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Remove unused, legacy <default> blocks in .osim and .xml files
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‎Models/Rajagopal/Rajagopal2016.osim‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<OpenSimDocument Version="40000">
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<Model name="Rajagopal2016">
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<defaults>
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<ControlLinear name="default">
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<is_model_control>true</is_model_control>
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<extrapolate>true</extrapolate>
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<default_min>-1</default_min>
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<default_max>1</default_max>
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<filter_on>false</filter_on>
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<use_steps>false</use_steps>
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<x_nodes />
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<min_nodes />
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<max_nodes />
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<kp>100</kp>
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<kv>20</kv>
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</ControlLinear>
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<CoordinateActuator name="default">
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<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
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<appliesForce>true</appliesForce>
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<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
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<min_control>-Inf</min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
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<max_control>Inf</max_control>
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<!--Name of the generalized coordinate to which the actuator applies.-->
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<coordinate>Unassigned</coordinate>
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<!--The maximum generalized force produced by this actuator.-->
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<optimal_force>300</optimal_force>
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</CoordinateActuator>
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<PointActuator name="default">
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<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
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<appliesForce>true</appliesForce>
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<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
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<min_control>-Inf</min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
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<max_control>Inf</max_control>
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<!--Name of Body to which this actuator is applied.-->
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<body></body>
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<!--Location of application point; in body frame unless point_is_global=true-->
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<point>0 0 0</point>
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<!--Interpret point in Ground frame if true; otherwise, body frame.-->
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<point_is_global>false</point_is_global>
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<!--Force application direction; in body frame unless force_is_global=true.-->
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<direction>-1 -0 -0</direction>
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<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
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<force_is_global>true</force_is_global>
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<!--The maximum force produced by this actuator when fully activated.-->
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<optimal_force>1000</optimal_force>
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</PointActuator>
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<TorqueActuator name="default">
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<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
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<appliesForce>true</appliesForce>
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<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
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<min_control>-Inf</min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
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<max_control>Inf</max_control>
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<!--Name of Body to which the torque actuator is applied.-->
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<bodyA>Unassigned</bodyA>
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<!--Name of Body to which the equal and opposite torque is applied.-->
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<bodyB>Unassigned</bodyB>
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<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
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<torque_is_global>true</torque_is_global>
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<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
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<axis>-1 -0 -0</axis>
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<!--The maximum torque produced by this actuator when fully activated.-->
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<optimal_force>1</optimal_force>
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</TorqueActuator>
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<Millard2012EquilibriumMuscle name="default">
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<!--Flag indicating whether the force is applied or not. If true the forceis applied to the MultibodySystem otherwise the force is not applied.NOTE: Prior to OpenSim 4.0, this behavior was controlled by the 'isDisabled' property, where 'true' meant that force was not being applied. Thus, if 'isDisabled' is true, then 'appliesForce` is false.-->
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<appliesForce>true</appliesForce>
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<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
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<min_control>0.01</min_control>
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<!--The set of points defining the path of the actuator.-->
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<GeometryPath name="geometrypath">
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<!--The set of points defining the path-->
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<PathPointSet>
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<objects />
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<groups />
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</PathPointSet>
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<!--The wrap objects that are associated with this path-->
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<PathWrapSet>
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<objects />
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<groups />
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</PathWrapSet>
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<!--Default appearance attributes for this GeometryPath-->
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<Appearance>
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<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
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<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
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</Appearance>
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</GeometryPath>
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<!--The maximum force this actuator can produce.-->
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<optimal_force>1</optimal_force>
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<!--Maximum isometric force that the fibers can generate-->
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<max_isometric_force>546</max_isometric_force>
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<!--Optimal length of the muscle fibers-->
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<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
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<!--Resting length of the tendon-->
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<tendon_slack_length>0.078</tendon_slack_length>
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<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
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<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
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<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
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<max_contraction_velocity>10</max_contraction_velocity>
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</Millard2012EquilibriumMuscle>
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<CMC_Joint name="default">
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<!--Flag (true or false) indicating whether or not a task is enabled.-->
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<on>false</on>
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<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
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<weight> 1 1 1</weight>
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<!--Name of body frame with respect to which a tracking objective is specified. The special name 'center_of_mass' refers to the system center of mass. This property is not used for tracking joint angles.-->
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<wrt_body>-1</wrt_body>
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<!--Name of body frame in which the tracking objectives are expressed. This property is not used for tracking joint angles.-->
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<express_body>-1</express_body>
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<!--Array of 3 flags (each true or false) specifying whether a component of a task is active. For example, tracking the trajectory of a point in space could have three components (x,y,z). This allows each of those to be made active (true) or inactive (false). A task for tracking a joint coordinate only has one component.-->
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<active>false false false </active>
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<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
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<kp> 1 1 1</kp>
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<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
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<kv> 1 1 1</kv>
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<!--Feedforward acceleration gain. This is normally set to 1.0, so no gain.-->
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<ka> 1 1 1</ka>
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<!--Direction vector[3] for component 0 of a task. Joint tasks do not use this property.-->
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<r0> 0 0 0</r0>
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<!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->
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<r1> 0 0 0</r1>
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<!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->
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<r2> 0 0 0</r2>
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<!--Name of the coordinate to be tracked.-->
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<coordinate />
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<!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->
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<limit>0</limit>
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</CMC_Joint>
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</defaults>
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<!--The model's ground reference frame.-->
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<Ground name="ground">
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<!--The geometry used to display the axes of this Frame.-->

‎Pipelines/Gait2354_Simbody/gait2354_CMC_Actuators.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<OpenSimDocument Version="30000">
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<ForceSet name="gait2354_CMC">
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<defaults>
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<CoordinateActuator name="default">
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<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
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<isDisabled>false</isDisabled>
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<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
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<min_control>-infinity</min_control>
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<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
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<max_control>infinity</max_control>
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<!--Name of the generalized coordinate to which the actuator applies.-->
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<coordinate></coordinate>
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<!--The maximum generalized force produced by this actuator.-->
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<optimal_force>1000</optimal_force>
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</CoordinateActuator>
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</defaults>
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<objects>
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<PointActuator name="FX">
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<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->

‎Pipelines/Gait2354_Simbody/gait2354_CMC_ControlConstraints.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<OpenSimDocument Version="20302">
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<ControlSet name="Control Set">
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<defaults>
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<ControlLinear name="default">
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<is_model_control> true </is_model_control>
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<extrapolate> true </extrapolate>
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<default_min> 0.02000000 </default_min>
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<default_max> 1.00000000 </default_max>
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<filter_on> false </filter_on>
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<use_steps> true </use_steps>
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<x_nodes/>
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<min_nodes/>
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<max_nodes/>
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<kp> 100.00000000 </kp>
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<kv> 20.00000000 </kv>
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</ControlLinear>
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</defaults>
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<objects>
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<ControlLinear name="glut_med1_r.excitation">
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<is_model_control> true </is_model_control>

‎Pipelines/Gait2354_Simbody/gait2354_CMC_Tasks.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<OpenSimDocument Version="20302">
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<CMC_TaskSet name="gait2354_CMC">
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<defaults>
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<CMC_Joint name="default">
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<!--Flag (true or false) indicating whether or not a task is on.-->
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<on> false </on>
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<!--Weight with which a task is tracked relative to other tasks. To track
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a task more tightly, make the weight larger.-->
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<weight> 1.00000000 1.00000000 1.00000000 </weight>
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<!--Name of body frame with respect to which a tracking objective is
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specified. The special name 'center_of_mass' refers to the system
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center of mass. This property is not used for tracking joint angles.-->
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<wrt_body> -1 </wrt_body>
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<!--Name of body frame in which the tracking objectives are expressed.
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This property is not used for tracking joint angles.-->
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<express_body> -1 </express_body>
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<!--Array of 3 flags (each true or false) specifying whether a component
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of a task is active. For example, tracking the trajectory of a point
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in space could have three components (x,y,z). This allows each of
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those to be made active (true) or inactive (false). A task for
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tracking a joint coordinate only has one component.-->
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<active> false false false </active>
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<!--Position error feedback gain (stiffness). To achieve critical damping
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of errors, choose kv = 2*sqrt(kp).-->
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<kp> 1.00000000 1.00000000 1.00000000 </kp>
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<!--Velocity error feedback gain (damping). To achieve critical damping of
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errors, choose kv = 2*sqrt(kp).-->
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<kv> 1.00000000 1.00000000 1.00000000 </kv>
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<!--Feedforward acceleration gain. This is normally set to 1.0, so no
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gain.-->
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<ka> 1.00000000 1.00000000 1.00000000 </ka>
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<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
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this propery.-->
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<r0> 0.00000000 0.00000000 0.00000000 </r0>
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<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
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this property.-->
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<r1> 0.00000000 0.00000000 0.00000000 </r1>
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<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
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this property.-->
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<r2> 0.00000000 0.00000000 0.00000000 </r2>
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<!--Name of the coordinate to be tracked.-->
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<coordinate> </coordinate>
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<!--Error limit on the tracking accuracy for this coordinate. If the
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tracking errors approach this limit, the weighting for this coordinate
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is increased.-->
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<limit> 0.00000000 </limit>
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</CMC_Joint>
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</defaults>
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<objects>
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<CMC_Joint name="pelvis_tz">
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<!--Flag (true or false) indicating whether or not a task is on.-->

‎Pipelines/Gait2392_Simbody/gait2392_CMC_ControlConstraints.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<OpenSimDocument Version="20302">
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<ControlSet name="Control Set">
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<defaults>
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<ControlLinear name="default">
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<is_model_control> true </is_model_control>
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<extrapolate> true </extrapolate>
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<default_min> 0.02000000 </default_min>
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<default_max> 1.00000000 </default_max>
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<filter_on> false </filter_on>
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<use_steps> true </use_steps>
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<x_nodes/>
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<min_nodes/>
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<max_nodes/>
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<kp> 100.00000000 </kp>
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<kv> 20.00000000 </kv>
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</ControlLinear>
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</defaults>
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<objects>
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<ControlLinear name="FX.excitation">
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<is_model_control> true </is_model_control>

‎Pipelines/Hamner/Actuators_CMC.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<ActuatorSet name="gait2392_CMC">
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<defaults>
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<Force name="default">
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<max_force> 10000.000 </max_force>
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<min_force> -10000.000 </min_force>
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<optimal_force> 1000.0 </optimal_force>
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<body_A> </body_A>
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<point_A> 0.000 0.000 0.000 </point_A>
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<direction_A> 1.000 0.000 0.000 </direction_A>
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<body_B> </body_B>
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<point_B> 0.000 0.000 0.000 </point_B>
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</Force>
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<Torque name="default">
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<max_force> 10000.000 </max_force>
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<min_force> -10000.000 </min_force>
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<optimal_force> 1000.0 </optimal_force>
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<body_A> </body_A>
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<direction_A> 1.000 0.000 0.000 </direction_A>
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<body_B> </body_B>
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</Torque>
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<GeneralizedForce name="default">
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<max_force> 10000.0 </max_force>
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<min_force> -10000.0 </min_force>
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<optimal_force> 1000.0 </optimal_force>
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<coordinate> </coordinate>
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</GeneralizedForce>
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</defaults>
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<objects>
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‎Pipelines/Hamner/Actuators_RRA.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<ActuatorSet name="gait2392_RRA">
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<defaults>
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<Force name="default">
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<max_force> 10000.000 </max_force>
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<min_force> -10000.000 </min_force>
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<optimal_force> 1000.00000000 </optimal_force>
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<body_A> </body_A>
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<point_A> 0.000 0.000 0.000 </point_A>
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<direction_A> 1.000 0.000 0.000 </direction_A>
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<body_B> </body_B>
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<point_B> 0.000 0.000 0.000 </point_B>
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</Force>
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<Torque name="default">
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<max_force> 1000.000 </max_force>
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<min_force> -1000.000 </min_force>
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<optimal_force> 300.00000000 </optimal_force>
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<body_A> </body_A>
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<direction_A> 1.000 0.000 0.000 </direction_A>
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<body_B> </body_B>
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</Torque>
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<GeneralizedForce name="default">
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<max_force> 1000.000 </max_force>
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<min_force> -1000.000 </min_force>
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<optimal_force> 300.00000000 </optimal_force>
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<coordinate> </coordinate>
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</GeneralizedForce>
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</defaults>
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<objects>
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‎Pipelines/Hamner/ControlConstraints_CMC.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<ControlSet name="gait2392_CMC">
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<defaults>
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<ControlLinear name="default">
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<is_model_control> true </is_model_control>
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<extrapolate> true </extrapolate>
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<default_min> 0.01 </default_min>
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<default_max> 1.00 </default_max>
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<use_steps> true </use_steps>
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</ControlLinear>
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</defaults>
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<objects>
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<ControlLinear name="FX.excitation">
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<default_min> -100.0 </default_min>

‎Pipelines/Hamner/ControlConstraints_RRA.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<ControlSet name="gait2392_RRA">
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<defaults>
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<ControlLinear name="default">
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<is_model_control> true </is_model_control>
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<extrapolate> true </extrapolate>
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<default_min> -1.0 </default_min>
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<default_max> 1.0 </default_max>
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<use_steps> false </use_steps>
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</ControlLinear>
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</defaults>
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<objects>
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<ControlLinear name="FX.excitation">
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<default_min> -20.0 </default_min>

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