cmc_tasks.xml

<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
	<CMC_TaskSet name="dynhop_cmc">
		<defaults>
            <CMC_Joint name="default">
                <!--Flag (true or false) indicating whether or not a task is enabled.-->
                <on>true</on>
                <!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
                <weight> 1</weight>
                <!--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.-->
                <wrt_body>-1</wrt_body>
                <!--Name of body frame in which the tracking objectives are expressed.  This property is not used for tracking joint angles.-->
                <express_body>-1</express_body>
                <!--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.-->
                <active> true false false</active>
                <!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
                <kp> 100 1 1</kp> 
                <!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
                <kv> 20 1 1</kv>
                <!--Feedforward acceleration gain.  This is normally set to 1.0, so no gain.-->
                <ka> 1 1 1</ka>
                <!--Direction vector[3] for component 0 of a task. Joint tasks do not use this propery.-->
                <r0> 0 0 0</r0>
                <!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->
                <r1> 0 0 0</r1>
                <!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->
                <r2> 0 0 0</r2>
                <!--Name of the coordinate to be tracked.-->
                <coordinate/>
                <!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->
                <limit>0</limit>
            </CMC_Joint>
		</defaults>
		<objects>

            <CMC_Joint name="Pelvis_ty"> <weight>30</weight>
                <coordinate>Pelvis_ty</coordinate> </CMC_Joint>
            <CMC_Joint name="LHip_rz"> <weight>1</weight>
                <coordinate>LHip_rz</coordinate> </CMC_Joint>
            <CMC_Joint name="LKnee_rz"> <weight>1</weight>
                <coordinate>LKnee_rz</coordinate> </CMC_Joint>

		</objects>
		<groups />
	</CMC_TaskSet>
</OpenSimDocument>