<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
    <FlippinFelinesOptimizerTool>
        <!--Directory in which to save optimization log and results-->
        <results_directory>results</results_directory>
        <!--Specifies path to model file, WITH .osim extension-->
        <model_filename>flippinfelines_*FILL THIS IN*.osim</model_filename>
        <!--Number of points being optimized in each spline function. Constant across all splines. If an initial_parameters_filename is provided, the functions specified in that file must have the correct number of points. We do not error-check for this.-->
        <num_optim_spline_points>20</num_optim_spline_points>
        <!--Adds terms to the objective to minimize final value of (roll - Pi) and related speeds-->
        <anterior_legs_down_weight>1</anterior_legs_down_weight>
        <!--Adds terms to the objective to minimize final value of (twist - 0) and related speeds-->
        <posterior_legs_down_weight>1</posterior_legs_down_weight>
        <!--Adds a term to the objective to minimize final value of (hunch + 2 * pitch)-->
        <sagittal_symmetry_weight>1</sagittal_symmetry_weight>
        <!--TRUE: use coordinate limit forces, FALSE: ignore coordinate limit forces-->
        <use_coordinate_limit_forces>true</use_coordinate_limit_forces>
        <!--File containing FunctionSet of SimmSpline's used to initialize optimization parameters. If not provided, initial parameters are all 0.0, and this element must be DELETED from the XML file (cannot just leave it blank). The name of each function must be identical to that of the actuator it is for. x values are ignored. The time values that are actually used in the simulation are equally spaced from t = 0 to t = 1.0 s, and there should be as many points in each function as given by the num_optim_spline_points property. y values should be nondimensional and between -1 and 1 (negative values normalized by minControl if minControl is negative; otherwise the value is normalized by maxControl). NOTE that the output optimized splines are NOT NONDIMENSIONAL. Be careful, we do not do any error checking.-->
        <initial_parameters_filename>initial_parameters.xml</initial_parameters_filename>
    </FlippinFelinesOptimizerTool>
</OpenSimDocument>