Settings Files and XML Tag Definitions

<?xml version="1.0" encoding="UTF-8"?>
<OpenSimDocument Version="20300">
 
<RRATool name="subject01_walk1_RRA"> 
  <!--Name of the .osim file used to construct a model.-->
  <model_file> subject01_simbody.osim </model_file>

   <!--Replace the model's force set with sets specified in <force_set_files>? If false, the force set is appended to.-->
  <replace_force_set> true </replace_force_set>
 
  <!--List of xml files used to construct an force set for the model.-->
  <force_set_files> gait2354_RRA_Actuators.xml </force_set_files>

  <!--Directory used for writing results.-->
  <results_directory> ResultsRRA/ </results_directory>

  <!--Output precision. It is 20 by default.-->
  <output_precision> 8 </output_precision>

  <!--Initial time for the simulation.-->
  <initial_time> 0.75000000 </initial_time>
 
  <!--Final time for the simulation.-->
  <final_time> 0.78000000 </final_time>
  
  <!--Flag indicating whether or not to compute equilibrium values for states other than the coordinates or speeds. 
      For example, equilibrium muscle fiber lengths or muscle forces.-->
  <solve_for_equilibrium_for_auxiliary_states> false </solve_for_equilibrium_for_auxiliary_states>

  <!--Maximum number of integrator steps.-->
  <maximum_number_of_integrator_steps> 20000 </maximum_number_of_integrator_steps>

  <!--Maximum integration step size.-->
  <maximum_integrator_step_size> 0.00100000 </maximum_integrator_step_size>

  <!--Minimum integration step size.-->
  <minimum_integrator_step_size> 0.00000001 </minimum_integrator_step_size>

  <!--Integrator error tolerance. When the error is greater, the integrator step size is decreased.-->
  <integrator_error_tolerance> 0.00010000 </integrator_error_tolerance>

  <!--Set of analyses to be run during the investigation.-->
  <AnalysisSet name="Analyses">
    <objects/>
    <groups/>
  </AnalysisSet>

  <!--Controller objects in the model.-->
  <ControllerSet name="Controllers">
    <objects/>
    <groups/>
  </ControllerSet>

  <!--XML file (.xml) containing the external loads applied to the model as a set of PrescribedForce(s).-->
  <external_loads_file> subject01_externalForces.xml </external_loads_file>

  <!--Motion (.mot) or storage (.sto) file containing the desired point trajectories.-->
  <desired_points_file> </desired_points_file>

  <!--Motion (.mot) or storage (.sto) file containing the desired kinematic trajectories.-->
  <desired_kinematics_file> subject01_walk1_ik.mot </desired_kinematics_file>
  
  <!--File containing the tracking tasks. Which coordinates are tracked and with what weights are specified here.-->
  <task_set_file> gait2354_RRA_Tasks.xml </task_set_file>

  <!--File containing the constraints on the controls.-->
  <constraints_file> gait2354_RRA_ControlConstraints.xml </constraints_file>

  <!--File containing the controls output by RRA. These can be used to place constraints on the residuals during CMC.-->
  <rra_controls_file> </rra_controls_file>

  <!--Low-pass cut-off frequency for filtering the desired kinematics. A negative value results in no filtering. 
      The default value is -1.0, so no filtering.-->
  <lowpass_cutoff_frequency> -1.00000000 </lowpass_cutoff_frequency>

  <!--Preferred optimizer algorithm (currently support "ipopt" or "cfsqp", the latter requiring the osimFSQP library.-->
  <optimizer_algorithm> ipopt </optimizer_algorithm>

  <!--Perturbation size used by the optimizer to compute numerical derivatives. A value between 1.0e-4 and 1.0e-8 
      is usually appropriate.-->
  <optimizer_derivative_dx> 0.00010000 </optimizer_derivative_dx>

  <!--Convergence criterion for the optimizer. The smaller this value, the deeper the convergence. Decreasing this number 
      can improve a solution, but will also likely increase computation time.-->
  <optimizer_convergence_criterion> 0.00000100 </optimizer_convergence_criterion>

  <!--Flag (true or false) indicating whether or not to make an adjustment in the center of mass of a body to reduced DC offsets 
      in MX and MZ. If true, a new model is writen out that has altered anthropometry.-->
  <adjust_com_to_reduce_residuals> true </adjust_com_to_reduce_residuals>
 
  <!--Initial time used when computing average residuals in order to adjust the body's center of mass. If both initial and final 
      time are set to -1 (their default value) then the main initial and final time settings will be used.-->
  <initial_time_for_com_adjustment> -1.00000000 </initial_time_for_com_adjustment>

  <!--Final time used when computing average residuals in order to adjust the body's center of mass.-->
  <final_time_for_com_adjustment> -1.00000000 </final_time_for_com_adjustment>

  <!--Name of the body whose center of mass is adjusted. The heaviest segment in the model should normally be chosen. For a gait model, the
      torso segment is usually the best choice.-->
  <adjusted_com_body> torso </adjusted_com_body>

  <!--Name of the output model file (.osim) containing adjustments to anthropometry made to reduce average residuals. This file is written
      if the property adjust_com_to_reduce_residuals is set to true. If a name is not specified, the model is written out to a 
      file called adjusted_model.osim.-->
  <output_model_file> subject01_RRA_adjusted.osim </output_model_file>

  <!--True-false flag indicating whether or not to turn on verbose printing for cmc.-->
  <use_verbose_printing> false </use_verbose_printing>

 </RRATool>
</OpenSimDocument>

<?xml version="1.0" encoding="UTF-8"?> 
 <ForceSet name="gait2354_RRA"> 
 
 <defaults> 
 
   <PointActuator name="default"> 
     <max_force> 10000.000 </max_force> 
     <min_force> -10000.000 </min_force> 
     <optimal_force> 1000.00000000 </optimal_force> 
     <body> </body_A> 
     <point> 0.000 0.000 0.000 </point> 
     <direction> 1.000 0.000 0.000 </direction> 
   </PointActuator > 
 
   <TorqueActuator name="default"> 
     <max_force> 1000.000 </max_force> 
     <min_force> -1000.000 </min_force> 
     <optimal_force> 300.00000000 </optimal_force> 
     <body_A> </body_A> 
     <axis> 1.000 0.000 0.000 </axis> 
     <body_B> </body_B> 
   </TorqueActuator> 
 
   <CoordinateActuator name="default"> 
     <max_force> 1000.000 </max_force> 
     <min_force> -1000.000 </min_force> 
     <optimal_force> 300.00000000 </optimal_force> 
     <coordinate> </coordinate> 
   </CoordinateActuatorCoordinateActuator> 
 
 </defaults> 
 
 <objects> 
 
   <!-- Residuals --> 
 
   <PointActuator name="FX"> 
     <optimal_force> 4.00000000 </optimal_force> 
     <body> pelvis </body> 
     <point> -0.0724376 0.00000000 0.00000000 </point> 
     <point_is_global> false </point_is_global> 
     <direction> 1 0 0 </direction> 
     <force_is_global> true </force_is_global> 
   </PointActuator> 
 
   <PointActuator name="FY"> 
     <optimal_force> 8.00000000 </optimal_force> 
     <body> pelvis </body> 
     <point> -0.0724376 0.00000000 0.00000000 </point> 
     <point_is_global> false </point_is_global> 
     <direction> 0 1 0 </direction> 
     <force_is_global> true </force_is_global> 
   </PointActuator> 
 
   <PointActuator name="FZ"> 
     <optimal_force> 4.00000000 </optimal_force> 
     <body> pelvis </body> 
     <point> -0.0724376 0.00000000 0.00000000 </point> 
     <point_is_global> false </point_is_global> 
     <direction> 0 0 1 </direction> 
     <force_is_global> true </force_is_global> 
   </PointActuator> 
 
   <TorqueActuator name="MX"> 
     <optimal_force> 2.0 </optimal_force> 
     <body_A> pelvis </body_A> 
     <axis> 1.000 0.000 0.000 </axis> 
     <body_B> ground </body_B> 
   </TorqueActuator> 
 
   <TorqueActuator name="MY"> 
     <optimal_force> 2.0 </optimal_force> 
     <body_A> pelvis </body_A> 
     <axis> 0.000 1.000 0.000 </axis> 
     <body_B> ground </body_B> 
   </TorqueActuator> 
 
   <TorqueActuator name="MZ"> 
     <optimal_force> 2.0 </optimal_force> 
     <body_A> pelvis </body_A> 
     <axis> 0.000 0.000 1.000 </axis> 
     <body_B> ground </body_B> 
   </TorqueActuator> 
 
   <!-- Right Leg --> 
 
   <CoordinateActuator name="hip_flexion_r"> 
     <coordinate> hip_flexion_r </coordinate> 
     <optimal_force> 300.0 </optimal_force> 
     </CoordinateActuator> 
 
   <!-..additional <CoordinateActuator> tags cut for brevity..-> 
 
 </objects> 
 
 </ForceSet>

<?xml version="1.0" encoding="UTF-8"?> 

<ControlSet name="gait2354_RRA"> 
 
  <defaults> 
    <ControlLinear name="default"> 
      <is_model_control> true </is_model_control> 
      <extrapolate> true </extrapolate> 
      <default_min> -1.0 </default_min> 
      <default_max> 1.0 </default_max> 
      <use_steps> false </use_steps> 
    </ControlLinear> 
  </defaults> 
 
  <objects> 
    <ControlLinear name="FX.excitation"> 
      <default_min> -20.0 </default_min> 
      <default_max> 20.0 </default_max> 
    </ControlLinear> 
 
    <ControlLinear name="FY.excitation"> 
      <default_min> -20.0 </default_min> 
      <default_max> 20.0 </default_max> 
    </ControlLinear> 

    <ControlLinear name="FZ.excitation"> 
      <default_min> -20.0 </default_min> 
      <default_max> 20.0 </default_max> 
    </ControlLinear>
  
    <ControlLinear name="MX.excitation"> 
      <default_min> -50.0 </default_min> 
      <default_max> 50.0 </default_max> 
    </ControlLinear> 
 
    <ControlLinear name="MY.excitation"> 
      <default_min> -50.0 </default_min> 
      <default_max> 50.0 </default_max> 
    </ControlLinear> 
 
    <ControlLinear name="MZ.excitation"> 
      <default_min> -50.0 </default_min> 
      <default_max> 50.0 </default_max> 
    </ControlLinear> 

    <!-- Right Leg --> 
    <ControlLinear name="hip_flexion_r.excitation" /> 
    <ControlLinear name="hip_adduction_r.excitation" /> 
    <ControlLinear name="hip_rotation_r.excitation" /> 
    <ControlLinear name="knee_angle_r.excitation" /> 
    <ControlLinear name="ankle_angle_r.excitation" /> 

    <!-- Left Leg --> 
    <ControlLinear name="hip_flexion_l.excitation" /> 
    <ControlLinear name="hip_adduction_l.excitation" /> 
    <ControlLinear name="hip_rotation_l.excitation" /> 
    <ControlLinear name="knee_angle_l.excitation" /> 
    <ControlLinear name="ankle_angle_l.excitation" /> 

    <!-- Back --> 
    <ControlLinear name="lumbar_extension.excitation" /> 
    <ControlLinear name="lumbar_bending.excitation" /> 
    <ControlLinear name="lumbar_rotation.excitation" /> 
 
  </objects>
  
</ControlSet>

 <?xml version="1.0" encoding="UTF-8"?> 
 <CMC_TaskSet name="gait2354_RRA"> 
 
   <defaults> 
     <CMC_Joint name="default"> 
       <on> false </on> 
       <wrt_body> -1 </wrt_body> 
       <express_body> -1 </express_body> 
       <active> false false false </active> 
       <weight> 1 1 1 </weight> 
       <kp> 1 1 1 </kp> 
       <kv> 1 1 1 </kv> 
       <ka> 1 1 1 </ka> 
       <coordinate> </coordinate> 
       <limit> 0 </limit> 
     </CMC_Joint> 
   </defaults> 
 
   <objects> 
 
     <!-- Pelvis --> 
 
     <CMC_Joint name="pelvis_tz"> 
       <wrt_body> -1 </wrt_body> 
       <express_body> -1 </express_body> 
       <on> true </on> 
       <active> true false false </active> 
       <weight> 5.0e0 </weight> 
       <kp> 100.0 </kp> 
       <kv> 20.0 </kv> 
       <coordinate> pelvis_tz </coordinate> 
     </CMC_Joint> 
 
     <CMC_Joint name="pelvis_tx"> 
       <wrt_body> -1 </wrt_body> 
       <express_body> -1 </express_body> 
       <on> true </on> 
       <active> true false false </active> 
       <weight> 5.0e0 </weight> 
       <kp> 100.0 </kp> 
       <kv> 20.0 </kv> 
       <coordinate> pelvis_tx </coordinate> 
     </CMC_Joint> 
 
     <CMC_Joint name="pelvis_ty"> 
       <wrt_body> -1 </wrt_body> 
       <express_body> -1 </express_body> 
       <on> true </on> 
       <active> true false false </active> 
       <weight> 5.0e0 </weight> 
       <kp> 100.0 </kp> 
       <kv> 20.0 </kv> 
       <coordinate> pelvis_ty </coordinate> 
     </CMC_Joint> 
 
   <!-- . . additional <CMC_Joint> tags cut for brevity . . --> 
  
   </objects> 
 
 </CMC_TaskSet>