------------------------------------------------------- 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 hpl_overground_Setup_CMC.xml. AbstractTool hpl_overground_slow_run_cmc loading model 'hpl_overground_simbody_adjusted.osim' Created model 3DGaitModel2354_scaled_samner from file hpl_overground_simbody_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: 3DGaitModel2354_scaled_samner actuators: 73 analyses: 2 contacts: 0 ----------------------------------------------------------------------- Running tool hpl_overground_slow_run_cmc. MODEL: 3DGaitModel2354_scaled_samner 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: 10.7652) (inertia: 0.0884048 0 0 0 0.0884048 0 0 0 0.0559041) body[2] = femur_r (mass: 9.68509) (inertia: 0.147211 0 0 0 0.0406639 0 0 0 0.147211) body[3] = tibia_r (mass: 3.59977) (inertia: 0.0634807 0 0 0 0.00458119 0 0 0 0.0634807) body[4] = talus_r (mass: 0.0970942) (inertia: 0.00107178 0 0 0 0.00098502 0 0 0 0.00098502) body[5] = calcn_r (mass: 1.38065) (inertia: 0.00175375 0 0 0 0.00488546 0 0 0 0.00513599) body[6] = toes_r (mass: 0.239239) (inertia: 0.00012527 0 0 0 0.00025054 0 0 0 0.00125268) body[7] = femur_l (mass: 9.68509) (inertia: 0.147211 0 0 0 0.0406639 0 0 0 0.147211) body[8] = tibia_l (mass: 3.59977) (inertia: 0.0634807 0 0 0 0.00458119 0 0 0 0.0634807) body[9] = talus_l (mass: 0.0970942) (inertia: 0.00107178 0 0 0 0.00098502 0 0 0 0.00098502) body[10] = calcn_l (mass: 1.38065) (inertia: 0.00175375 0 0 0 0.00488546 0 0 0 0.00513599) body[11] = toes_l (mass: 0.239239) (inertia: 0.00012527 0 0 0 0.00025054 0 0 0 0.00125268) body[12] = torso (mass: 32.2911) (inertia: 1.27345 0 0 0 0.79972 0 0 0 1.27345) 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/hpl_overground_slow_run_RRA_Kinematics_q.sto ... Storage: file=ResultsRRA/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/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=177) 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/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 19 12:11:47 2008 ================================================================ ============================================= rdCMC.computeInitialStates: ti=0.8 ============================================= rdCMC.computeControls: t = 0.8 rdCMC.computeControls: t = 0.8 ----------------------------------------------------------------- Finished computing initial states: ----------------------------------------------------------------- Array[154]= -0.48018 1.04914 0.180608 0.0370145 -0.0584939 -0.109879 0.345291 0.117504 -0.0589277 -0.226712 0.0600583 -3.15381e-019 -6.41548e-018 -0.273306 0.0180238 -0.0768831 -0.641613 -0.698195 6.04757e-019 -5.93901e-018 -0.344707 0.0645981 -0.128084 2.88139 -0.443299 0.121021 0.254847 -0.00272022 -0.291708 0.140034 0.30124 0.34385 -3.22052 0.271322 2.75068e-017 -4.29833e-016 3.01586 -0.283376 0.525731 -7.61598 1.18626 4.20763e-016 -2.18364e-016 -0.280096 0.0527948 0.811144 0.221624 0.0522275 0.02 0.0880295 0.02 0.0707813 0.570996 0.105705 0.195605 0.173481 0.02 0.46442 0.120787 0.0753844 0.02 0.1032 0.0303992 0.0595192 0.0672129 0.32144 0.02 0.0924557 0.02 0.102583 0.02 0.113774 0.117344 0.0924036 0.0949759 0.084582 0.02 0.0415812 0.02 0.024539 0.02 0.0261224 0.02 0.0936801 0.02 0.0760109 0.325688 0.0988196 0.02 0.0916563 0.02 0.03857 0.272394 0.0869702 0.0334306 0.0400873 0.02 0.0681363 0.02 0.0510279 0.02 0.0606735 0.737873 0.161274 0.737873 0.488728 0.02 0.0704627 0.737873 0.118842 0.737873 0.0784406 0.737873 0.311115 0.02 0.0587014 0.02 0.0629899 0.02 0.067217 0.737873 0.11763 0.737873 0.108213 0.02 0.0441393 0.02 0.0242616 0.02 0.0163769 0.362447 0.136412 0.02 0.0948071 0.737873 0.0581908 0.02 0.062397 0.02 0.0311363 0.389194 0.115375 0.02 0.124766 0.02 0.126364 0.0889818 0.0588171 0.0881585 0.0827863 0.198552 0.102803 0.119614 0.0955233 ================================================================= Start time = Sat Apr 19 12:11:47 2008 Finish time = Sat Apr 19 12:11:57 2008 Elapsed time = 10 seconds. ================================================================= ================================================================ ================================================================ Using CMC to track the specified kinematics Integrating from 0.83 to 1.599 Start time = Sat Apr 19 12:12:30 2008 ================================================================ rdCMC.computeControls: t = 0.83 rdCMC.computeControls: t = 0.84 rdCMC.computeControls: t = 0.85 rdCMC.computeControls: t = 0.86 rdCMC.computeControls: t = 0.87 rdCMC.computeControls: t = 0.88 rdCMC.computeControls: t = 0.89 rdCMC.computeControls: t = 0.9 rdCMC.computeControls: t = 0.91 rdCMC.computeControls: t = 0.92 rdCMC.computeControls: t = 0.93 rdCMC.computeControls: t = 0.94 rdCMC.computeControls: t = 0.95 rdCMC.computeControls: t = 0.96 rdCMC.computeControls: t = 0.97 rdCMC.computeControls: t = 0.98 rdCMC.computeControls: t = 0.99 rdCMC.computeControls: t = 1 rdCMC.computeControls: t = 1.01 rdCMC.computeControls: t = 1.02 rdCMC.computeControls: t = 1.03 rdCMC.computeControls: t = 1.04 rdCMC.computeControls: t = 1.05 rdCMC.computeControls: t = 1.06 rdCMC.computeControls: t = 1.07 rdCMC.computeControls: t = 1.08 rdCMC.computeControls: t = 1.09 rdCMC.computeControls: t = 1.1 rdCMC.computeControls: t = 1.11 rdCMC.computeControls: t = 1.12 rdCMC.computeControls: t = 1.13 rdCMC.computeControls: t = 1.14 rdCMC.computeControls: t = 1.15 rdCMC.computeControls: t = 1.16 rdCMC.computeControls: t = 1.17 rdCMC.computeControls: t = 1.18 rdCMC.computeControls: t = 1.19 rdCMC.computeControls: t = 1.2 rdCMC.computeControls: t = 1.21 rdCMC.computeControls: t = 1.22 rdCMC.computeControls: t = 1.23 rdCMC.computeControls: t = 1.24 rdCMC.computeControls: t = 1.25 rdCMC.computeControls: t = 1.26 rdCMC.computeControls: t = 1.27 rdCMC.computeControls: t = 1.28 rdCMC.computeControls: t = 1.29 rdCMC.computeControls: t = 1.3 rdCMC.computeControls: t = 1.31 rdCMC.computeControls: t = 1.32 rdCMC.computeControls: t = 1.33 rdCMC.computeControls: t = 1.34 rdCMC.computeControls: t = 1.35 rdCMC.computeControls: t = 1.36 rdCMC.computeControls: t = 1.37 rdCMC.computeControls: t = 1.38 WARN- small force range for glut_max3_l (0.527994 to 0.551459) rdCMC.computeControls: t = 1.39 WARN- small force range for glut_max3_l (0.521705 to 0.545448) WARN- small force range for peri_l (0.440066 to 0.805715) rdCMC.computeControls: t = 1.4 WARN- small force range for glut_max3_l (0.516457 to 0.540331) WARN- small force range for peri_l (0.438749 to 0.44289) rdCMC.computeControls: t = 1.41 WARN- small force range for glut_max3_l (0.515523 to 0.53793) WARN- small force range for peri_l (0.439206 to 0.442691) rdCMC.computeControls: t = 1.42 WARN- small force range for glut_max3_l (0.530296 to 0.545784) rdCMC.computeControls: t = 1.43 rdCMC.computeControls: t = 1.44 rdCMC.computeControls: t = 1.45 rdCMC.computeControls: t = 1.46 rdCMC.computeControls: t = 1.47 rdCMC.computeControls: t = 1.48 rdCMC.computeControls: t = 1.49 rdCMC.computeControls: t = 1.5 rdCMC.computeControls: t = 1.51 rdCMC.computeControls: t = 1.52 rdCMC.computeControls: t = 1.53 rdCMC.computeControls: t = 1.54 rdCMC.computeControls: t = 1.55 rdCMC.computeControls: t = 1.56 rdCMC.computeControls: t = 1.57 rdCMC.computeControls: t = 1.58 ---------------------------------------------------------------- Finished tracking the specified kinematics ================================================================= Start time = Sat Apr 19 12:12:30 2008 Finish time = Sat Apr 19 12:18:31 2008 Elapsed time = 361 seconds. ================================================================ Printing results of investigation hpl_overground_slow_run_cmc to ResultsCMC. Average residuals: FX=-1.78751 FY=-2.56021 FZ=1.08694 MX=-5.42513 MY=-0.243118 MZ=2.983 Deleted model default