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

Deleted model 
RegisterTypes_SdfastEngine

-------------------------------------------------------
Library SdfastEngine...
-------------------------------------------------------

RegisterTypes_SimbodyEngine

-------------------------------------------------------
Library SimbodyEngine...
-------------------------------------------------------

Constructing investigation from setup file Setup_CMC_quickhop6.xml.

AbstractTool quickhop6_cmc_SLS loading model 'C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\resultsRRA\quick_hop_6_adjusted.osim'
Created model gait2392-scaled1 from file C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\resultsRRA\quick_hop_6_adjusted.osim
Adding actuator set from C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\inputCMC\gait2392_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: gait2392-scaled1
         actuators: 115
          analyses: 2
          contacts: 0
-----------------------------------------------------------------------

Running tool quickhop6_cmc_SLS.
MODEL: gait2392-scaled1

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: 8.07491) (inertia: 0.0612403 0 0 0 0.0612403 0 0 0 0.036492)
body[2] = femur_r (mass: 10.123) (inertia: 0.160283 0 0 0 0.0496582 0 0 0 0.160283)
body[3] = tibia_r (mass: 3.87884) (inertia: 0.0629935 0 0 0 0.00630754 0 0 0 0.0629935)
body[4] = talus_r (mass: 0.138685) (inertia: 0.0019857 0 0 0 0.0019857 0 0 0 0.0019857)
body[5] = calcn_r (mass: 1.73357) (inertia: 0.00277998 0 0 0 0.00774422 0 0 0 0.00814136)
body[6] = toes_r (mass: 0.300393) (inertia: 0.00019857 0 0 0 0.00039714 0 0 0 0.0019857)
body[7] = femur_l (mass: 10.3576) (inertia: 0.165121 0 0 0 0.0518757 0 0 0 0.165121)
body[8] = tibia_l (mass: 3.8969) (inertia: 0.0623983 0 0 0 0.00641611 0 0 0 0.0623983)
body[9] = talus_l (mass: 0.13556) (inertia: 0.00191167 0 0 0 0.00191167 0 0 0 0.00191167)
body[10] = calcn_l (mass: 1.6945) (inertia: 0.00267633 0 0 0 0.0074555 0 0 0 0.00783783)
body[11] = toes_l (mass: 0.293622) (inertia: 0.00019117 0 0 0 0.00038233 0 0 0 0.00191167)
body[12] = torso (mass: 34.8724) (inertia: 1.57806 0 0 0 0.981479 0 0 0 1.57806)

ACTUATORS (115)
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] = glut_min1_r (controls: glut_min1_r.excitation)
actuator[4] = glut_min2_r (controls: glut_min2_r.excitation)
actuator[5] = glut_min3_r (controls: glut_min3_r.excitation)
actuator[6] = semimem_r (controls: semimem_r.excitation)
actuator[7] = semiten_r (controls: semiten_r.excitation)
actuator[8] = bifemlh_r (controls: bifemlh_r.excitation)
actuator[9] = bifemsh_r (controls: bifemsh_r.excitation)
actuator[10] = sar_r (controls: sar_r.excitation)
actuator[11] = add_long_r (controls: add_long_r.excitation)
actuator[12] = add_brev_r (controls: add_brev_r.excitation)
actuator[13] = add_mag1_r (controls: add_mag1_r.excitation)
actuator[14] = add_mag2_r (controls: add_mag2_r.excitation)
actuator[15] = add_mag3_r (controls: add_mag3_r.excitation)
actuator[16] = tfl_r (controls: tfl_r.excitation)
actuator[17] = pect_r (controls: pect_r.excitation)
actuator[18] = grac_r (controls: grac_r.excitation)
actuator[19] = glut_max1_r (controls: glut_max1_r.excitation)
actuator[20] = glut_max2_r (controls: glut_max2_r.excitation)
actuator[21] = glut_max3_r (controls: glut_max3_r.excitation)
actuator[22] = iliacus_r (controls: iliacus_r.excitation)
actuator[23] = psoas_r (controls: psoas_r.excitation)
actuator[24] = quad_fem_r (controls: quad_fem_r.excitation)
actuator[25] = gem_r (controls: gem_r.excitation)
actuator[26] = peri_r (controls: peri_r.excitation)
actuator[27] = rect_fem_r (controls: rect_fem_r.excitation)
actuator[28] = vas_med_r (controls: vas_med_r.excitation)
actuator[29] = vas_int_r (controls: vas_int_r.excitation)
actuator[30] = vas_lat_r (controls: vas_lat_r.excitation)
actuator[31] = med_gas_r (controls: med_gas_r.excitation)
actuator[32] = lat_gas_r (controls: lat_gas_r.excitation)
actuator[33] = soleus_r (controls: soleus_r.excitation)
actuator[34] = tib_post_r (controls: tib_post_r.excitation)
actuator[35] = flex_dig_r (controls: flex_dig_r.excitation)
actuator[36] = flex_hal_r (controls: flex_hal_r.excitation)
actuator[37] = tib_ant_r (controls: tib_ant_r.excitation)
actuator[38] = per_brev_r (controls: per_brev_r.excitation)
actuator[39] = per_long_r (controls: per_long_r.excitation)
actuator[40] = per_tert_r (controls: per_tert_r.excitation)
actuator[41] = ext_dig_r (controls: ext_dig_r.excitation)
actuator[42] = ext_hal_r (controls: ext_hal_r.excitation)
actuator[43] = glut_med1_l (controls: glut_med1_l.excitation)
actuator[44] = glut_med2_l (controls: glut_med2_l.excitation)
actuator[45] = glut_med3_l (controls: glut_med3_l.excitation)
actuator[46] = glut_min1_l (controls: glut_min1_l.excitation)
actuator[47] = glut_min2_l (controls: glut_min2_l.excitation)
actuator[48] = glut_min3_l (controls: glut_min3_l.excitation)
actuator[49] = semimem_l (controls: semimem_l.excitation)
actuator[50] = semiten_l (controls: semiten_l.excitation)
actuator[51] = bifemlh_l (controls: bifemlh_l.excitation)
actuator[52] = bifemsh_l (controls: bifemsh_l.excitation)
actuator[53] = sar_l (controls: sar_l.excitation)
actuator[54] = add_long_l (controls: add_long_l.excitation)
actuator[55] = add_brev_l (controls: add_brev_l.excitation)
actuator[56] = add_mag1_l (controls: add_mag1_l.excitation)
actuator[57] = add_mag2_l (controls: add_mag2_l.excitation)
actuator[58] = add_mag3_l (controls: add_mag3_l.excitation)
actuator[59] = tfl_l (controls: tfl_l.excitation)
actuator[60] = pect_l (controls: pect_l.excitation)
actuator[61] = grac_l (controls: grac_l.excitation)
actuator[62] = glut_max1_l (controls: glut_max1_l.excitation)
actuator[63] = glut_max2_l (controls: glut_max2_l.excitation)
actuator[64] = glut_max3_l (controls: glut_max3_l.excitation)
actuator[65] = iliacus_l (controls: iliacus_l.excitation)
actuator[66] = psoas_l (controls: psoas_l.excitation)
actuator[67] = quad_fem_l (controls: quad_fem_l.excitation)
actuator[68] = gem_l (controls: gem_l.excitation)
actuator[69] = peri_l (controls: peri_l.excitation)
actuator[70] = rect_fem_l (controls: rect_fem_l.excitation)
actuator[71] = vas_med_l (controls: vas_med_l.excitation)
actuator[72] = vas_int_l (controls: vas_int_l.excitation)
actuator[73] = vas_lat_l (controls: vas_lat_l.excitation)
actuator[74] = med_gas_l (controls: med_gas_l.excitation)
actuator[75] = lat_gas_l (controls: lat_gas_l.excitation)
actuator[76] = soleus_l (controls: soleus_l.excitation)
actuator[77] = tib_post_l (controls: tib_post_l.excitation)
actuator[78] = flex_dig_l (controls: flex_dig_l.excitation)
actuator[79] = flex_hal_l (controls: flex_hal_l.excitation)
actuator[80] = tib_ant_l (controls: tib_ant_l.excitation)
actuator[81] = per_brev_l (controls: per_brev_l.excitation)
actuator[82] = per_long_l (controls: per_long_l.excitation)
actuator[83] = per_tert_l (controls: per_tert_l.excitation)
actuator[84] = ext_dig_l (controls: ext_dig_l.excitation)
actuator[85] = ext_hal_l (controls: ext_hal_l.excitation)
actuator[86] = ercspn_r (controls: ercspn_r.excitation)
actuator[87] = ercspn_l (controls: ercspn_l.excitation)
actuator[88] = intobl_r (controls: intobl_r.excitation)
actuator[89] = intobl_l (controls: intobl_l.excitation)
actuator[90] = extobl_r (controls: extobl_r.excitation)
actuator[91] = extobl_l (controls: extobl_l.excitation)
actuator[92] = FX (controls: FX.excitation)
actuator[93] = FY (controls: FY.excitation)
actuator[94] = FZ (controls: FZ.excitation)
actuator[95] = MX (controls: MX.excitation)
actuator[96] = MY (controls: MY.excitation)
actuator[97] = MZ (controls: MZ.excitation)
actuator[98] = hip_flexion_r_reserve (controls: hip_flexion_r_reserve.excitation)
actuator[99] = hip_adduction_r_reserve (controls: hip_adduction_r_reserve.excitation)
actuator[100] = hip_rotation_r_reserve (controls: hip_rotation_r_reserve.excitation)
actuator[101] = knee_angle_r_reserve (controls: knee_angle_r_reserve.excitation)
actuator[102] = ankle_angle_r_reserve (controls: ankle_angle_r_reserve.excitation)
actuator[103] = subtalar_angle_r_reserve (controls: subtalar_angle_r_reserve.excitation)
actuator[104] = mtp_angle_r_reserve (controls: mtp_angle_r_reserve.excitation)
actuator[105] = hip_flexion_l_reserve (controls: hip_flexion_l_reserve.excitation)
actuator[106] = hip_adduction_l_reserve (controls: hip_adduction_l_reserve.excitation)
actuator[107] = hip_rotation_l_reserve (controls: hip_rotation_l_reserve.excitation)
actuator[108] = knee_angle_l_reserve (controls: knee_angle_l_reserve.excitation)
actuator[109] = ankle_angle_l_reserve (controls: ankle_angle_l_reserve.excitation)
actuator[110] = subtalar_angle_l_reserve (controls: subtalar_angle_l_reserve.excitation)
actuator[111] = mtp_angle_l_reserve (controls: mtp_angle_l_reserve.excitation)
actuator[112] = lumbar_extension_reserve (controls: lumbar_extension_reserve.excitation)
actuator[113] = lumbar_bending_reserve (controls: lumbar_bending_reserve.excitation)
actuator[114] = lumbar_rotation_reserve (controls: lumbar_rotation_reserve.excitation)

CONTACTS (0)
numControls = 115
numStates = 230
numCoordinates = 23
numSpeeds = 23
numActuators = 115
numBodies = 13

STATES (230)
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] = glut_min1_r.activation
y[53] = glut_min1_r.fiber_length
y[54] = glut_min2_r.activation
y[55] = glut_min2_r.fiber_length
y[56] = glut_min3_r.activation
y[57] = glut_min3_r.fiber_length
y[58] = semimem_r.activation
y[59] = semimem_r.fiber_length
y[60] = semiten_r.activation
y[61] = semiten_r.fiber_length
y[62] = bifemlh_r.activation
y[63] = bifemlh_r.fiber_length
y[64] = bifemsh_r.activation
y[65] = bifemsh_r.fiber_length
y[66] = sar_r.activation
y[67] = sar_r.fiber_length
y[68] = add_long_r.activation
y[69] = add_long_r.fiber_length
y[70] = add_brev_r.activation
y[71] = add_brev_r.fiber_length
y[72] = add_mag1_r.activation
y[73] = add_mag1_r.fiber_length
y[74] = add_mag2_r.activation
y[75] = add_mag2_r.fiber_length
y[76] = add_mag3_r.activation
y[77] = add_mag3_r.fiber_length
y[78] = tfl_r.activation
y[79] = tfl_r.fiber_length
y[80] = pect_r.activation
y[81] = pect_r.fiber_length
y[82] = grac_r.activation
y[83] = grac_r.fiber_length
y[84] = glut_max1_r.activation
y[85] = glut_max1_r.fiber_length
y[86] = glut_max2_r.activation
y[87] = glut_max2_r.fiber_length
y[88] = glut_max3_r.activation
y[89] = glut_max3_r.fiber_length
y[90] = iliacus_r.activation
y[91] = iliacus_r.fiber_length
y[92] = psoas_r.activation
y[93] = psoas_r.fiber_length
y[94] = quad_fem_r.activation
y[95] = quad_fem_r.fiber_length
y[96] = gem_r.activation
y[97] = gem_r.fiber_length
y[98] = peri_r.activation
y[99] = peri_r.fiber_length
y[100] = rect_fem_r.activation
y[101] = rect_fem_r.fiber_length
y[102] = vas_med_r.activation
y[103] = vas_med_r.fiber_length
y[104] = vas_int_r.activation
y[105] = vas_int_r.fiber_length
y[106] = vas_lat_r.activation
y[107] = vas_lat_r.fiber_length
y[108] = med_gas_r.activation
y[109] = med_gas_r.fiber_length
y[110] = lat_gas_r.activation
y[111] = lat_gas_r.fiber_length
y[112] = soleus_r.activation
y[113] = soleus_r.fiber_length
y[114] = tib_post_r.activation
y[115] = tib_post_r.fiber_length
y[116] = flex_dig_r.activation
y[117] = flex_dig_r.fiber_length
y[118] = flex_hal_r.activation
y[119] = flex_hal_r.fiber_length
y[120] = tib_ant_r.activation
y[121] = tib_ant_r.fiber_length
y[122] = per_brev_r.activation
y[123] = per_brev_r.fiber_length
y[124] = per_long_r.activation
y[125] = per_long_r.fiber_length
y[126] = per_tert_r.activation
y[127] = per_tert_r.fiber_length
y[128] = ext_dig_r.activation
y[129] = ext_dig_r.fiber_length
y[130] = ext_hal_r.activation
y[131] = ext_hal_r.fiber_length
y[132] = glut_med1_l.activation
y[133] = glut_med1_l.fiber_length
y[134] = glut_med2_l.activation
y[135] = glut_med2_l.fiber_length
y[136] = glut_med3_l.activation
y[137] = glut_med3_l.fiber_length
y[138] = glut_min1_l.activation
y[139] = glut_min1_l.fiber_length
y[140] = glut_min2_l.activation
y[141] = glut_min2_l.fiber_length
y[142] = glut_min3_l.activation
y[143] = glut_min3_l.fiber_length
y[144] = semimem_l.activation
y[145] = semimem_l.fiber_length
y[146] = semiten_l.activation
y[147] = semiten_l.fiber_length
y[148] = bifemlh_l.activation
y[149] = bifemlh_l.fiber_length
y[150] = bifemsh_l.activation
y[151] = bifemsh_l.fiber_length
y[152] = sar_l.activation
y[153] = sar_l.fiber_length
y[154] = add_long_l.activation
y[155] = add_long_l.fiber_length
y[156] = add_brev_l.activation
y[157] = add_brev_l.fiber_length
y[158] = add_mag1_l.activation
y[159] = add_mag1_l.fiber_length
y[160] = add_mag2_l.activation
y[161] = add_mag2_l.fiber_length
y[162] = add_mag3_l.activation
y[163] = add_mag3_l.fiber_length
y[164] = tfl_l.activation
y[165] = tfl_l.fiber_length
y[166] = pect_l.activation
y[167] = pect_l.fiber_length
y[168] = grac_l.activation
y[169] = grac_l.fiber_length
y[170] = glut_max1_l.activation
y[171] = glut_max1_l.fiber_length
y[172] = glut_max2_l.activation
y[173] = glut_max2_l.fiber_length
y[174] = glut_max3_l.activation
y[175] = glut_max3_l.fiber_length
y[176] = iliacus_l.activation
y[177] = iliacus_l.fiber_length
y[178] = psoas_l.activation
y[179] = psoas_l.fiber_length
y[180] = quad_fem_l.activation
y[181] = quad_fem_l.fiber_length
y[182] = gem_l.activation
y[183] = gem_l.fiber_length
y[184] = peri_l.activation
y[185] = peri_l.fiber_length
y[186] = rect_fem_l.activation
y[187] = rect_fem_l.fiber_length
y[188] = vas_med_l.activation
y[189] = vas_med_l.fiber_length
y[190] = vas_int_l.activation
y[191] = vas_int_l.fiber_length
y[192] = vas_lat_l.activation
y[193] = vas_lat_l.fiber_length
y[194] = med_gas_l.activation
y[195] = med_gas_l.fiber_length
y[196] = lat_gas_l.activation
y[197] = lat_gas_l.fiber_length
y[198] = soleus_l.activation
y[199] = soleus_l.fiber_length
y[200] = tib_post_l.activation
y[201] = tib_post_l.fiber_length
y[202] = flex_dig_l.activation
y[203] = flex_dig_l.fiber_length
y[204] = flex_hal_l.activation
y[205] = flex_hal_l.fiber_length
y[206] = tib_ant_l.activation
y[207] = tib_ant_l.fiber_length
y[208] = per_brev_l.activation
y[209] = per_brev_l.fiber_length
y[210] = per_long_l.activation
y[211] = per_long_l.fiber_length
y[212] = per_tert_l.activation
y[213] = per_tert_l.fiber_length
y[214] = ext_dig_l.activation
y[215] = ext_dig_l.fiber_length
y[216] = ext_hal_l.activation
y[217] = ext_hal_l.fiber_length
y[218] = ercspn_r.activation
y[219] = ercspn_r.fiber_length
y[220] = ercspn_l.activation
y[221] = ercspn_l.fiber_length
y[222] = intobl_r.activation
y[223] = intobl_r.fiber_length
y[224] = intobl_l.activation
y[225] = intobl_l.fiber_length
y[226] = extobl_r.activation
y[227] = extobl_r.fiber_length
y[228] = extobl_l.activation
y[229] = extobl_l.fiber_length


Loading desired kinematics from file C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\resultsRRA\quickhop_6_RRA_Kinematics_q.sto ...
Storage: file=C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\resultsRRA\quickhop_6_RRA_Kinematics_q.sto (nr=430 nc=24)


WARN- The final time set for the cmc run is past the last time stamp
in the desired kinematics file C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\resultsRRA\quickhop_6_RRA_Kinematics_q.sto.
Resetting the final time from 1.28 to 1.279.



Note- not filtering the desired kinematics.



Loading external loads kinematics from file C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\quickhop6IKlocked.mot ...
Storage: file=C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\quickhop6IKlocked.mot (nr=140 nc=135)
Low-pass filtering external load kinematics with a cutoff frequency of 6...
Storage: file=C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\quickhop 6_grf_rot.mot (nr=2650 nc=19)
Padded kineticsStore to start time of 0.000833
Padded kineticsStore to start time of -0.049167
Padded kineticsStore to start time of -0.099167
Padded kineticsStore to start time of -0.149167

Constructing function set for tracking...



 taskSet size = 23

Using the generalized coordinates specified in C:\Users\mdemers\Documents\ME485\StretchProject\ME485Project\MattSession1\simulations\quick_hop_6\resultsRRA\quickhop_6_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 10000.

Setting cmc controller to not use verbose printing.



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================================================================
Computing initial values for muscles states (activation, length)
Start time = Fri May 30 11:32:17 2008
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=============================================
rdCMC.computeInitialStates: ti=1
=============================================
rdCMC.computeControls:  t = 1
SimTK Exception thrown at InteriorPointOptimizer.cpp:180:
  Optmizer failed: Ipopt: Non-Ipopt exception thrown (status -101)
OPTIMIZATION FAILED...


rdCMC.computeControls:  WARN- The optimizer could not find a solution at time = 1.000000.
If using the fast target, try using the slow target.
Starting at a slightly different initial time may also help.


Deleted model default