-------------------------------------------------------
This program includes software developed by the
Apache Software Foundation (http://www.apache.org/).
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Deleted model 
RegisterTypes_SdfastEngine

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Library SdfastEngine...
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RegisterTypes_SimbodyEngine

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Library SimbodyEngine...
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Constructing investigation from setup file HW2.1_CMC_Setup.xml.

AbstractTool hpl_overground_slow_run_cmc_SLS loading model 'hpl_overground_simbody_RRA_adjusted.osim'
Created model EricLew.3DGaitModel2354-Scaled from file hpl_overground_simbody_RRA_adjusted.osim
Adding actuator set from hpl_overground_CMC_Actuators.xml
Handling locked coordinate.
Handling locked coordinate.
Handling locked coordinate.
Handling locked coordinate.
SimbodyCoordinate.setValue: WARN- coordinate subtalar_angle_r is locked. Unable to change its value.
SimbodyCoordinate.setValue: WARN- coordinate mtp_angle_r is locked. Unable to change its value.
SimbodyCoordinate.setValue: WARN- coordinate subtalar_angle_l is locked. Unable to change its value.
SimbodyCoordinate.setValue: WARN- coordinate mtp_angle_l is locked. Unable to change its value.
-----------------------------------------------------------------------
Loaded library
-----------------------------------------------------------------------
             MODEL: EricLew.3DGaitModel2354-Scaled
         actuators: 73
          analyses: 2
          contacts: 0
-----------------------------------------------------------------------

Running tool hpl_overground_slow_run_cmc_SLS.
MODEL: EricLew.3DGaitModel2354-Scaled

ANALYSES (2)
analysis[0] = Kinematics
analysis[1] = Actuation

BODIES (13)
body[0] = ground (mass: 0) (inertia: 0 0 0 0 0 0 0 0 0)
body[1] = pelvis (mass: 10.7957) (inertia: 0.102245 0 0 0 0.0866297 0 0 0 0.0575873)
body[2] = femur_r (mass: 9.16649) (inertia: 0.151728 0 0 0 0.0391486 0 0 0 0.151728)
body[3] = tibia_r (mass: 4.44813) (inertia: 0.0785012 0 0 0 0.00794357 0 0 0 0.0795915)
body[4] = talus_r (mass: 0.100323) (inertia: 0.00115599 0 0 0 0.00115599 0 0 0 0.00115599)
body[5] = calcn_r (mass: 1.25404) (inertia: 0.00161839 0 0 0 0.00450837 0 0 0 0.00473957)
body[6] = toes_r (mass: 0.2173) (inertia: 0.0001156 0 0 0 0.0002312 0 0 0 0.00115599)
body[7] = femur_l (mass: 8.66387) (inertia: 0.135921 0 0 0 0.0359937 0 0 0 0.135921)
body[8] = tibia_l (mass: 4.49262) (inertia: 0.0798143 0 0 0 0.00807644 0 0 0 0.0809228)
body[9] = talus_l (mass: 0.0910518) (inertia: 0.00098348 0 0 0 0.00098348 0 0 0 0.00098348)
body[10] = calcn_l (mass: 1.13815) (inertia: 0.00137687 0 0 0 0.00383558 0 0 0 0.00403227)
body[11] = toes_l (mass: 0.197218) (inertia: 9.835e-005 0 0 0 0.0001967 0 0 0 0.00098348)
body[12] = torso (mass: 32.4951) (inertia: 1.34554 0 0 0 0.906256 0 0 0 1.34554)

ACTUATORS (73)
actuator[0] = glut_med1_r (controls: glut_med1_r.excitation)
actuator[1] = glut_med2_r (controls: glut_med2_r.excitation)
actuator[2] = glut_med3_r (controls: glut_med3_r.excitation)
actuator[3] = bifemlh_r (controls: bifemlh_r.excitation)
actuator[4] = bifemsh_r (controls: bifemsh_r.excitation)
actuator[5] = sar_r (controls: sar_r.excitation)
actuator[6] = add_mag2_r (controls: add_mag2_r.excitation)
actuator[7] = tfl_r (controls: tfl_r.excitation)
actuator[8] = pect_r (controls: pect_r.excitation)
actuator[9] = grac_r (controls: grac_r.excitation)
actuator[10] = glut_max1_r (controls: glut_max1_r.excitation)
actuator[11] = glut_max2_r (controls: glut_max2_r.excitation)
actuator[12] = glut_max3_r (controls: glut_max3_r.excitation)
actuator[13] = iliacus_r (controls: iliacus_r.excitation)
actuator[14] = psoas_r (controls: psoas_r.excitation)
actuator[15] = quad_fem_r (controls: quad_fem_r.excitation)
actuator[16] = gem_r (controls: gem_r.excitation)
actuator[17] = peri_r (controls: peri_r.excitation)
actuator[18] = rect_fem_r (controls: rect_fem_r.excitation)
actuator[19] = vas_int_r (controls: vas_int_r.excitation)
actuator[20] = med_gas_r (controls: med_gas_r.excitation)
actuator[21] = soleus_r (controls: soleus_r.excitation)
actuator[22] = tib_post_r (controls: tib_post_r.excitation)
actuator[23] = tib_ant_r (controls: tib_ant_r.excitation)
actuator[24] = glut_med1_l (controls: glut_med1_l.excitation)
actuator[25] = glut_med2_l (controls: glut_med2_l.excitation)
actuator[26] = glut_med3_l (controls: glut_med3_l.excitation)
actuator[27] = bifemlh_l (controls: bifemlh_l.excitation)
actuator[28] = bifemsh_l (controls: bifemsh_l.excitation)
actuator[29] = sar_l (controls: sar_l.excitation)
actuator[30] = add_mag2_l (controls: add_mag2_l.excitation)
actuator[31] = tfl_l (controls: tfl_l.excitation)
actuator[32] = pect_l (controls: pect_l.excitation)
actuator[33] = grac_l (controls: grac_l.excitation)
actuator[34] = glut_max1_l (controls: glut_max1_l.excitation)
actuator[35] = glut_max2_l (controls: glut_max2_l.excitation)
actuator[36] = glut_max3_l (controls: glut_max3_l.excitation)
actuator[37] = iliacus_l (controls: iliacus_l.excitation)
actuator[38] = psoas_l (controls: psoas_l.excitation)
actuator[39] = quad_fem_l (controls: quad_fem_l.excitation)
actuator[40] = gem_l (controls: gem_l.excitation)
actuator[41] = peri_l (controls: peri_l.excitation)
actuator[42] = rect_fem_l (controls: rect_fem_l.excitation)
actuator[43] = vas_int_l (controls: vas_int_l.excitation)
actuator[44] = med_gas_l (controls: med_gas_l.excitation)
actuator[45] = soleus_l (controls: soleus_l.excitation)
actuator[46] = tib_post_l (controls: tib_post_l.excitation)
actuator[47] = tib_ant_l (controls: tib_ant_l.excitation)
actuator[48] = ercspn_r (controls: ercspn_r.excitation)
actuator[49] = ercspn_l (controls: ercspn_l.excitation)
actuator[50] = intobl_r (controls: intobl_r.excitation)
actuator[51] = intobl_l (controls: intobl_l.excitation)
actuator[52] = extobl_r (controls: extobl_r.excitation)
actuator[53] = extobl_l (controls: extobl_l.excitation)
actuator[54] = FX (controls: FX.excitation)
actuator[55] = FY (controls: FY.excitation)
actuator[56] = FZ (controls: FZ.excitation)
actuator[57] = MX (controls: MX.excitation)
actuator[58] = MY (controls: MY.excitation)
actuator[59] = MZ (controls: MZ.excitation)
actuator[60] = hip_flexion_r_reserve (controls: hip_flexion_r_reserve.excitation)
actuator[61] = hip_adduction_r_reserve (controls: hip_adduction_r_reserve.excitation)
actuator[62] = hip_rotation_r_reserve (controls: hip_rotation_r_reserve.excitation)
actuator[63] = knee_angle_r_reserve (controls: knee_angle_r_reserve.excitation)
actuator[64] = ankle_angle_r_reserve (controls: ankle_angle_r_reserve.excitation)
actuator[65] = hip_flexion_l_reserve (controls: hip_flexion_l_reserve.excitation)
actuator[66] = hip_adduction_l_reserve (controls: hip_adduction_l_reserve.excitation)
actuator[67] = hip_rotation_l_reserve (controls: hip_rotation_l_reserve.excitation)
actuator[68] = knee_angle_l_reserve (controls: knee_angle_l_reserve.excitation)
actuator[69] = ankle_angle_l_reserve (controls: ankle_angle_l_reserve.excitation)
actuator[70] = lumbar_extension_reserve (controls: lumbar_extension_reserve.excitation)
actuator[71] = lumbar_bending_reserve (controls: lumbar_bending_reserve.excitation)
actuator[72] = lumbar_rotation_reserve (controls: lumbar_rotation_reserve.excitation)

CONTACTS (0)
numControls = 73
numStates = 154
numCoordinates = 23
numSpeeds = 23
numActuators = 73
numBodies = 13

STATES (154)
y[0] = pelvis_tx
y[1] = pelvis_ty
y[2] = pelvis_tz
y[3] = pelvis_tilt
y[4] = pelvis_list
y[5] = pelvis_rotation
y[6] = hip_flexion_r
y[7] = hip_adduction_r
y[8] = hip_rotation_r
y[9] = knee_angle_r
y[10] = ankle_angle_r
y[11] = subtalar_angle_r
y[12] = mtp_angle_r
y[13] = hip_flexion_l
y[14] = hip_adduction_l
y[15] = hip_rotation_l
y[16] = knee_angle_l
y[17] = ankle_angle_l
y[18] = subtalar_angle_l
y[19] = mtp_angle_l
y[20] = lumbar_extension
y[21] = lumbar_bending
y[22] = lumbar_rotation
y[23] = pelvis_tx_u
y[24] = pelvis_ty_u
y[25] = pelvis_tz_u
y[26] = pelvis_tilt_u
y[27] = pelvis_list_u
y[28] = pelvis_rotation_u
y[29] = hip_flexion_r_u
y[30] = hip_adduction_r_u
y[31] = hip_rotation_r_u
y[32] = knee_angle_r_u
y[33] = ankle_angle_r_u
y[34] = subtalar_angle_r_u
y[35] = mtp_angle_r_u
y[36] = hip_flexion_l_u
y[37] = hip_adduction_l_u
y[38] = hip_rotation_l_u
y[39] = knee_angle_l_u
y[40] = ankle_angle_l_u
y[41] = subtalar_angle_l_u
y[42] = mtp_angle_l_u
y[43] = lumbar_extension_u
y[44] = lumbar_bending_u
y[45] = lumbar_rotation_u
y[46] = glut_med1_r.activation
y[47] = glut_med1_r.fiber_length
y[48] = glut_med2_r.activation
y[49] = glut_med2_r.fiber_length
y[50] = glut_med3_r.activation
y[51] = glut_med3_r.fiber_length
y[52] = bifemlh_r.activation
y[53] = bifemlh_r.fiber_length
y[54] = bifemsh_r.activation
y[55] = bifemsh_r.fiber_length
y[56] = sar_r.activation
y[57] = sar_r.fiber_length
y[58] = add_mag2_r.activation
y[59] = add_mag2_r.fiber_length
y[60] = tfl_r.activation
y[61] = tfl_r.fiber_length
y[62] = pect_r.activation
y[63] = pect_r.fiber_length
y[64] = grac_r.activation
y[65] = grac_r.fiber_length
y[66] = glut_max1_r.activation
y[67] = glut_max1_r.fiber_length
y[68] = glut_max2_r.activation
y[69] = glut_max2_r.fiber_length
y[70] = glut_max3_r.activation
y[71] = glut_max3_r.fiber_length
y[72] = iliacus_r.activation
y[73] = iliacus_r.fiber_length
y[74] = psoas_r.activation
y[75] = psoas_r.fiber_length
y[76] = quad_fem_r.activation
y[77] = quad_fem_r.fiber_length
y[78] = gem_r.activation
y[79] = gem_r.fiber_length
y[80] = peri_r.activation
y[81] = peri_r.fiber_length
y[82] = rect_fem_r.activation
y[83] = rect_fem_r.fiber_length
y[84] = vas_int_r.activation
y[85] = vas_int_r.fiber_length
y[86] = med_gas_r.activation
y[87] = med_gas_r.fiber_length
y[88] = soleus_r.activation
y[89] = soleus_r.fiber_length
y[90] = tib_post_r.activation
y[91] = tib_post_r.fiber_length
y[92] = tib_ant_r.activation
y[93] = tib_ant_r.fiber_length
y[94] = glut_med1_l.activation
y[95] = glut_med1_l.fiber_length
y[96] = glut_med2_l.activation
y[97] = glut_med2_l.fiber_length
y[98] = glut_med3_l.activation
y[99] = glut_med3_l.fiber_length
y[100] = bifemlh_l.activation
y[101] = bifemlh_l.fiber_length
y[102] = bifemsh_l.activation
y[103] = bifemsh_l.fiber_length
y[104] = sar_l.activation
y[105] = sar_l.fiber_length
y[106] = add_mag2_l.activation
y[107] = add_mag2_l.fiber_length
y[108] = tfl_l.activation
y[109] = tfl_l.fiber_length
y[110] = pect_l.activation
y[111] = pect_l.fiber_length
y[112] = grac_l.activation
y[113] = grac_l.fiber_length
y[114] = glut_max1_l.activation
y[115] = glut_max1_l.fiber_length
y[116] = glut_max2_l.activation
y[117] = glut_max2_l.fiber_length
y[118] = glut_max3_l.activation
y[119] = glut_max3_l.fiber_length
y[120] = iliacus_l.activation
y[121] = iliacus_l.fiber_length
y[122] = psoas_l.activation
y[123] = psoas_l.fiber_length
y[124] = quad_fem_l.activation
y[125] = quad_fem_l.fiber_length
y[126] = gem_l.activation
y[127] = gem_l.fiber_length
y[128] = peri_l.activation
y[129] = peri_l.fiber_length
y[130] = rect_fem_l.activation
y[131] = rect_fem_l.fiber_length
y[132] = vas_int_l.activation
y[133] = vas_int_l.fiber_length
y[134] = med_gas_l.activation
y[135] = med_gas_l.fiber_length
y[136] = soleus_l.activation
y[137] = soleus_l.fiber_length
y[138] = tib_post_l.activation
y[139] = tib_post_l.fiber_length
y[140] = tib_ant_l.activation
y[141] = tib_ant_l.fiber_length
y[142] = ercspn_r.activation
y[143] = ercspn_r.fiber_length
y[144] = ercspn_l.activation
y[145] = ercspn_l.fiber_length
y[146] = intobl_r.activation
y[147] = intobl_r.fiber_length
y[148] = intobl_l.activation
y[149] = intobl_l.fiber_length
y[150] = extobl_r.activation
y[151] = extobl_r.fiber_length
y[152] = extobl_l.activation
y[153] = extobl_l.fiber_length


Loading desired kinematics from file ResultsRRA_BackJointsLessWeight/hpl_overground_slow_run_RRA_Kinematics_q.sto ...
Storage: file=ResultsRRA_BackJointsLessWeight/hpl_overground_slow_run_RRA_Kinematics_q.sto (nr=800 nc=24)


WARN- The final time set for the cmc run is past the last time stamp
in the desired kinematics file ResultsRRA_BackJointsLessWeight/hpl_overground_slow_run_RRA_Kinematics_q.sto.
Resetting the final time from 1.6 to 1.599.



Note- not filtering the desired kinematics.



Loading external loads kinematics from file hpl_overground_slow_run_IK.mot ...
Storage: file=hpl_overground_slow_run_IK.mot (nr=103 nc=159)
Low-pass filtering external load kinematics with a cutoff frequency of 6...
Storage: file=hpl_overground_slow_run_grf.mot (nr=4800 nc=19)

Constructing function set for tracking...



 taskSet size = 19

Using the generalized coordinates specified in ResultsRRA_BackJointsLessWeight/hpl_overground_slow_run_RRA_Kinematics_q.sto to set the initial configuration.
Using IPOPT optimizer algorithm.

Setting optimizer print level to 0.
Setting optimizer convergence criterion to 0.1.
Setting optimizer maximum iterations to 2000.

Setting cmc controller to not use verbose printing.



================================================================
================================================================
Computing initial values for muscles states (activation, length)
Start time = Sat Apr 26 18:18:09 2008
================================================================

=============================================
rdCMC.computeInitialStates: ti=0.8
=============================================
rdCMC.computeControls:  t = 0.8
Deleted model default