068036186838175694 0.13302573863418002" CylinderRadius="0.040000000000000001" CylinderQuaternion="LeftHand -0.70710678100000002 0.70710678100000002 0 0"/>
<DRIVER Type="Cyclic" ID="LeftBicepsBrachiiDriver" Target="LeftBicepsBrachii" DurationValuePairs="0.05910085049468791 1.00000000000000000 0.05910085049468791 0.62935368596926422 0.05910085049468791 0.00000000000000000 0.05910085049468791 0.80575858341942563 0.05910085049468791 0.58969497212428901 0.05910085049468791 0.00000000000000000 0.05910085049468791 0.00000000000000000 0.05910085049468791 0.08932690255880904 0.05910085049468791 0.46342069114290785 0.05910085049468791 0.81660545118895234"/>
<DRIVER Type="Cyclic" ID="LeftCaudoFemoralisGroupDriver" Target="LeftCaudoFemoralisGroup" DurationValuePairs="0.05910085049468791 0.00000000000000000 0.05910085049468791 0.98593775876718692 0.05910085049468791 0.99018127067199369 0.05910085049468791 0.51249751751913042 0.05910085049468791 0.00000000000000000 0.05910085049468791 0.56178881043795803 0.05910085049468791 1.00000000000000000 0.05910085049468791 1.00000000000000000 0.05910085049468791 0.83701294962250028 0.05910085049468791 0.00000000000000000"/>
<DRIVER Type="Cyclic" ID="LeftFemoroTibialisGroupDriver" Target="LeftFemoroTibialisGroup" DurationValuePairs="0.05910085049468791 0.15425197654417144 0.05910085049468791 0.05666610370429177 0.05910085049468791 0.00000000000000000 0.05910085049468791 0.00000000000000000 0.05910085049468791 0.34183543104734543 0.05910085049468791 1.00000000000000000 0.05910085049468791 0.00000000000000000 0.05910085049468791 0.93078678632199419 0.05910085049468791 0.72856309698750576 0.05910085049468791 0.01514252711560308"/>
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