optStoppingCriterion  0.000001
retainExtraMarkers 0

/*******************************************************************************
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 


/*******************************************************************************
Flag to denote whether the data represents an upright calibration trial         
(1=YES, 0=NO)                                                                   
*******************************************************************************/
uprighttrial 1                                                                  


/*******************************************************************************
Flag to denote whether the user wishes to reset the anatomical marker locations 
after calibrating to the upright calibration trial                              
(1=YES, 0=NO)                                                                   
*******************************************************************************/
resetanatomicalmarkers 1             

/*******************************************************************************
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          100.0
L_HJC          100.0
R.ASIS	    15
S2              10
L.ASIS	    15
R.PSIS	    10
L.PSIS	    10
R.Shoulder      1.0
L.Shoulder      1.0
R.Knee		5.0
R.MKnee		1.0
R.MAnkle	1.0
R.Ankle		5.0
R.Heel		1.0
R.MT5		1.0
R.MT1		1.0
L.Knee		5.0
L.MKnee		1.0
L.Ankle		5.0
L.MAnkle	1.0
L.Heel		1.0
L.MT5		1.0
L.MT1		1.0
endanatomicalmarkers        



                            
/*******************************************************************************
Tracking markers 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.Trochanter    0.0
L.Trochanter    0.0
R.Iliac         0.0
L.Iliac         0.0
R.Clavicle              0.0
L.Clavicle              0.0
L.Scapula               0.0
R.TH1			0.0
R.TH2			0.0
R.TH3			0.0
R.SH1			0.0
R.SH2			0.0
R.SH3			0.0
R.SH4			0.0
L.TH1			0.0
L.TH2			0.0
L.TH3			0.0
L.TH4			0.0
L.SH1			0.0
L.SH2			0.0
L.SH3			0.0
endtrackingmarkers
                             
/*******************************************************************************
Segment scaling markers are used to compute segment lengths 
The avg distance between each pair of markers following a segment is computed
This ratio of this distance to the distance between skeleton fixed markers is then
computed
The avg ratio for a segment is used as the segment scaling factor in the segment's
x, y and z directions
One can specify separate scaling rules for different directions by using the
_x, _y or _z designations, e.g.
   pelvis_z        R_HJC L_HJC
   
*******************************************************************************/
beginsegmentscalemarkers
pelvis_x 	R_HJC R.Knee 	L_HJC L.Knee
pelvis_y 	R_HJC R.Knee 	L_HJC L.Knee	
pelvis_z 	R_HJC L_HJC
femur_r 	R_HJC R.Knee 		L_HJC L.Knee
femur_l 	R_HJC R.Knee 		L_HJC L.Knee
patella_r 	R_HJC R.Knee 		L_HJC L.Knee
patella_l 	R_HJC R.Knee 		L_HJC L.Knee
tibia_r 	R.Knee R.Ankle 		L.Knee L.Ankle
tibia_l 	R.Knee R.Ankle 		L.Knee L.Ankle
talus_r 	R.Knee R.Ankle 		L.Knee L.Ankle
talus_l 	R.Knee R.Ankle 		L.Knee L.Ankle
calcn_r 	R_HJC R.Knee 	L_HJC L.Knee	R.Knee R.Ankle 		L.Knee L.Ankle
calcn_l 	R_HJC R.Knee 	L_HJC L.Knee	R.Knee R.Ankle 		L.Knee L.Ankle
toes_r 	R_HJC R.Knee 	L_HJC L.Knee	R.Knee R.Ankle 		L.Knee L.Ankle
toes_l 	R_HJC R.Knee 	L_HJC L.Knee	R.Knee R.Ankle 		L.Knee L.Ankle
torso	R_HJC R.Clavicle	L_HJC L.Clavicle
endsegmentscalemarkers

/*******************************************************************************
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		-60.0	60.0
pelvis_rot		-120.0	120.0
pelvis_tilt		-60.0	60.0
lumbar_latbend		-0.1	 0.1
lumbar_rot		-0.1	 0.1
lumbar_ext		-60.0	60.0
hip_flex_r		-60.0	150.0
hip_add_r		-60.0	60.0
hip_rot_r		-60.0	60.0
knee_angle_r		-2.5	160.0
ankle_angle_r		-60.0	60.0
subtalar_angle_r	-0.001	0.001
mtp_angle_r		-60.0 	60.0
hip_flex_l		-60.0	150.0
hip_add_l		-60.0	60.0
hip_rot_l		-60.0	60.0
knee_angle_l		-2.5	160.0
ankle_angle_l	-60.0	60.0
subtalar_angle_l	-0.001	0.001
mtp_angle_l		-0.001	0.001
endgencoordrange