Supplementary Methods and Extended Simulation Results from Humans choose trunk lean angles consistent with minimal metabolic costs - an integrative experimental and musculoskeletal simulation approach

This supplementary file provides additional methodological details and extended results supporting the main manuscript. It includes descriptions of all musculoskeletal model adjustments, optimal-control problem setup, solver settings, tracking weights and bounds, and functional muscle groupings. The file also contains full sets of simulated joint kinematics, ground reaction forces, joint moments, muscle-level mechanical variables, and muscle-specific metabolic outputs across all trunk-leaning conditions, alongside tables quantifying tracking accuracy.