optStoppingCriterion 0.0001


/*******************************************************************************
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 10.0
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       1.0         
L_HJC       1.0         
R.ASIS	0.0 
S2          200.0         
L.ASIS	0.0
R.PSIS	200.0
L.PSIS	200.0 
R.Trochanter 0.0
L.Trochanter 0.0
R.GreatTroch 0.0
L.GreatTroch 0.0     
R.Knee	    1.0 
R.Ankle	    1.0 
R.Heel	    1.0 
R.MT5	    1.0 
L.Knee	    1.0 
L.Ankle	    1.0 
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.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
Crank1	1.0
Crank2	1.0
Crank3	1.0
Crank4	1.0
endtrackingmarkers

/* Seat1	1.0
Seat2	1.0
Seat3	1.0
Seat4	1.0 */

/*******************************************************************************
Can reset the gencoord range that will restrict the solutions of the
optimization based inverse dynamics routine
*******************************************************************************/
begingencoordrange
crank_tx		0.10137	0.10141
crank_ty		0.2768	0.27684
crank_tz		0.434509	0.434513
crank_rx		0.3235	0.3243
crank_ry		0.30510	0.30514
crank_angle		-8000	8000
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
toe_angle_r		-0.001	0.001
toe_angle_l		-0.001	0.001
hip_flex_r		-60.0	110.0
hip_add_r		-60.0	60.0
hip_rot_r		-60.0	60.0
knee_flex_r		-10.	160.0
ankle_flex_r	-60.0	60.0
subt_angle_r	-60.0	60.0
hip_flex_l		-60.0	110.0
hip_add_l		-60.0	60.0
hip_rot_l		-60.0	60.0
knee_flex_l		-10.	160.0
ankle_flex_l	-60.0	60.0
subt_angle_l	-60.0	60.0
pedal_angle_r	-8000 8000
pedal_angle_l	-8000 8000
pedal_tx_r -0.0001 0.0001
pedal_ty_r 0.175 0.175001
pedal_tz_r 0.06875 0.06880
pedal_rx_r -0.0001 0.0001
pedal_ry_r -0.0001 0.0001
pedal_tx_l -0.0001 0.0001
pedal_ty_l -0.175 -0.174999
pedal_tz_l -0.16090 -0.16085
pedal_rx_l -0.0001 0.0001
pedal_ry_l -0.0001 0.0001
endgencoordrange        

/*
*/

/* saddle_tx		-5.0	5.0
saddle_ty		-5.0	5.0
saddle_tz		-5.0	5.0
saddle_rx		-179	180
saddle_ry		-179	180
saddle_rz		-179	180

begin6dofsegment saddle
txyz saddle_tx saddle_ty saddle_tz
rang saddle_rz saddle_rx saddle_ry
rotorder 312
beginmarkers Seat1 Seat2 Seat3 Seat4 endmarkers
end6dofsegment */


begin6dofsegment pelvis
txyz pelvis_tx pelvis_ty pelvis_tz
rang pelvis_tilt pelvis_list pelvis_rot
rotorder 312
beginmarkers S2 R.PSIS L.PSIS endmarkers
end6dofsegment



/*******************************************************************************
Options of which data to write to the output motion file (0-no, 1-yes)

reactionsInOutboardBody  This option is used to specify whether joint reactions will be 
                         expressed in the outboard (=1) or inboard (=0) reference frames

The segment option allows you to choose which segment to get joint reaction forces for
beginsegments
segment option (=1 to output, =0 to not ouput (default))
endsegments

*******************************************************************************/
beginoutputoptions
generalizedSpeeds 1
generalizedAccelerations 0
markerKinematics 1
BFMarkerKinematics 0
centerOfMassPosition 0
centerOfMassVelocity 0
massCenterPositions 0
massCenterVelocities 0
extForces 0
extTorques 0
muscleActivations 0
muscleExcitations 0
muscleLengths 0
muscleForces 0
normMuscleForces 0
fiberLengths 0
normFiberLengths 0
tendonLengths 0
fiberVelocities 0
muscleTendonVelocities 0
muscleMomentArms 0
muscleJointTorques 0
jointPowers 0
jointTorques 0
jointReactionForces 0
jointReactionTorques 0
jointReactionPowers 0
totalMuscleJointTorques 0
contactForces 0
indQddot 0
indSegmentAcc 0
reactionsInOutboardBody 0
beginsegments
endsegments
endoutputoptions