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	1.0	0.0
0.0	0.0	1.0
endtransformationmatrix 

grfCutoffFrequency 100.0
kinCutoffFrequency 100.0

/*******************************************************************************
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
/* Shriners Markers */
RASI	7.5
LASI	7.5
RPSI	5.0
LPSI	5.0
RLK	5.0
LLK	5.0
LLA	5.0
RLA	5.0
RLT	1.0
RMT	1.0
RLE	1.0
RME	1.0
LLE	1.0
LME	1.0
RLHD	1.0
RMHD	1.0
RLS	1.0
LLS	1.0
RMW	1.0
LMW	1.0
RLW	1.0
LLW	1.0
RHE	1.0
LHE	1.0
RALH	1.0
RAMH	1.0
RPLH	1.0
RPMH	1.0
RC7	1.0
/*RMF	1.0
RLF	1.0
LLF	1.0
LMF	1.0
RB5	1.0
LB5	1.0
RLH	1.0
LLH	1.0*/
RKDU	5.0
LKDU	5.0
RADU	5.0
LADU	5.0
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
RPPT	1.0
LPPT	1.0
RPPS	1.0
LPPS	1.0
RPDA	1.0
RPPA	1.0
RAPA	1.0
RADA	1.0
LPDA	1.0
LPPA	1.0
LAPA	1.0
LADA	1.0
LPUN	1.0
LDUN	1.0
LPMF	1.0
LPLF	1.0
RPUN	1.0
RDUN	1.0
RPMF	1.0
RPLF	1.0
RLSX	0.0
RMSX	0.0
RLIX	0.0
LPLW	1.0
RPLW	1.0
LDLW	1.0
RDLW	1.0
RFT4	1.0
LFT4	1.0
/*RAPT	1.0
RADT	1.0
RPDT	1.0
LAPT	1.0
LADT	1.0
LPDT	1.0
RADS	1.0
RPDS	1.0
RAPS	1.0
LADS	1.0
LPDS	1.0
LAPS	1.0
RLP	1.0
RMP	1.0
RFT5	1.0
LFT5	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.
neck_latbend	-60	60.
neck_rot		-60	60.
neck_ext		-60	60.
arm_add_r		-60	60.
arm_rot_r		-10	10.
arm_flex_r		-30	150.
elbow_flex_r	0.	150.
pro_sup_r		50.	70.
arm_add_l		-60	60. 
arm_rot_l		-10	10. 
arm_flex_l		-30	150. 
elbow_flex_l	0.	150.
pro_sup_l		50.	70.
hip_flex_r		-60.0	150.0
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
toe_angle_r		-0.001	0.001
hip_flex_l		-60.0	150.0
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
toe_angle_l		-0.001	0.001
hip_tx_r 	-5.0	5.0
hip_ty_r	-5.0	5.0
hip_tz_r	-5.0	5.0
knee_tx_r 	-5.0	5.0
knee_ty_r	-5.0	5.0
knee_tz_r	-5.0	5.0
ankle_tx_r 	-5.0	5.0
ankle_ty_r	-5.0	5.0
ankle_tz_r	-5.0	5.0
hip_tx_l 	-5.0	5.0
hip_ty_l	-5.0	5.0
hip_tz_l	-5.0	5.0
knee_tx_l 	-5.0	5.0
knee_ty_l	-5.0	5.0
knee_tz_l	-5.0	5.0
ankle_tx_l 	-5.0	5.0
ankle_ty_l	-5.0	5.0
ankle_tz_l	-5.0	5.0
knee_add_r		-60.0	60.0
knee_rot_r		-60.0	60.0
ankle_add_r		-60.0	60.0
ankle_rot_r		-60.0	60.0
knee_add_l		-60.0	60.0
knee_rot_l		-60.0	60.0
ankle_add_l		-60.0	60.0
ankle_rot_l		-60.0	60.0
endgencoordrange


/*******************************************************************************
Options on which data to write to the output motion file (0-no, 1-yes)
*******************************************************************************/
beginoutputoptions
generalizedSpeeds 0
generalizedAccelerations 0
markerKinematics 1
BFMarkerKinematics 0
centerOfMassPosition 0
centerOfMassVelocity 0
massCenterPositions 0
massCenterVelocities 0
extForces 1
extTorques 1
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
totalMuscleJointTorques 0
contactForces 0
indQddot 0
indSegmentAcc 0
constrainedGencoords 1
endoutputoptions



/*******************************************************************************
Set up the computation of 6 dof joint translations and angles of rigid bodies
relative to ground
*******************************************************************************/
/*
begin6dofsegment pelvis
txyz pelvis_tx pelvis_ty pelvis_tz
rang pelvis_tilt pelvis_list pelvis_rot
rotorder 312
beginmarkers RASI LASI RPSI LPSI endmarkers
end6dofsegment
*/

/*******************************************************************************
Set up the computation of 6 dof joint translations and angles of one rigid body
relative to a second rigid body
*******************************************************************************/
/*
begin6dofjoint hip_r
segment1 pelvis
segment2 femur_r
txyz hip_tx_r hip_ty_r hip_tz_r
rang hip_flex_r hip_add_r hip_rot_r
rotorder 312
beginsegment1markers RASI LASI RPSI LPSI endmarkers
beginsegment2markers RPPT RAPT RADT RPDT endmarkers
end6dofjoint


begin6dofjoint knee_r
segment1 femur_r
segment2 tibia_r
txyz knee_tx_r knee_ty_r knee_tz_r
rang knee_flex_r knee_add_r knee_rot_r
rotorder n312
beginsegment1markers RPPT RAPT RADT RPDT endmarkers
beginsegment2markers RPPS RAPS RADS RPDS endmarkers
end6dofjoint


begin6dofjoint ankle_r
segment1 tibia_r
segment2 talus_r
txyz ankle_tx_r ankle_ty_r ankle_tz_r
rang ankle_flex_r ankle_add_r ankle_rot_r
rotorder 312
beginsegment1markers RPPS RAPS RADS RPDS endmarkers
beginsegment2markers RHE RFT4 RFT5 endmarkers
end6dofjoint
*/