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<?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
<ForwardTool name="LocomotorPrimitives">
<!--Name of the .osim file used to construct a model.-->
<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>false</replace_force_set>
<!--List of xml files used to construct an force set for the model.-->
<force_set_files />
<!--Directory used for writing results.-->
<results_directory>../../locomotor-primitives</results_directory>
<!--Output precision. It is 8 by default.-->
<output_precision>8</output_precision>
<!--Initial time for the simulation.-->
<initial_time>0</initial_time>
<!--Final time for the simulation.-->
<final_time>1.998</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>1</maximum_integrator_step_size>
<!--Minimum integration step size.-->
<minimum_integrator_step_size>1e-008</minimum_integrator_step_size>
<!--Integrator error tolerance. When the error is greater, the integrator step size is decreased.-->
<integrator_error_tolerance>1e-005</integrator_error_tolerance>
<!--Set of analyses to be run during the investigation.-->
<AnalysisSet name="Analyses">
<objects>
<Actuation name="Actuation">
<!--Flag (true or false) specifying whether whether on. True by default.-->
<on>true</on>
<!--Start time.-->
<start_time>0</start_time>
<!--End time.-->
<end_time>1.998</end_time>
<!--Specifies how often to store results during a simulation. More specifically, the interval (a positive integer) specifies how many successful integration steps should be taken before results are recorded again.-->
<step_interval>1</step_interval>
<!--Flag (true or false) indicating whether the results are in degrees or not.-->
<in_degrees>true</in_degrees>
</Actuation>
<Kinematics name="Kinematics">
<!--Flag (true or false) specifying whether whether on. True by default.-->
<on>true</on>
<!--Start time.-->
<start_time>0</start_time>
<!--End time.-->
<end_time>1.998</end_time>
<!--Specifies how often to store results during a simulation. More specifically, the interval (a positive integer) specifies how many successful integration steps should be taken before results are recorded again.-->
<step_interval>1</step_interval>
<!--Flag (true or false) indicating whether the results are in degrees or not.-->
<in_degrees>true</in_degrees>
<!--Names of generalized coordinates to record kinematics for. Use 'all' to record all coordinates.-->
<coordinates> all</coordinates>
</Kinematics>
</objects>
<groups />
</AnalysisSet>
<!--Controller objects in the model.-->
<ControllerSet name="Controllers">
<objects>
<ControlSetController>
<!--A Storage (.sto) or an XML control nodes file containing the controls for this controlSet.-->
<controls_file>../data/random/random_test.sto</controls_file>
</ControlSetController>
</objects>
<groups />
</ControllerSet>
<!--XML file (.xml) containing the forces applied to the model as ExternalLoads.-->
<external_loads_file />
<!--Storage file (.sto) containing the initial states for the forward simulation. This file often contains multiple rows of data, each row being a time-stamped array of states. The first column contains the time. The rest of the columns contain the states in the order appropriate for the model. In a storage file, unlike a motion file (.mot), non-uniform time spacing is allowed. If the user-specified initial time for a simulation does not correspond exactly to one of the time stamps in this file, inerpolation is NOT used because it is usually necessary to being a simulation from an exact set of states. Instead, the closest earlier set of states is used. Having a states file that contains the entire trajectory of a simulations allows for corrective springs for perturbation analysis to be added.-->
<states_file />
<!--Flag (true or false) indicating whether or not the integrator should use a particular time stepping. If true, the time stepping is extracted from the initial states file. In this situation, therefore, the initial states file must contain all the time steps in a simulation and be written out to high precision (usually 20 decimal places). Setting this flag to true can be useful when reproducing a previous forward simulation with as little drift as possible. If this flag is false, the integrator is left to determine its own time stepping.-->
<use_specified_dt>false</use_specified_dt>
</ForwardTool>
</OpenSimDocument>
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