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<coordinates>
	<Coordinate name="walkerToGround_coord_0">
		<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
		<default_value>0</default_value>
		<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
		<default_speed_value>0</default_speed_value>
		<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
		<range>-5 5</range>
		<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
		<locked>false</locked>
		<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
		<prescribed_function>
			<SimmSpline>
				<x> 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1</x>
				<y> 0 0.0075 0.0175 0.0325 0.05 0.065 0.0825 0.095 0.1 0.1 0.1</y>
			</SimmSpline>
		</prescribed_function>
		<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
		<prescribed>true</prescribed>
	</Coordinate>
</coordinates>

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// Define the integrator and its options
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());

initialTime = 0.0;
finalTime = 1.0;
stepSize = 0.1;
TINY_TIME = 1.0e-6;

Manager manager(osimModel);
manager.setIntegratorAccuracy(1.0e-4);
manager.initialize(si);

/* Integrate the equations of motion forward */
t = initialTime;
si.setTime(t);
manager.integrate(finalTime);