<commit_before><?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
	<InverseDynamicsTool name="dynhop_id">
		<!--Directory used for writing results.-->
        <results_directory/>
		<!--Directory for input files-->
		<input_directory />
		<!--Name of the .osim file used to construct a model.-->
        <model_file>dynhop.osim</model_file>
		<!--Time range over which the inverse dynamics problem is solved.-->
		<time_range> 0 1</time_range>
		<!--List of forces by individual or grouping name (e.g. All, actuators, muscles, ...) to be excluded when computing model dynamics.-->
        <forces_to_exclude>All</forces_to_exclude>
		<!--XML file (.xml) containing the external loads applied to the model as a set of ExternalForce(s).-->
        <external_loads_file> external_loads.xml</external_loads_file>
		<!--The name of the file containing coordinate data. Can be a motion (.mot) or a states (.sto) file.-->
        <coordinates_file>ik_solution.mot</coordinates_file>
		<!--Low-pass cut-off frequency for filtering the coordinates_file data (currently does not apply to states_file or speeds_file). A negative value results in no filtering. The default value is -1.0, so no filtering.-->
		<lowpass_cutoff_frequency_for_coordinates>-1</lowpass_cutoff_frequency_for_coordinates>
		<!--Name of the storage file (.sto) to which the generalized forces are written.-->
		<output_gen_force_file>id_solution.sto</output_gen_force_file>
		<!--List of joints (keyword All, for all joints) to report body forces acting at the joint frame expressed in ground.-->
		<joints_to_report_body_forces />
		<!--Name of the storage file (.sto) to which the body forces at specified joints are written.-->
        <output_body_forces_file />
	</InverseDynamicsTool>
</OpenSimDocument><commit_msg>Using states instead of coordinates does not help.<commit_after><?xml version="1.0" encoding="UTF-8" ?>
<OpenSimDocument Version="30000">
	<InverseDynamicsTool name="dynhop_id">
		<!--Directory used for writing results.-->
        <results_directory/>
		<!--Directory for input files-->
		<input_directory />
		<!--Name of the .osim file used to construct a model.-->
        <model_file>dynhop.osim</model_file>
		<!--Time range over which the inverse dynamics problem is solved.-->
		<time_range> 0 1</time_range>
		<!--List of forces by individual or grouping name (e.g. All, actuators, muscles, ...) to be excluded when computing model dynamics.-->
        <forces_to_exclude>All</forces_to_exclude>
		<!--XML file (.xml) containing the external loads applied to the model as a set of ExternalForce(s).-->
        <external_loads_file> external_loads.xml</external_loads_file>
		<!--The name of the file containing coordinate data. Can be a motion (.mot) or a states (.sto) file.-->
        <!--<coordinates_file>ik_solution.mot</coordinates_file>-->
        <states_file>dynhop_states.sto</states_file>
		<!--Low-pass cut-off frequency for filtering the coordinates_file data (currently does not apply to states_file or speeds_file). A negative value results in no filtering. The default value is -1.0, so no filtering.-->
		<lowpass_cutoff_frequency_for_coordinates>-1</lowpass_cutoff_frequency_for_coordinates>
		<!--Name of the storage file (.sto) to which the generalized forces are written.-->
		<output_gen_force_file>id_solution.sto</output_gen_force_file>
		<!--List of joints (keyword All, for all joints) to report body forces acting at the joint frame expressed in ground.-->
		<joints_to_report_body_forces />
		<!--Name of the storage file (.sto) to which the body forces at specified joints are written.-->
        <output_body_forces_file />
	</InverseDynamicsTool>
</OpenSimDocument>
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