TorqueDrivenVerificationOptimizationSettings.xml

<?xml version="1.0" encoding="UTF-8" ?>
<NMSMPipelineDocument Version="1.3.0">
    <VerificationOptimizationTool>
        <!--Directory used for writing results.-->
        <results_directory>resultsVO</results_directory>
		<!--Directories for input files-->
		<tracked_quantities_directory>..\Step-7-Tracking-Optimization\resultsTO</tracked_quantities_directory>
		<initial_guess_directory>..\Step-7-Tracking-Optimization\resultsTO</initial_guess_directory>
        <!--Name of the input model file (.osim) to use-->
        <input_model_file>RightLegAndPelvis.osim</input_model_file>
    	<!--Name of the osimx model file-->
    	<input_osimx_file />
    	<!--Indicate the coordinates with torque controllers-->
    	<states_coordinate_list>hip_flexion_r knee_angle_r ankle_angle_r</states_coordinate_list>
		<!--Name of optimal controls setting file-->
		<optimal_control_solver_settings_file>gpopsSettings.xml</optimal_control_solver_settings_file>
		<!--name, excluding file type (.sto, .mot, etc), of the trial-->
		<trial_name>kick_1</trial_name>
		<joint_position_range_scale_factor>1</joint_position_range_scale_factor>
		<joint_velocity_range_scale_factor>0.75</joint_velocity_range_scale_factor>
		<joint_acceleration_range_scale_factor>0.5</joint_acceleration_range_scale_factor>
		<joint_jerk_range_scale_factor>0.5</joint_jerk_range_scale_factor>
		<RCNLTorqueController>
			<!--*Optional* Name of the initial controls guess file-->
			<initial_torque_controls_file/>
			<coordinate_list>hip_flexion_r knee_angle_r ankle_angle_r</coordinate_list>
			<torque_controls_range_scale_factor>1</torque_controls_range_scale_factor>
		</RCNLTorqueController>
		<RCNLCostTermSet>
			<RCNLCostTerm>
				<type>controller_tracking</type>
				<controller>hip_flexion_r_moment</controller>
				<is_enabled>true</is_enabled>
				<max_allowable_error>10</max_allowable_error>
			</RCNLCostTerm>
			<RCNLCostTerm>
				<type>controller_tracking</type>
				<controller>knee_angle_r_moment</controller>
				<is_enabled>true</is_enabled>
				<max_allowable_error>10</max_allowable_error>
			</RCNLCostTerm>
			<RCNLCostTerm>
				<type>controller_tracking</type>
				<controller>ankle_angle_r_moment</controller>
				<is_enabled>true</is_enabled>
				<max_allowable_error>10</max_allowable_error>
			</RCNLCostTerm>
		</RCNLCostTermSet>
		<RCNLConstraintTermSet>
			<RCNLConstraintTerm>
				<type>kinetic_consistency</type>
				<load>hip_flexion_r_moment</load>
				<is_enabled>true</is_enabled>
				<max_error>0.1</max_error>
				<min_error>-0.1</min_error>
			</RCNLConstraintTerm>
			<RCNLConstraintTerm>
				<type>kinetic_consistency</type>
				<load>knee_angle_r_moment</load>
				<is_enabled>true</is_enabled>
				<max_error>0.1</max_error>
				<min_error>-0.1</min_error>
			</RCNLConstraintTerm>
			<RCNLConstraintTerm>
				<type>kinetic_consistency</type>
				<load>ankle_angle_r_moment</load>
				<is_enabled>true</is_enabled>
				<max_error>0.1</max_error>
				<min_error>-0.1</min_error>
			</RCNLConstraintTerm>
		</RCNLConstraintTermSet>
    </VerificationOptimizationTool>
</NMSMPipelineDocument>