/**********************************************************/
/*            Joint file created by OpenSim               */
/* name of original model file: gait2354.osim */
/**********************************************************/

name 3DGaitModelSimple

length_units meters
force_units N
gravity -Y

/****************************************************/
/*                     SEGMENTS                     */
/****************************************************/
beginsegment ground
mass 0.000000
masscenter 0.000000 0.000000 0.000000
inertia 0.000000 0.000000 0.000000
        0.000000 0.000000 0.000000
        0.000000 0.000000 0.000000
scale 1.000000 1.000000 1.000000
endsegment

beginsegment pelvis
mass 19.892789
masscenter -0.097238 0.000000 0.000000
inertia 0.328466 0.000000 0.000000
        0.000000 0.278301 0.000000
        0.000000 0.000000 0.185002
bone sacrum2.asc
bone pelvis.asc
bone l_pelvis.asc
marker asis_r	0.019255 0.000000 0.176047 1.000000
marker asis_l	0.019255 0.000000 -0.176047 1.000000
marker midasis	0.019255 0.000000 0.000000 1.000000
marker psis_r	-0.217308 0.052062 0.077005 1.000000
marker psis_l	-0.217308 0.052062 -0.077005 1.000000
marker sacralwand	-0.275073 0.068768 0.000000 1.000000
marker hip_r	-0.097238 -0.090912 0.114843 1.000000
marker hip_l	-0.097238 -0.090912 -0.114843 1.000000
marker midhip	-0.097238 -0.090912 0.000000 1.000000
marker R.ASIS	0.027507 0.041261 0.176047 1.000000
marker L.ASIS	0.027507 0.041261 -0.176047 1.000000
marker V.Sacral	-0.220058 0.055015 0.000000 1.000000
scale 1.375366 1.375366 1.375366
endsegment

beginsegment femur_r
mass 15.711199
masscenter 0.000000 -0.165957 0.000000
inertia 0.215545 0.000000 0.000000
        0.000000 0.056502 0.000000
        0.000000 0.000000 0.227296
bone femur.asc
marker epicondLat_r	-0.001952 -0.391464 0.043930 1.000000
marker epicondMed_r	0.006834 -0.393417 -0.039049 1.000000
marker thighwand_r	0.000000 -0.234293 0.146433 1.000000
marker upperleg1_r	0.000000 -0.136671 0.097622 1.000000
marker upperleg2_r	0.000000 -0.331915 0.073217 1.000000
marker R.Thigh	0.078098 -0.244055 0.004588 1.000000
marker R.Knee	0.000000 -0.394393 0.048811 1.000000
marker R.Knee.Medial	0.000000 -0.394393 -0.048811 1.000000
scale 0.976221 0.976221 0.976221
endsegment

beginsegment tibia_r
mass 6.262420
masscenter 0.000000 -0.200593 0.000000
inertia 0.098273 0.000000 0.000000
        0.000000 0.009944 0.000000
        0.000000 0.000000 0.099638
bone tibia.asc
bone fibula.asc
marker malleolusLat_r	-0.007521 -0.445881 0.053721 1.000000
marker malleolusMedv_r	0.009670 -0.430839 -0.037604 1.000000
marker shankwand_r	0.000000 -0.322324 0.134301 1.000000
marker lowerleg1_r	0.000000 -0.139674 0.064465 1.000000
marker knee_r	0.000000 0.000000 0.000000 1.000000
marker ankle_r	0.000000 -0.461997 0.000000 1.000000
marker R.Shank	0.005372 -0.069837 0.053721 1.000000
marker R.Ankle	-0.005372 -0.440509 0.056944 1.000000
marker R.Ankle.Medial	0.006446 -0.417731 -0.040828 1.000000
scale 1.074412 1.074412 1.074412
endsegment

beginsegment patella_r
mass 0.168912
masscenter 0.000000 0.000000 0.000000
inertia 0.001610 0.000000 0.000000
        0.000000 0.001610 0.000000
        0.000000 0.000000 0.001610
bone pat.asc
scale 0.976221 0.976221 0.976221
endsegment

beginsegment talus_r
mass 0.168912
masscenter 0.000000 0.000000 0.000000
inertia 0.001950 0.000000 0.000000
        0.000000 0.001950 0.000000
        0.000000 0.000000 0.001950
bone talus.asc
scale 1.074412 1.074412 1.074412
endsegment

beginsegment calcn_r
mass 2.111402
masscenter 0.085340 0.025602 0.000000
inertia 0.001722 0.000000 0.000000
        0.000000 0.004798 0.000000
        0.000000 0.000000 0.005044
bone foot.asc
marker toe_r	0.145078 0.021335 0.000000 1.000000
marker heel_r	-0.009387 0.021335 0.000000 1.000000
marker R.Heel	-0.017068 0.017068 0.000000 1.000000
marker R.Toe	0.221884 0.004267 0.000000 1.000000
scale 0.853401 0.853401 0.853401
endsegment

beginsegment toes_r
mass 0.365864
masscenter 0.029528 0.005120 -0.014935
inertia 0.000123 0.000000 0.000000
        0.000000 0.000246 0.000000
        0.000000 0.000000 0.001230
bone bofoot.asc
scale 0.853401 0.853401 0.853401
endsegment

beginsegment femur_l
mass 15.711199
masscenter 0.000000 -0.165957 0.000000
inertia 0.215545 0.000000 0.000000
        0.000000 0.056502 0.000000
        0.000000 0.000000 0.227296
bone l_femur.asc
marker epicondLat_l	-0.001952 -0.391464 -0.043930 1.000000
marker epicondMed_l	0.006834 -0.393417 0.039049 1.000000
marker thighwand_l	0.000000 -0.234293 -0.146433 1.000000
marker upperleg1_l	0.000000 -0.136671 -0.097622 1.000000
marker upperleg2_l	0.000000 -0.331915 -0.073217 1.000000
marker L.Thigh	0.078098 -0.244055 -0.004588 1.000000
marker L.Knee	0.000000 -0.394393 -0.048811 1.000000
marker L.Knee.Medial	0.000000 -0.394393 0.048811 1.000000
scale 0.976221 0.976221 0.976221
endsegment

beginsegment tibia_l
mass 6.262420
masscenter 0.000000 -0.200593 0.000000
inertia 0.098273 0.000000 0.000000
        0.000000 0.009944 0.000000
        0.000000 0.000000 0.099638
bone l_tibia.asc
bone l_fibula.asc
marker malleolusLat_l	-0.007521 -0.445881 -0.053721 1.000000
marker malleolusMedv_l	0.009670 -0.430839 0.037604 1.000000
marker shankwand_l	0.000000 -0.322324 -0.134301 1.000000
marker lowerleg1_l	0.000000 -0.139674 -0.064465 1.000000
marker knee_l	0.000000 0.000000 0.000000 1.000000
marker ankle_l	0.000000 -0.461997 0.000000 1.000000
marker L.Shank	0.005372 -0.069837 -0.053721 1.000000
marker L.Ankle	-0.005372 -0.440509 -0.056944 1.000000
marker L.Ankle.Medial	0.006446 -0.417731 0.040828 1.000000
scale 1.074412 1.074412 1.074412
endsegment

beginsegment patella_l
mass 0.168912
masscenter 0.000000 0.000000 0.000000
inertia 0.001610 0.000000 0.000000
        0.000000 0.001610 0.000000
        0.000000 0.000000 0.001610
bone l_patella.asc
scale 0.976221 0.976221 0.976221
endsegment

beginsegment talus_l
mass 0.168912
masscenter 0.000000 0.000000 0.000000
inertia 0.001950 0.000000 0.000000
        0.000000 0.001950 0.000000
        0.000000 0.000000 0.001950
bone l_talus.asc
scale 1.074412 1.074412 1.074412
endsegment

beginsegment calcn_l
mass 2.111402
masscenter 0.085340 0.025602 0.000000
inertia 0.001722 0.000000 0.000000
        0.000000 0.004798 0.000000
        0.000000 0.000000 0.005044
bone l_foot.asc
marker toe_l	0.145078 0.021335 0.000000 1.000000
marker heel_l	-0.009387 0.021335 0.000000 1.000000
marker L.Heel	-0.017068 0.017068 0.000000 1.000000
marker L.Toe	0.221884 0.004267 0.000000 1.000000
scale 0.853401 0.853401 0.853401
endsegment

beginsegment toes_l
mass 0.365864
masscenter 0.029528 0.005120 0.014935
inertia 0.000123 0.000000 0.000000
        0.000000 0.000246 0.000000
        0.000000 0.000000 0.001230
bone l_bofoot.asc
scale 0.853401 0.853401 0.853401
endsegment

beginsegment torso
mass 57.829793
masscenter -0.039171 0.417828 0.000000
inertia 4.246196 0.000000 0.000000
        0.000000 2.175653 0.000000
        0.000000 0.000000 4.122079
bone hat_spine.asc
bone hat_jaw.asc
bone hat_skull.asc
bone hat_ribs.asc
marker subclavicle_r	0.039171 0.496170 0.088136 1.000000
marker subclavicle_l	0.039171 0.496170 -0.088136 1.000000
marker neck	-0.097928 0.551663 0.000000 1.000000
marker sternalnotch	0.039171 0.496170 0.000000 1.000000
marker xyphoidprocess	0.127307 0.300314 0.000000 1.000000
marker Sternum	0.091400 0.391713 0.000000 1.000000
marker R.Shoulder	-0.039171 0.574513 0.195857 1.000000
marker L.Shoulder	-0.039171 0.574513 -0.195857 1.000000
scale 1.305711 1.305711 1.305711
endsegment


/****************************************************/
/*                      JOINTS                      */
/****************************************************/
beginjoint ground_pelvis
segments ground pelvis
tx function f1(pelvis_tx)
ty function f2(pelvis_ty)
tz function f3(pelvis_tz)
r1 function f4(pelvis_tilt)
axis1 0.000000 0.000000 1.000000
r2 function f5(pelvis_list)
axis2 1.000000 0.000000 0.000000
r3 function f6(pelvis_rotation)
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f1
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f2
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f3
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f4
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f5
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f6
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint hip_r
segments pelvis femur_r
tx constant -0.097238
ty constant -0.090912
tz constant 0.114843
r1 function f7(hip_flexion_r)
axis1 0.000000 0.000000 1.000000
r2 function f8(hip_adduction_r)
axis2 1.000000 0.000000 0.000000
r3 function f9(hip_rotation_r)
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f7
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f8
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f9
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint knee_r
segments femur_r tibia_r
tx function f10(knee_angle_r)
ty function f11(knee_angle_r)
tz constant 0.000000
r1 function f12(knee_angle_r)
axis1 0.000000 0.000000 1.000000
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f10
(-120.000000, -0.003124)
(-100.000000, 0.001747)
(-80.000000, 0.004012)
(-60.000000, 0.004003)
(-40.000000, 0.002070)
(-20.000000, -0.000976)
(-10.000000, -0.003026)
(11.306991, -0.005103)
(19.331307, -0.005306)
(28.085106, -0.005441)
(87.173252, -0.005306)
(120.000000, -0.005125)
endfunction

beginfunction f11
(-120.000000, -0.412551)
(-70.000000, -0.398493)
(-30.000000, -0.389512)
(-20.000000, -0.388145)
(-10.000000, -0.387169)
(9.118541, -0.385865)
(120.000000, -0.386583)
endfunction

beginfunction f12
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint tib_pat_r
segments tibia_r patella_r
tx function f13(knee_angle_r)
ty function f14(knee_angle_r)
tz constant 0.002579
r1 function f15(knee_angle_r)
axis1 0.000000 0.000000 1.000000
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f13
(-120.000000, 0.018587)
(-80.000000, 0.034811)
(-60.000000, 0.040935)
(-40.000000, 0.046200)
(-20.000000, 0.050390)
(-10.000000, 0.052002)
(0.000000, 0.053291)
(0.010000, 0.053291)
(0.020000, 0.053291)
(5.000000, 0.053291)
(120.000000, 0.053291)
endfunction

beginfunction f14
(-120.000000, -0.023530)
(-90.000000, -0.021703)
(-80.000000, -0.021488)
(-60.000000, -0.021918)
(-40.000000, -0.022670)
(-20.000000, -0.023530)
(-10.000000, -0.023959)
(0.000000, -0.024389)
(0.010000, -0.024389)
(0.020000, -0.024389)
(5.000000, -0.024389)
(120.000000, -0.024389)
endfunction

beginfunction f15
(-120.000000, 17.650000)
(-114.590000, 17.650000)
(-83.510000, 17.550000)
(-30.160000, 15.480000)
(1.600000, -2.120000)
(10.000000, -16.040000)
endfunction

beginjoint ankle_r
segments tibia_r talus_r
tx constant 0.000000
ty constant -0.461997
tz constant 0.000000
r1 function f16(ankle_angle_r)
axis1 -0.105014 -0.174022 0.979126
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f16
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint subtalar_r
segments talus_r calcn_r
tx constant -0.052399
ty constant -0.045072
tz constant 0.008509
r1 function f17(subtalar_angle_r)
axis1 0.787180 0.604747 -0.120949
r2 constant 0.000000
axis2 0.000000 1.000000 0.000000
r3 constant 0.000000
axis3 0.000000 0.000000 1.000000
order t r1 r2 r3
endjoint

beginfunction f17
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint mtp_r
segments calcn_r toes_r
tx constant 0.152588
ty constant -0.001707
tz constant 0.000922
r1 function f18(mtp_angle_r)
axis1 -0.580954 0.000000 0.813936
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f18
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint hip_l
segments pelvis femur_l
tx constant -0.097238
ty constant -0.090912
tz constant -0.114843
r1 function f19(hip_flexion_l)
axis1 0.000000 0.000000 1.000000
r2 function f20(hip_adduction_l)
axis2 -1.000000 0.000000 0.000000
r3 function f21(hip_rotation_l)
axis3 0.000000 -1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f19
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f20
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f21
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint knee_l
segments femur_l tibia_l
tx function f22(knee_angle_l)
ty function f23(knee_angle_l)
tz constant 0.000000
r1 function f24(knee_angle_l)
axis1 0.000000 0.000000 1.000000
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f22
(-120.000000, -0.003124)
(-100.000000, 0.001747)
(-80.000000, 0.004012)
(-60.000000, 0.004003)
(-40.000000, 0.002070)
(-20.000000, -0.000976)
(-10.000000, -0.003026)
(11.306991, -0.005103)
(19.331307, -0.005306)
(28.085106, -0.005441)
(87.173252, -0.005306)
(120.000000, -0.005125)
endfunction

beginfunction f23
(-120.000000, -0.412551)
(-70.000000, -0.398493)
(-30.000000, -0.389512)
(-20.000000, -0.388145)
(-10.000000, -0.387169)
(9.118541, -0.385865)
(120.000000, -0.386583)
endfunction

beginfunction f24
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint tib_pat_l
segments tibia_l patella_l
tx function f25(knee_angle_l)
ty function f26(knee_angle_l)
tz constant -0.002579
r1 function f27(knee_angle_l)
axis1 0.000000 0.000000 1.000000
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f25
(-120.000000, 0.018587)
(-80.000000, 0.034811)
(-60.000000, 0.040935)
(-40.000000, 0.046200)
(-20.000000, 0.050390)
(-10.000000, 0.052002)
(0.000000, 0.053291)
(0.010000, 0.053291)
(0.020000, 0.053291)
(5.000000, 0.053291)
(120.000000, 0.053291)
endfunction

beginfunction f26
(-120.000000, -0.023530)
(-90.000000, -0.021703)
(-80.000000, -0.021488)
(-60.000000, -0.021918)
(-40.000000, -0.022670)
(-20.000000, -0.023530)
(-10.000000, -0.023959)
(0.000000, -0.024389)
(0.010000, -0.024389)
(0.020000, -0.024389)
(5.000000, -0.024389)
(120.000000, -0.024389)
endfunction

beginfunction f27
(-120.000000, 17.650000)
(-114.590000, 17.650000)
(-83.510000, 17.550000)
(-30.160000, 15.480000)
(1.600000, -2.120000)
(10.000000, -16.040000)
endfunction

beginjoint ankle_l
segments tibia_l talus_l
tx constant 0.000000
ty constant -0.461997
tz constant 0.000000
r1 function f28(ankle_angle_l)
axis1 0.105014 -0.174022 0.979126
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f28
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint subtalar_l
segments talus_l calcn_l
tx constant -0.052399
ty constant -0.045072
tz constant -0.008509
r1 function f29(subtalar_angle_l)
axis1 -0.787180 -0.604747 -0.120949
r2 constant 0.000000
axis2 0.000000 1.000000 0.000000
r3 constant 0.000000
axis3 0.000000 0.000000 1.000000
order t r1 r2 r3
endjoint

beginfunction f29
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint mtp_l
segments calcn_l toes_l
tx constant 0.152588
ty constant -0.001707
tz constant -0.000922
r1 function f30(mtp_angle_l)
axis1 0.580954 0.000000 0.813936
r2 constant 0.000000
axis2 1.000000 0.000000 0.000000
r3 constant 0.000000
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f30
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginjoint back
segments pelvis torso
tx constant -0.138499
ty constant 0.112092
tz constant 0.000000
r1 function f31(lumbar_extension)
axis1 0.000000 0.000000 1.000000
r2 function f32(lumbar_bending)
axis2 1.000000 0.000000 0.000000
r3 function f33(lumbar_rotation)
axis3 0.000000 1.000000 0.000000
order t r1 r2 r3
endjoint

beginfunction f31
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f32
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction

beginfunction f33
(-360.000000, -360.000000)
(360.000000, 360.000000)
endfunction


/****************************************************/
/*                     GENCOORDS                    */
/****************************************************/
begingencoord pelvis_tx
default_value 0.120000
range -5.000000 5.000000
tolerance 0.000000
pd_stiffness 0.000000
keys p_key 
clamped yes
locked no
active no
endgencoord

begingencoord pelvis_ty
default_value 0.930000
range -1.000000 2.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord

begingencoord pelvis_tz
default_value 0.000000
range -3.000000 3.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord

begingencoord pelvis_list
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord

begingencoord pelvis_rotation
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord

begingencoord pelvis_tilt
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord

begingencoord hip_flexion_r
default_value 0.000000
range -120.000000 120.000000
tolerance 0.000000
pd_stiffness 0.000000
keys h_key leftmouse_button 
clamped yes
locked no
active no
endgencoord

begingencoord hip_adduction_r
default_value 0.000000
range -120.000000 120.000000
tolerance 0.000000
pd_stiffness 0.000000
keys h_key leftmouse_button 
clamped yes
locked no
active no
endgencoord

begingencoord hip_rotation_r
default_value 0.000000
range -120.000000 120.000000
tolerance 0.000000
pd_stiffness 0.000000
keys h_key leftmouse_button 
clamped yes
locked no
active no
endgencoord

begingencoord knee_angle_r
default_value 0.000000
range -120.000000 10.000000
tolerance 0.000000
pd_stiffness 0.000000
keys k_key 
clamped yes
locked no
active no
endgencoord

begingencoord ankle_angle_r
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys a_key 
clamped yes
locked no
active no
endgencoord

begingencoord subtalar_angle_r
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys a_key 
clamped yes
locked yes
active no
endgencoord

begingencoord mtp_angle_r
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys t_key 
clamped yes
locked yes
active no
endgencoord

begingencoord hip_flexion_l
default_value 0.000000
range -120.000000 120.000000
tolerance 0.000000
pd_stiffness 0.000000
keys h_key leftmouse_button 
clamped yes
locked no
active no
endgencoord

begingencoord hip_adduction_l
default_value 0.000000
range -120.000000 120.000000
tolerance 0.000000
pd_stiffness 0.000000
keys h_key leftmouse_button 
clamped yes
locked no
active no
endgencoord

begingencoord hip_rotation_l
default_value 0.000000
range -120.000000 120.000000
tolerance 0.000000
pd_stiffness 0.000000
keys h_key leftmouse_button 
clamped yes
locked no
active no
endgencoord

begingencoord knee_angle_l
default_value 0.000000
range -120.000000 10.000000
tolerance 0.000000
pd_stiffness 0.000000
keys k_key 
clamped yes
locked no
active no
endgencoord

begingencoord ankle_angle_l
default_value 0.000000
range -60.000000 60.000000
tolerance 0.000000
pd_stiffness 0.000000
keys a_key 
clamped yes
locked no
active no
endgencoord

begingencoord subtalar_angle_l
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys a_key 
clamped yes
locked yes
active no
endgencoord

begingencoord mtp_angle_l
default_value 0.000000
range -60.000000 60.000000
tolerance 0.000000
pd_stiffness 0.000000
keys t_key 
clamped yes
locked yes
active no
endgencoord

begingencoord lumbar_extension
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord

begingencoord lumbar_bending
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord

begingencoord lumbar_rotation
default_value 0.000000
range -90.000000 90.000000
tolerance 0.000000
pd_stiffness 0.000000
keys q_key 
clamped yes
locked no
active no
endgencoord


/****************************************************/
/*                    WRAP OBJECTS                  */
/****************************************************/

/****************************************************/
/*                     MATERIALS                    */
/****************************************************/
beginmaterial mat1
ambient 0.3 0.3 0.9
diffuse 0.3 0.3 0.9
specular 1.0 1.0 1.0
endmaterial

beginmaterial mat2
ambient 0.3 0.3 0.3
diffuse 0.3 0.3 0.3
specular 0.3 0.3 0.3
endmaterial

beginmaterial my_bone
ambient 0.65 0.65 0.65
specular 0.7 0.55 0.4
diffuse 0.55 0.4 0.35
shininess 10
endmaterial

beginmaterial red
ambient 0.9 0.1 0.1
specular 0.7 0.2 0.2
diffuse 0.2 0.2 0.2
shininess 10
endmaterial

beginmaterial blue
ambient 0.1 0.1 0.9
specular 0.2 0.2 0.7
diffuse 0.2 0.2 0.2
shininess 10
endmaterial


/****************************************************/
/*                     WORLD OBJECTS                */
/****************************************************/
beginworldobject floor
filename floor_xz_plane.asc
origin 0.0 0.0 0.0

material mat2
scale 1.000000 2.000000 4.000000
 endworldobject


/****************************************************/
/*                    MOTION OBJECTS                */
/****************************************************/
beginmotionobject ball
material blue
scale 0.250000 0.250000 0.250000
endmotionobject