GCP XML Reference
<NMSMPipelineDocument Version="1.5.0">
<GroundContactPersonalizationTool name="default">
<!--Name of the directory where results are written. Be default this is the directory in which the setup file is be executed.-->
<results_directory>GCPResults</results_directory>
<!--Name of file containing input model, if using the application this has no effect as current model is used.-->
<input_model_file>model.osim</input_model_file>
<!--Name of input .osimx file to append results. Leave empty if an .osimx file has not been written for this model yet.-->
<input_osimx_file>model.osimx</input_osimx_file>
<!--Name of the input motion file (.mot or .sto) to use.-->
<input_motion_file>IKFile.sto</input_motion_file>
<!--Name of the input ground reaction forces file (.mot or .sto) to use.-->
<input_grf_file>GRFFile.sto</input_grf_file>
<!--Lowpass filter cutoff frequency for kinematic B-splines. A lower frequency may be less precise but converge more quickly.-->
<kinematics_filter_cutoff>10</kinematics_filter_cutoff>
<!--Flag (true, false) indicating whether the initial resting spring length will be calibrated before optimization rounds. Recommended true unless the chosen initial value is desired.-->
<initialize_resting_spring_length>true</initialize_resting_spring_length>
<!--Number of spring markers in width of spring marker grid. Default is 5.-->
<grid_width>5</grid_width>
<!--Number of spring markers in height of spring marker grid. Default is 15.-->
<grid_height>15</grid_height>
<!--List of Contact Surfaces, each specified as GCPContactSurface.-->
<GCPContactSurfaceSet>
<GCPContactSurface name="Right foot">
<!--Indicate whether the the foot will be personalized or not.-->
<is_enabled>true</is_enabled>
<!--Flag indicating whether foot model should be mirrored.-->
<is_left_foot>false</is_left_foot>
<!--Start time for right side gait cycles in motion and ground reaction force files.-->
<start_time>0</start_time>
<!--End time for motion and ground reaction force files.-->
<end_time>1</end_time>
<!--Speed of treadmill belt for recorded motion. Set to 0 if not applicable.-->
<belt_speed>1</belt_speed>
<!--Names of the force columns in the grf file, ordered X, Y, Z.-->
<force_columns>ground_force_1_vx ground_force_1_vy ground_force_1_vz</force_columns>
<!--Names of the moment columns in the grf file, ordered X, Y, Z.-->
<moment_columns>ground_moment_1_mx ground_moment_1_my ground_moment_1_mz</moment_columns>
<!--Names of the electrical center columns in the grf file, ordered X, Y, Z.-->
<electrical_center_columns>ground_force_1_px ground_force_1_py ground_force_1_pz</electrical_center_columns>
<!--Name of the hindfoot body in the model file.-->
<hindfoot_body>calcn_r</hindfoot_body>
<!--Name of the marker used to define toe.-->
<toe_marker>R_Toe</toe_marker>
<!--Name of the marker used to define medial side.-->
<medial_marker>R_Toe_Medial</medial_marker>
<!--Name of the marker used to define lateral side.-->
<lateral_marker>R_Toe_Lateral</lateral_marker>
<!--Name of the marker used to define heel.-->
<heel_marker>R_Heel</heel_marker>
<!--Name of midfoot superior marker used to define ground reaction moments.-->
<midfoot_superior_marker>R_Midfoot_Superior</midfoot_superior_marker>
</GCPContactSurface>
</GCPContactSurfaceSet>
<!--Task list defining rounds of GCP optimization.-->
<GCPTaskList>
<GCPTask>
<!--Indicate whether the task is enabled or not.-->
<is_enabled>true</is_enabled>
<!--Index indicates the order of the tasks. The task with the smallest index is completed first.-->
<index>1</index>
<!--Stiffness values specific to each point of contact.-->
<springConstants>true</springConstants>
<!--Damping factor for linear damping of vertical force.-->
<dampingFactor>true</dampingFactor>
<!--Dynamic friction coefficient used in calculating horizontal ground reaction forces.-->
<dynamicFrictionCoefficient>true</dynamicFrictionCoefficient>
<!--Viscous friction coefficient used in calculating horizontal ground reaction forces.-->
<viscousFrictionCoefficient>true</viscousFrictionCoefficient>
<!--Height value at which linear springs exert force. Only recommended when primarily calibrating vertical force.-->
<restingSpringLength>true</restingSpringLength>
<!--Coefficients allowing for adjustments to kinematics during optimization.-->
<kinematicsBSplineCoefficients>true</kinematicsBSplineCoefficients>
<!--Adjust the forceplate electrical centers in the x direction-->
<electricalCenterX>true</electricalCenterX>
<!--Adjust the forceplate electrical centers in the y direction-->
<electricalCenterY>true</electricalCenterY>
<!--Adjust the forceplate electrical centers in the z direction-->
<electricalCenterZ>true</electricalCenterZ>
<!--Rotate the forceplate in the y direction-->
<forcePlateRotation>true</forcePlateRotation>
<!--Standard deviation of the gaussian distribution used to generate the neighbor spring constant term.-->
<neighborStandardDeviation>0.2</neighborStandardDeviation>
<!--Cost term set for the GCPTask.-->
<RCNLCostTermSet>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>marker_position</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>marker_slope</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>rotation</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>translation</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>kinematic_periodicity</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>vertical_grf</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>vertical_grf_slope</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>horizontal_grf</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>horizontal_grf_slope</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>ground_reaction_moment</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>ground_reaction_moment_slope</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>spring_constant_mean</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>neighbor_spring_constant</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>electrical_center_regularization</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
<RCNLCostTerm>
<!--Indicate whether the term is enabled or not. Default is false.-->
<is_enabled>true</is_enabled>
<!--Type of cost term.-->
<type>force_plate_rotation_regularization</type>
<!--The accuracy to compare against, depends on model/data units (0.01 == 1cm for data in units meters).-->
<max_allowable_error></max_allowable_error>
</RCNLCostTerm>
</RCNLCostTermSet>
</GCPTask>
</GCPTaskList>
<!--Initial value for resting spring length.-->
<initial_resting_spring_length>0.05</initial_resting_spring_length>
<!--Initial value for spring constant.-->
<initial_spring_constant>2500</initial_spring_constant>
<!--Initial value for damping factor.-->
<initial_damping_factor>1</initial_damping_factor>
<!--Initial value for dynamic friction coefficient.-->
<initial_dynamic_friction_coefficient>0.5</initial_dynamic_friction_coefficient>
<!--Initial value for viscous friction coefficient.-->
<initial_viscous_friction_coefficient>0</initial_viscous_friction_coefficient>
<!--Latching velocity used to calculate dynamic friction.-->
<latching_velocity>0.1</latching_velocity>
<!--*Optional* The minimum step of the least squares algorithm. Default is 1e-6 -->
<diff_min_change>0.01</diff_min_change>
<!--*Optional* The step tolerance determines when the lsqnonlin algorithm stops. The larger it is, the earlier the algorithm stops, but with lower accuracy. Default is 1e-16-->
<step_tolerance>0.0001</step_tolerance>
<!--*Optional* The optimality tolerance determines when the lsqnonlin algorithm stops. The larger it is, the earlier the algorithm stops, but with lower accuracy. Default is 1e-3-->
<optimality_tolerance>0.0001</optimality_tolerance>
<!--*Optional* The function tolerance determines when the lsqnonlin algorithm stops. The larger it is, the earlier the algorithm stops, but with lower accuracy. Default is 1e-6-->
<function_tolerance>0.0001</function_tolerance>
<!--*Optional* The number of allowed iterations of the fmincon optimization, setting this lower can help cancel an optimization that won't converge. Default is 1e3-->
<max_iterations>100</max_iterations>
<!--*Optional* The number of allowed cost function calls for the fmincon optimization, setting this lower can help cancel an optimization that won't converge.-->
<max_function_evaluations>300000</max_function_evaluations>
</GroundContactPersonalizationTool>
</NMSMPipelineDocument>