verbose_level 1

gravity 0.0 -9.8 0.0 

joint right_hip
	distal_body right_thigh
	limits -90 90
	end

joint left_hip
	distal_body left_thigh
	limits -90 90 
	end

joint right_knee
	distal_body right_shank
	limits -120 0
	end

joint left_knee
	distal_body left_shank
	limits -120 0
	end

joint right_ankle
	distal_body right_foot
	limits 50 130
	end

joint left_ankle
	distal_body left_foot
	limits 50 130
	end

muscle default
	a 0.25
	vmrel 10
	umax 0.04
	fecmax 1.5
	krel 1.0
	slopfac 2.0
	time_constants 0.040 0.060
	PEEslack 1.0
	end

muscle r_iliopsoas
	fmax 821
	lceopt 0.102
	lslack 0.142
	width 1.298
	geometry pulley 0.248
		right_hip 0.050
		end
	end

muscle r_glutei
	fmax 1705
	lceopt 0.2
	lslack 0.157
	width 0.625
	geometry pulley 0.271
		right_hip -0.062
		end
	end

muscle r_hamstrings
	fmax 1770
	lceopt 0.104
	lslack 0.334
	width 1.197
	geometry pulley 0.383
		right_knee -0.034
		right_hip -0.072
		end
	end

muscle r_rfemoris
	fmax 663
	lceopt 0.081
	lslack 0.398
	width 1.443
	geometry pulley 0.474
		right_knee 0.050
		right_hip 0.034
		end
	end

muscle r_vasti
	fmax 7403.0
	lceopt 0.093
	lslack 0.223
	width 0.627
	geometry pulley 0.271
		right_knee 0.042
		end
	end

muscle r_gastroc
	fmax 1639
	lceopt 0.055
	lslack 0.420
	width 0.888
	geometry pulley 0.404
		right_ankle -0.053
		right_knee -0.02
		end
	end

muscle r_soleus
	fmax 3883
	lceopt 0.055
	lslack 0.245
	width 1.039
	geometry pulley 0.201
		right_ankle -0.053
		end
	end

muscle r_tibialis_ant
	fmax 1528
	lceopt 0.082
	lslack 0.317
	width 0.442
	geometry pulley 0.464
		right_ankle 0.037
		end
	end

muscle l_iliopsoas
	fmax 821
	lceopt 0.102
	lslack 0.142
	width 1.298
	geometry pulley 0.248
		left_hip 0.050
		end
	end

muscle l_glutei
	fmax 1705
	lceopt 0.2
	lslack 0.157
	width 0.625
	geometry pulley 0.271
		left_hip -0.062
		end
	end

muscle l_hamstrings
	fmax 1770
	lceopt 0.104
	lslack 0.334
	width 1.197
	geometry pulley 0.383
		left_knee -0.034
		left_hip -0.072
		end
	end

muscle l_rfemoris
	fmax 663
	lceopt 0.081
	lslack 0.398
	width 1.443
	geometry pulley 0.474
		left_knee 0.050
		left_hip 0.034
		end
	end

muscle l_vasti
	fmax 7403.0
	lceopt 0.093
	lslack 0.223
	width 0.627
	geometry pulley 0.271
		left_knee 0.042
		end
	end

muscle l_gastroc
	fmax 1639
	lceopt 0.055
	lslack 0.420
	width 0.888
	geometry pulley 0.404
		left_ankle -0.053
		left_knee -0.02
		end
	end

muscle l_soleus
	fmax 3883
	lceopt 0.055
	lslack 0.245
	width 1.039
	geometry pulley 0.201
		left_ankle -0.053
		end
	end

muscle l_tibialis_ant
	fmax 1528
	lceopt 0.082
	lslack 0.317
	width 0.442
	geometry pulley 0.464
		left_ankle 0.037
		end
	end

grf right 10
	right_foot -0.10 -0.03 0
	right_foot -0.072 -0.03 0
	right_foot -0.044 -0.03 0
	right_foot -0.0166 -0.03 0
	right_foot 0.0112 -0.03 0
	right_foot 0.039 -0.03 0
	right_foot 0.0668 -0.03 0
	right_foot 0.0946 -0.03 0
	right_foot 0.1224 -0.03 0
	right_foot 0.15 -0.03 0

grf left 10
	left_foot -0.10 -0.03 0
	left_foot -0.072 -0.03 0
	left_foot -0.044 -0.03 0
	left_foot -0.0166 -0.03 0
	left_foot 0.0112 -0.03 0
	left_foot 0.039 -0.03 0
	left_foot 0.0668 -0.03 0
	left_foot 0.0946 -0.03 0
	left_foot 0.1224 -0.03 0
	left_foot 0.15 -0.03 0

matlab  right
	input globalposition right_foot -0.04 0.06 0.00
        input globalorientation right_foot
        input globalvelocity right_foot -0.04 0.06 0.00
	input globalangularvelocity right_foot
	output globalforce right_foot -0.04 0.06 0.00
        output globalmoment right_foot
        end

matlab  left
        input globalposition left_foot -0.04 0.06 0.00
        input globalorientation left_foot
        input globalvelocity left_foot -0.04 0.06 0.00
	input globalangularvelocity left_foot
	output globalforce left_foot -0.04 0.06 0.00
        output globalmoment left_foot
        end

end