optStoppingCriterion 0.00000001


/*******************************************************************************
Transformation matrix for redefining the kinematic coordinate system if so desired
1st row are the measured x, y and z components corresponding to the output X direction
2nd row are the measured x, y and z components corresponding to the output Y direction
3rd row are the measured x, y and z components corresponding to the output Z direction
*******************************************************************************/
begintransformationmatrix 
1.0	0.0	0.0
0.0	0.0	1.0
0.0	-1.0	0.0
endtransformationmatrix 

grfCutoffFrequency 20.0
kinCutoffFrequency 6.0

/*******************************************************************************
Anatomical moarkers are used in computing the generalized coordinates for an
upright static calibration trial.  These markers should exist in both the joint
file and the trc file.  Note that the local coordinates of these markers are
reset after the upright joint angles are computed.  This ensures that the model
and measured marker locations coincide for the calibration data.
*******************************************************************************/
beginanatomicalmarkers
R_HJC       0.0         
L_HJC       0.0         
R.ASIS	5.0 
S2          5.0         
L.ASIS	5.0
R.PSIS	5.0
L.PSIS	5.0 
R.Shoulder  1.0         
L.Shoulder  1.0         
R.Knee	    5.0 
R.Ankle	    5.0 
R.Heel	    1.0 
R.MT5	    1.0 
L.Knee	    5.0 
L.Ankle	    5.0 
L.Heel	    1.0 
L.MT5	    1.0 
endanatomicalmarkers        
                            
/*******************************************************************************
Tracking moarkers are NOT used in computing the generalized coordinates for an
upright static calibration trial.  These markers should exist in both the joint
file and the trc file.  Note that the local coordinates of these markers are
determined after the upright joint angles are computed.  This ensures that the model
and measured trackingmarker locations coincide for the calibration data.
*******************************************************************************/
begintrackingmarkers
R.Iliac         0.0
L.Iliac         0.0
R.Clavicle      1.0
L.Clavicle      1.0
L.Scapula       1.0
R.TH1	    1.0
R.TH2	    1.0
R.TH3	    1.0
R.SH1	    1.0
R.SH2	    1.0
R.SH3	    1.0
R.SH4	    1.0
L.TH1	    1.0
L.TH2	    1.0
L.TH3	    1.0
L.TH4	    1.0
L.SH1	    1.0
L.SH2	    1.0
L.SH3	    1.0
endtrackingmarkers

/*******************************************************************************
Can reset the gencoord range that will restrict the solutions of the
optimization based inverse dynamics routine
*******************************************************************************/
begingencoordrange
pelvis_tx 		-5.0	5.0
pelvis_ty		-5.0	5.0
pelvis_tz		-5.0	5.0
pelvis_list		-270.0	180.0
pelvis_rot		-360	180.0
pelvis_tilt		-180.0	180.0
lumbar_latbend	-60	60.
lumbar_rot		-60	60.
lumbar_ext		-60	60.
hip_flex_r		-60.0	110.0
hip_add_r		-60.0	60.0
hip_rot_r		-60.0	60.0
knee_angle_r		-160.	10.0
ankle_angle_r	-60.0	60.0
subtalar_angle_r	-0.001	0.001
mtp_angle_r		-0.001	0.001
hip_flex_l		-60.0	110.0
hip_add_l		-60.0	60.0
hip_rot_l		-60.0	60.0
knee_angle_l		-160.	10.0
ankle_angle_l	-60.0	60.0
subtalar_angle_l	-0.001	0.001
mtp_angle_l		-0.001	0.001
endgencoordrange