name ya background_color 0 0 0 beginmaterial default_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 def_min_muscle ambient 0.2000 0.2000 0.2000 diffuse 0.0500 0.0500 0.0500 specular 1.0000 1.0000 1.0000 shininess 10.0000 endmaterial beginmaterial def_max_muscle ambient 1.0 0.0 0.0 diffuse 1.0 0.0 0.0 specular 1.0 0.15 0.15 shininess 90.0 endmaterial beginmaterial floor_mat1 ambient 0.3000 0.3000 0.9000 diffuse 0.3000 0.3000 0.9000 specular 0.3000 0.3000 0.9000 endmaterial beginmaterial floor_mat2 ambient 0.000 0.000 0.000 diffuse 0.000 0.000 0.000 specular 0.000 0.000 0.000 endmaterial beginmaterial muscle_min ambient 0.0 0.0 1.0 specular 0.0 0.0 1.0 diffuse 0.0 0.0 1.0 shininess 10.0 endmaterial beginmaterial muscle_max ambient 1.0 0.0 0.00 specular 1.0 0.0 0.00 diffuse 1.0 0.0 0.00 shininess 10.0 endmaterial beginmaterial cyan ambient 0.1000 0.8000 1.0000 diffuse 0.1000 0.3000 0.5000 specular 0.1000 0.3000 0.5000 shininess 10.0000 endmaterial beginmaterial green ambient 0.0100 0.9000 0.0100 diffuse 0.1000 0.9000 0.1000 specular 0.5000 0.5000 0.5000 shininess 10.0000 endmaterial beginmaterial orange ambient 1.0000 0.3000 0.0100 diffuse 0.5000 0.1000 0.1000 specular 0.5000 0.5000 0.5000 shininess 10.0000 endmaterial beginmaterial yellow ambient 1.0000 0.8000 0.1000 diffuse 0.5000 0.4000 0.1000 specular 0.5000 0.4000 0.1000 shininess 10.0000 endmaterial beginmaterial purple ambient 0.5000 0.0100 0.5000 diffuse 0.5000 0.0100 0.5000 specular 0.5000 0.5000 0.5000 shininess 10.0000 endmaterial beginmaterial blue ambient 0.1000 0.1000 1.0000 diffuse 0.1000 0.1000 1.0000 specular 0.5000 0.5000 0.5000 shininess 10.0000 endmaterial beginmaterial floor_material ambient 0.5000 0.4000 0.3000 diffuse 0.5000 0.4000 0.3000 specular 0.5000 0.4000 0.3000 endmaterial beginworldobject floor filename floor_xz_plane.asc origin 0.0 0.0 0.0 material floor_material drawmode solid_fill endworldobject beginmotionobject ball scale 0.25 0.25 0.25 endmotionobject beginmotionobject force scale 0.5 0.0005 0.5 endmotionobject beginmotionobject torque scale 0.0000000001 0.0000000001 0.000000001 endmotionobject beginmotionobject arrow filename arrow.asc material floor_mat2 position 0.000000 0.00000 0.000000 scale 0.000001 0.000001 0.000001 endmotionobject beginmotionobject marker filename unit_sphere.asc material cyan position 0. 0. 0. scale 0.2 0.2 0.2 endmotionobject beginmotionobject bodycom filename unit_sphere.asc material orange position 0. 0. 0. scale 0.5 0.5 0.5 endmotionobject beginmotionobject com filename unit_sphere.asc material orange position 0. 0. 0. scale 0.3 0.3 0.3 endmotionobject beginview view1 1.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 -0.5077 -0.6245 -3.2657 1.0000 endview beginview motion -0.7046 -0.0060 0.7096 0.0000 0.0366 0.9983 0.0448 0.0000 -0.7087 0.0575 -0.7032 0.0000 0.3181 -0.8978 -4.5020 1.0000 endview beginview front 0.0 0.0 1.0 0.0 0.0 1.0 0.0 0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 -5.0 1.0 endview beginview side 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 -1.0 -5.0 1.0 endview beginview top 1.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 -1.0 0.0 0.0 0.0 0.0 -5.0 1.0 endview beginsegment ground endsegment beginsegment pelvis scale 0.908496070693 0.908496070693 1.083498405364 mass 8.436074032105 masscenter -0.064230672198 0.000000000000 0.000000000000 inertia 0.060777793396 0.000000000000 0.000000000000 0.000000000000 0.051495581759 0.000000000000 0.000000000000 0.000000000000 0.048690117651 beginfiles sacrum2.asc pelvis.asc l_pelvis.asc endfiles material default_bone marker S2 -0.200358684038 0.027903942099 -0.005436143898 1.00 marker R.ASIS 0.011128693760 0.021346787299 0.115262221639 1.00 marker R.Iliac -0.081526014836 0.091453615704 0.147842868565 1.00 marker R.PSIS -0.193619112532 0.030185195532 0.063127756891 1.00 marker R.Trochanter -0.090849607069 -0.099934567776 0.173359744858 1.00 marker L.ASIS 0.005600087663 0.022662609843 -0.121169583803 1.00 marker L.Iliac -0.102287027667 0.086615710031 -0.160175922419 1.00 marker L.PSIS -0.191852298598 0.027373450937 -0.063462512874 1.00 marker L.Trochanter -0.090849607069 -0.099934567776 -0.173359744858 1.00 endsegment beginsegment femur_r scale 0.908496070693 0.908496070693 0.908496070693 mass 6.662757833253 masscenter 0.000000000000 -0.154444332018 0.000000000000 inertia 0.079164849570 0.000000000000 0.000000000000 0.000000000000 0.020751950858 0.000000000000 0.000000000000 0.000000000000 0.083480782369 beginfiles femur.asc endfiles material default_bone marker R.Knee 0.002414750917 -0.377231292973 0.066261480705 1.00 marker R.MKnee -0.015136875817 -0.376079258620 -0.074775731963 1.00 marker R.TH1 0.107078908997 -0.144629824094 0.038075541913 1.00 marker R.TH2 0.106272898430 -0.230295412810 0.025566097596 1.00 marker R.TH3 -0.025216182749 -0.240155847635 0.090268166411 1.00 marker R_HJC 0.001205133676 -0.003520097177 0.000602452009 1.00 endsegment beginsegment tibia_r scale 0.893906077865 0.893906077865 0.893906077865 mass 2.655748023608 masscenter 0.000000000000 -0.166892264737 0.000000000000 inertia 0.028848286600 0.000000000000 0.000000000000 0.000000000000 0.002919171858 0.000000000000 0.000000000000 0.000000000000 0.029248957247 beginfiles tibia.asc fibula.asc endfiles material default_bone marker R.Ankle -0.007641256202 -0.376941766326 0.041711465706 1.00 marker R.MAnkle 0.011111042289 -0.360521970347 -0.049437433517 1.00 marker R.SH1 0.060518181414 -0.135214207445 0.007439445896 1.00 marker R.SH2 0.056420201160 -0.208474730983 0.006152125524 1.00 marker R.SH3 -0.020773827172 -0.135681229386 0.091891937493 1.00 marker R.SH4 -0.027863898716 -0.209267382942 0.085343796813 1.00 endsegment beginsegment patella_r scale 0.908496070693 0.908496070693 0.908496070693 mass 0.071631774069 masscenter 0.000000000000 0.000000000000 0.000000000000 inertia 0.000591223671 0.000000000000 0.000000000000 0.000000000000 0.000591223671 0.000000000000 0.000000000000 0.000000000000 0.000591223671 beginfiles pat.asc endfiles material default_bone endsegment beginsegment talus_r scale 0.893906077865 0.893906077865 0.893906077865 mass 0.071631774069 masscenter 0.000000000000 0.000000000000 0.000000000000 inertia 0.000572386639 0.000000000000 0.000000000000 0.000000000000 0.000572386639 0.000000000000 0.000000000000 0.000000000000 0.000572386639 beginfiles talus.asc endfiles material default_bone endsegment beginsegment calcn_r scale 0.901201074279 0.901201074279 0.901201074279 mass 0.895397175862 masscenter 0.090120107428 0.027036032228 0.000000000000 inertia 0.000814473849 0.000000000000 0.000000000000 0.000000000000 0.002268891436 0.000000000000 0.000000000000 0.000000000000 0.002385244843 beginfiles foot.asc endfiles material default_bone marker R.MT1 0.180240214856 0.004506005371 -0.040554048343 1.00 marker R.MT5 0.150110887972 -0.014693675863 0.061152932993 1.00 marker R.Heel -0.032315314115 -0.003775751394 -0.009078385538 1.00 endsegment beginsegment toes_r scale 0.901201074279 0.901201074279 0.901201074279 mass 0.155154422633 masscenter 0.031181557170 0.005407206446 -0.015771018800 inertia 0.000058176703 0.000000000000 0.000000000000 0.000000000000 0.000116353407 0.000000000000 0.000000000000 0.000000000000 0.000581767035 beginfiles bofoot.asc endfiles material default_bone endsegment beginsegment femur_l scale 0.908496070693 0.908496070693 0.908496070693 mass 6.662757833253 masscenter 0.000000000000 -0.154444332018 0.000000000000 inertia 0.079164849570 0.000000000000 0.000000000000 0.000000000000 0.020751950858 0.000000000000 0.000000000000 0.000000000000 0.083480782369 beginfiles l_femur.asc endfiles material default_bone marker L.Knee 0.002453675566 -0.358550705604 -0.064885386497 1.00 marker L.MKnee -0.012679435180 -0.368313999430 0.078502293014 1.00 marker L.TH1 0.094677542722 -0.136959930766 -0.067934298107 1.00 marker L.TH2 0.100604273389 -0.219471149427 -0.047549030083 1.00 marker L.TH3 -0.056688795562 -0.153955068651 -0.089070390922 1.00 marker L.TH4 -0.045982758366 -0.240817385703 -0.072080633606 1.00 marker L_HJC 0.002480442340 -0.004344051552 0.000681626811 1.00 endsegment beginsegment tibia_l scale 0.893906077865 0.893906077865 0.893906077865 mass 2.655748023608 masscenter 0.000000000000 -0.166892264737 0.000000000000 inertia 0.028848286600 0.000000000000 0.000000000000 0.000000000000 0.002919171858 0.000000000000 0.000000000000 0.000000000000 0.029248957247 beginfiles l_tibia.asc l_fibula.asc endfiles material default_bone marker L.Ankle -0.007021789813 -0.373622734884 -0.040621522645 1.00 marker L.MAnkle 0.001722179628 -0.367744873203 0.051631828998 1.00 marker L.SH1 0.058102369643 -0.097662967795 -0.050527384540 1.00 marker L.SH2 0.056688179828 -0.173728006775 -0.047479690287 1.00 marker L.SH3 -0.053235875702 -0.174519977614 -0.079922770369 1.00 endsegment beginsegment patella_l scale 0.908496070693 0.908496070693 0.908496070693 mass 0.071631774069 masscenter 0.000000000000 0.000000000000 0.000000000000 inertia 0.000591223671 0.000000000000 0.000000000000 0.000000000000 0.000591223671 0.000000000000 0.000000000000 0.000000000000 0.000591223671 beginfiles l_patella.asc endfiles material default_bone endsegment beginsegment talus_l scale 0.893906077865 0.893906077865 0.893906077865 mass 0.071631774069 masscenter 0.000000000000 0.000000000000 0.000000000000 inertia 0.000572386639 0.000000000000 0.000000000000 0.000000000000 0.000572386639 0.000000000000 0.000000000000 0.000000000000 0.000572386639 beginfiles l_talus.asc endfiles material default_bone endsegment beginsegment calcn_l scale 0.901201074279 0.901201074279 0.901201074279 mass 0.895397175862 masscenter 0.090120107428 0.027036032228 0.000000000000 inertia 0.000814473849 0.000000000000 0.000000000000 0.000000000000 0.002268891436 0.000000000000 0.000000000000 0.000000000000 0.002385244843 beginfiles l_foot.asc endfiles material default_bone marker L.Heel -0.034785613535 0.000812784882 0.010238370675 1.00 marker L.MT1 0.180240214856 0.004506005371 0.040554048343 1.00 marker L.MT5 0.157519314506 -0.012881584491 -0.063301969573 1.00 endsegment beginsegment toes_l scale 0.901201074279 0.901201074279 0.901201074279 mass 0.155154422633 masscenter 0.031181557170 0.005407206446 0.015771018800 inertia 0.000058176703 0.000000000000 0.000000000000 0.000000000000 0.000116353407 0.000000000000 0.000000000000 0.000000000000 0.000581767035 beginfiles l_bofoot.asc endfiles material default_bone endsegment beginsegment torso scale 0.814984057610 0.814984057610 0.814984057610 mass 24.524283960905 masscenter -0.024449521728 0.260794898435 0.000000000000 inertia 0.701533978587 0.000000000000 0.000000000000 0.000000000000 0.359449929347 0.000000000000 0.000000000000 0.000000000000 0.681027966734 beginfiles hat_spine.asc hat_jaw.asc hat_skull.asc hat_ribs.asc endfiles material default_bone marker R.Clavicle 0.023964100601 0.326243292743 0.019923740475 1.00 marker L.Clavicle 0.020975165156 0.328926893650 -0.035820543698 1.00 marker L.Scapula -0.163122110523 0.236804177581 -0.094756362041 1.00 marker R.Shoulder -0.029183073196 0.350570949725 0.175159517186 1.00 marker L.Shoulder -0.043493181429 0.350428654676 -0.183795158910 1.00 endsegment beginjoint ground_pelvis segments ground pelvis order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 0.000000 0.000000 1.000000 tx function f1(pelvis_tx) ty function f1(pelvis_ty) tz function f1(pelvis_tz) r1 function f1(pelvis_list) r2 function f1(pelvis_rot) r3 function f1(pelvis_tilt) endjoint beginjoint hip_r segments pelvis femur_r order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 0.000000 0.000000 1.000000 tx constant -0.064230672198 ty constant -0.060051590273 tz constant 0.090472116848 r3 function f1(hip_flex_r) r1 function f1(hip_add_r) r2 function f1(hip_rot_r) endjoint beginjoint knee_r segments femur_r tibia_r order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 0.000000 0.000000 1.000000 tx function f2(knee_angle_r) ty function f3(knee_angle_r) tz constant 0.000000000000 r1 constant 0.000000 r2 constant 0.000000 r3 function f1(knee_angle_r) endjoint beginjoint tib_pat_r segments tibia_r patella_r order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 0.000000 0.000000 1.000000 tx function f4(knee_angle_r) ty function f5(knee_angle_r) tz constant 0.002145374587 r1 constant 0.000000 r2 constant 0.000000 r3 function f6(knee_angle_r) endjoint beginjoint ankle_r segments tibia_r talus_r order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 -0.105 -0.174 0.979 tx constant 0.000000000000 ty constant -0.384379613482 tz constant 0.000000000000 r3 function f1(ankle_angle_r) r1 constant 0.000000 r2 constant 0.000000 endjoint beginjoint subtalar_r segments talus_r calcn_r order t r1 r2 r3 axis1 0.781 0.600 -0.120 axis2 0.0 1.0 0.0 axis3 0.0 0.0 1.0 tx constant -0.043595799417 ty constant -0.037499359966 tz constant 0.007079736137 r1 function f1(subtalar_angle_r) r2 constant 0.000000 r3 constant 0.000000 endjoint beginjoint mtp_r segments calcn_r toes_r order t r3 r1 r2 axis3 -0.581 0.000 0.814 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 tx constant 0.161134752081 ty constant -0.001802402149 tz constant 0.000973297160 r3 function f1(mtp_angle_r) r1 constant 0.000000 r2 constant 0.000000 endjoint beginjoint hip_l segments pelvis femur_l order t r3 r1 r2 axis1 -1.000000 0.000000 0.000000 axis2 0.000000 -1.000000 0.000000 axis3 0.000000 0.000000 1.000000 tx constant -0.064230672198 ty constant -0.060051590273 tz constant -0.090472116848 r3 function f1(hip_flex_l) r1 function f1(hip_add_l) r2 function f1(hip_rot_l) endjoint beginjoint knee_l segments femur_l tibia_l order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 0.000000 0.000000 1.000000 tx function f2(knee_angle_l) ty function f3(knee_angle_l) tz constant 0.000000000000 r1 constant 0.000000 r2 constant 0.000000 r3 function f1(knee_angle_l) endjoint beginjoint tib_pat_l segments tibia_l patella_l order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 0.000000 0.000000 1.000000 tx function f4(knee_angle_l) ty function f5(knee_angle_l) tz constant -0.002145374587 r1 constant 0.000000 r2 constant 0.000000 r3 function f6(knee_angle_l) endjoint beginjoint ankle_l segments tibia_l talus_l order t r3 r1 r2 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 axis3 0.105 0.174 0.979 tx constant 0.000000000000 ty constant -0.384379613482 tz constant 0.000000000000 r3 function f1(ankle_angle_l) r1 constant 0.000000 r2 constant 0.000000 endjoint beginjoint subtalar_l segments talus_l calcn_l order t r1 r2 r3 axis1 -0.781 -0.600 -0.120 axis2 0.0 1.0 0.0 axis3 0.0 0.0 1.0 tx constant -0.043595799417 ty constant -0.037499359966 tz constant -0.007079736137 r1 function f1(subtalar_angle_l) r2 constant 0.000000 r3 constant 0.000000 endjoint beginjoint mtp_l segments calcn_l toes_l order t r3 r1 r2 axis3 0.581 0.000 0.814 axis1 1.000000 0.000000 0.000000 axis2 0.000000 1.000000 0.000000 tx constant 0.161134752081 ty constant -0.001802402149 tz constant -0.000973297160 r3 function f1(mtp_angle_l) r1 constant 0.000000 r2 constant 0.000000 endjoint beginjoint back segments pelvis torso order t r3 r1 r2 axis1 1.0 0.0 0.0 axis2 0.0 1.0 0.0 axis3 0.0 0.0 1.0 tx constant -0.091485554319 ty constant 0.074042429761 tz constant 0.000000000000 r3 function f1(lumbar_ext) r1 function f1(lumbar_latbend) r2 function f1(lumbar_rot) endjoint begingencoord pelvis_tx range -5.000000 5.000000 keys p_key default_value 0.120000 endgencoord begingencoord pelvis_ty range -1.000000 2.000000 keys q_key default_value 0.93000 endgencoord begingencoord pelvis_tz range -3.000000 3.000000 keys q_key default_value 0.0 endgencoord begingencoord pelvis_list range -90.000000 90.000000 keys q_key default_value 0.000000 endgencoord begingencoord pelvis_rot range -90.000000 90.000000 keys q_key default_value 0.000000 endgencoord begingencoord pelvis_tilt range -90.000000 90.000000 keys q_key default_value 0.000000 endgencoord begingencoord lumbar_ext range -90.000000 90.000000 keys q_key default_value 0.000000 endgencoord begingencoord lumbar_latbend range -90.000000 90.000000 keys q_key default_value 0.000000 endgencoord begingencoord lumbar_rot range -90.000000 90.000000 keys q_key default_value 0.000000 endgencoord begingencoord hip_flex_r range -120.000000 120.000000 keys h_key leftmouse_button default_value 0.000000 endgencoord begingencoord hip_add_r range -120.000000 120.000000 keys h_key leftmouse_button default_value 0.000000 endgencoord begingencoord hip_rot_r range -120.000000 120.000000 keys h_key leftmouse_button default_value 0.000000 endgencoord begingencoord knee_angle_r range -120.000000 10.000000 keys k_key default_value 0.000000 endgencoord begingencoord ankle_angle_r range -90.000000 90.000000 keys a_key default_value 0.000000 endgencoord begingencoord subtalar_angle_r range -90.000000 90.000000 keys a_key default_value 0.000000 endgencoord begingencoord mtp_angle_r range -90.000000 90.000000 keys t_key default_value 0.000000 endgencoord begingencoord hip_flex_l range -120.000000 120.000000 keys h_key leftmouse_button default_value 0.000000 endgencoord begingencoord hip_add_l range -120.000000 120.000000 keys h_key leftmouse_button default_value 0.000000 endgencoord begingencoord hip_rot_l range -120.000000 120.000000 keys h_key leftmouse_button default_value 0.000000 endgencoord begingencoord knee_angle_l range -120.000000 10.000000 keys k_key default_value 0.000000 endgencoord begingencoord ankle_angle_l range -60.000000 60.000000 keys a_key default_value 0.000000 endgencoord begingencoord subtalar_angle_l range -90.000000 90.000000 keys a_key default_value 0.000000 endgencoord begingencoord mtp_angle_l range -60.000000 60.000000 keys t_key default_value 0.000000 endgencoord beginfunction f1 ( -360.000000000000, -360.000000000000) ( 360.000000000000, 360.000000000000) endfunction beginfunction f2 ( -120.000000000000, -0.002907187426) ( -100.000000000000, 0.001626207967) ( -80.000000000000, 0.003733918851) ( -60.000000000000, 0.003724833890) ( -40.000000000000, 0.001926011670) ( -20.000000000000, -0.000908496071) ( -10.000000000000, -0.002816337819) ( 11.306991000000, -0.004748708962) ( 19.331307000000, -0.004937676144) ( 28.085106000000, -0.005063957098) ( 87.173252000000, -0.004937676144) ( 120.000000000000, -0.004769604371) endfunction beginfunction f3 ( -120.000000000000, -0.383930439475) ( -70.000000000000, -0.370848096057) ( -30.000000000000, -0.362489932206) ( -20.000000000000, -0.361218037707) ( -10.000000000000, -0.360309541637) ( 9.118541000000, -0.359095790886) ( 120.000000000000, -0.359764443994) endfunction beginfunction f4 ( -120.000000000000, 0.015464575147) ( -80.000000000000, 0.028962556923) ( -60.000000000000, 0.034057821567) ( -40.000000000000, 0.038437961348) ( -20.000000000000, 0.041924195052) ( -10.000000000000, 0.043265054169) ( 0.000000000000, 0.044337741462) ( 0.010000000000, 0.044337741462) ( 0.020000000000, 0.044337741462) ( 5.000000000000, 0.044337741462) ( 120.000000000000, 0.044337741462) endfunction beginfunction f5 ( -120.000000000000, -0.019576543105) ( -90.000000000000, -0.018056902773) ( -80.000000000000, -0.017878121557) ( -60.000000000000, -0.018235683988) ( -40.000000000000, -0.018861418243) ( -20.000000000000, -0.019576543105) ( -10.000000000000, -0.019934105536) ( 0.000000000000, -0.020291667968) ( 0.010000000000, -0.020291667968) ( 0.020000000000, -0.020291667968) ( 5.000000000000, -0.020291667968) ( 120.000000000000, -0.020291667968) endfunction beginfunction f6 ( -120.000000000000, 17.650000000000) ( -114.590000000000, 17.650000000000) ( -83.510000000000, 17.550000000000) ( -30.160000000000, 15.480000000000) ( 1.600000000000, -2.120000000000) ( 10.000000000000, -16.040000000000) endfunction