This model was used to run optimal control simulations in this project and is adapted from the Gait2392.osim. The model has 29 DOF, with the lower extremity and back joints actuated by 92 massless Hill-type musculotendon actuators, and the arms driven by 8 idealized-torque actuators. The model was modified to run gradient-based optimal control simulations (e.g., converting muscles to DeGrooteFregly2016Muscle and implementing a smoothed foot-ground contact model to simulate foot-ground interaction. See publication for more information about model adjustments).