From df2484d68f9df304de5984680eea1ee11e9dea65 Mon Sep 17 00:00:00 2001
From: AlexBeattie42 <30098201+alexbeattie42@users.noreply.github.com>
Date: Tue, 11 Feb 2025 13:01:19 +0200
Subject: [PATCH] Remove unused, legacy `<defaults>` blocks in `.osim` and
 `.xml` files

---
 .../Hamner/FullBodyModel_Hamner2010_v2_0.osim | 119 -------
 Pipelines/Gait2354_Simbody/forces_grf.xml     | 251 -------------
 .../Gait2354_Simbody/gait2354_RRA_Tasks.xml   | 155 --------
 .../ResultsCMC/subject01_walk1_controls.xml   | 167 ---------
 .../subject01_walk1_RRA_controls.xml          | 167 ---------
 .../Gait2392_Simbody/foot_floor_loads.xml     | 251 -------------
 .../gait2392_RRA_Actuators.xml                | 251 -------------
 .../gait2392_RRA_ControlConstraints.xml       | 251 -------------
 .../Gait2392_Simbody/gait2392_RRA_Tasks.xml   | 251 -------------
 .../gait2392_SO_Residual_Actuators.xml        | 251 -------------
 .../gait2392_SO_weak_Residual_Actuators.xml   | 251 -------------
 .../Gait2392_Simbody/setup_JointReaction.xml  | 251 -------------
 .../setup_static_optimization.xml             | 251 -------------
 ...subject01_Setup_JointReaction_from_RRA.xml | 251 -------------
 .../subject01_Setup_JointReaction_from_SO.xml | 251 -------------
 .../Gait2392_Simbody/subject01_walk1_grf.xml  | 251 -------------
 .../Hamner/FullBodyModel_Hamner2010_v2_0.osim | 119 -------
 Pipelines/Rajagopal/CMC/run/cmc_setup_run.xml | 158 --------
 Pipelines/Rajagopal/CMC/run/grf_run.xml       | 158 --------
 Pipelines/Rajagopal/ID/grf_run.xml            | 158 --------
 Pipelines/Rajagopal/IK/ik_setup_run.xml       | 158 --------
 Pipelines/Rajagopal/RRA/run/grf_run.xml       | 158 --------
 .../Rajagopal/RRA/run/rra_setup_run_1.xml     | 158 --------
 .../Rajagopal/RRA/run/rra_setup_run_2.xml     | 158 --------
 .../Rajagopal/RRA/run/rra_setup_run_3.xml     | 158 --------
 .../Results/arm26_controls.xml                | 337 ------------------
 .../arm26_Modified_controls.xml               | 154 --------
 .../foot_floor_loads.xml                      | 145 --------
 .../gait2392_SO_weak_Residual_Actuators.xml   | 145 --------
 .../setup_JointReaction.xml                   | 145 --------
 .../setup_static_optimization.xml             | 145 --------
 .../subject01_simbody_adjusted_StaticOp.osim  | 145 --------
 32 files changed, 6219 deletions(-)
diff --git a/Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim b/Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim
index 5191792..dd7abbe 100755
--- a/Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim
+++ b/Models/Hamner/FullBodyModel_Hamner2010_v2_0.osim
@@ -1,125 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<Model name="3DGaitModelwithSimpleArms">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--The set of points defining the path of the actuator.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objects that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Default appearance attributes for this GeometryPath-->
-					<Appearance>
-						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
-						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
-					</Appearance>
-				</GeometryPath>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.29999999999999999</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-				<!--Activation time constant, in seconds-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--Deactivation time constant, in seconds-->
-				<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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 property.-->
-				<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>
 		<!--The model's ground reference frame.-->
 		<Ground name="ground">
 			<!--The geometry used to display the axes of this Frame.-->
diff --git a/Pipelines/Gait2354_Simbody/forces_grf.xml b/Pipelines/Gait2354_Simbody/forces_grf.xml
index 10c5919..116a6b9 100644
--- a/Pipelines/Gait2354_Simbody/forces_grf.xml
+++ b/Pipelines/Gait2354_Simbody/forces_grf.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ExternalLoads name="">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<objects>
 			<ExternalForce name="Right">
 				<isDisabled> false </isDisabled>
diff --git a/Pipelines/Gait2354_Simbody/gait2354_RRA_Tasks.xml b/Pipelines/Gait2354_Simbody/gait2354_RRA_Tasks.xml
index cb44d35..1357db1 100644
--- a/Pipelines/Gait2354_Simbody/gait2354_RRA_Tasks.xml
+++ b/Pipelines/Gait2354_Simbody/gait2354_RRA_Tasks.xml
@@ -1,161 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<CMC_TaskSet name="gait2354_RRA">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate></coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA></bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB></bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>300</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<VisibleObject>
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.0535</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 100</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> false false false</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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_tz">
 				<!--Flag (true or false) indicating whether or not a task is enabled.-->
diff --git a/Pipelines/Gait2392_Simbody/OutputReference/ResultsCMC/subject01_walk1_controls.xml b/Pipelines/Gait2392_Simbody/OutputReference/ResultsCMC/subject01_walk1_controls.xml
index b86e628..b7ae7dd 100644
--- a/Pipelines/Gait2392_Simbody/OutputReference/ResultsCMC/subject01_walk1_controls.xml
+++ b/Pipelines/Gait2392_Simbody/OutputReference/ResultsCMC/subject01_walk1_controls.xml
@@ -1,173 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ControlSet name="Control Set">
-	<defaults>
-		<ControlLinear name="default">
-			<is_model_control> true </is_model_control>
-			<extrapolate> true </extrapolate>
-				<default_min>       0.02000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-			<filter_on> false </filter_on>
-			<use_steps> true </use_steps>
-			<x_nodes/>
-			<min_nodes/>
-			<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-		</ControlLinear>
-		<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-				<objects/>
-				<groups/>
-					</PathPointSet>
-			<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-			</VisibleObject>
-					<PathWrapSet name="">
-				<objects/>
-				<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-		</Thelen2003Muscle>
-		<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-				<objects/>
-				<groups/>
-					</PathPointSet>
-			<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-			</VisibleObject>
-					<PathWrapSet name="">
-				<objects/>
-				<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-			<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-			</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-			<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-			</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-			<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-			</passive_force_length_curve>
-		</Schutte1993Muscle>
-	</defaults>
 	<objects>
 		<ControlLinear name="glut_med1_r.excitation">
 			<is_model_control> true </is_model_control>
diff --git a/Pipelines/Gait2392_Simbody/OutputReference/ResultsRRA/subject01_walk1_RRA_controls.xml b/Pipelines/Gait2392_Simbody/OutputReference/ResultsRRA/subject01_walk1_RRA_controls.xml
index 16621c9..9f2807b 100644
--- a/Pipelines/Gait2392_Simbody/OutputReference/ResultsRRA/subject01_walk1_RRA_controls.xml
+++ b/Pipelines/Gait2392_Simbody/OutputReference/ResultsRRA/subject01_walk1_RRA_controls.xml
@@ -1,173 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ControlSet name="Control Set">
-	<defaults>
-		<ControlLinear name="default">
-			<is_model_control> true </is_model_control>
-			<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-			<filter_on> false </filter_on>
-			<use_steps> false </use_steps>
-			<x_nodes/>
-			<min_nodes/>
-			<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-		</ControlLinear>
-		<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-				<objects/>
-				<groups/>
-					</PathPointSet>
-			<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-			</VisibleObject>
-					<PathWrapSet name="">
-				<objects/>
-				<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-		</Thelen2003Muscle>
-		<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-				<objects/>
-				<groups/>
-					</PathPointSet>
-			<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-			</VisibleObject>
-					<PathWrapSet name="">
-				<objects/>
-				<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-			<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-			</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-			<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-			</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-			<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-			</passive_force_length_curve>
-		</Schutte1993Muscle>
-	</defaults>
 	<objects>
 		<ControlLinear name="FX.excitation">
 			<is_model_control> true </is_model_control>
diff --git a/Pipelines/Gait2392_Simbody/foot_floor_loads.xml b/Pipelines/Gait2392_Simbody/foot_floor_loads.xml
index 031097f..32e9dd4 100644
--- a/Pipelines/Gait2392_Simbody/foot_floor_loads.xml
+++ b/Pipelines/Gait2392_Simbody/foot_floor_loads.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="20302">
 	<ExternalLoads name="">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1.00000000</default_min>
-				<default_max>1.00000000</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100.00000000</kp>
-				<kv>20.00000000</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>-infinity</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>infinity</max_control>
-				<coordinate />
-				<optimal_force>300.00000000</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>-infinity</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>infinity</max_control>
-				<body />
-				<point>0.00000000 0.00000000 0.00000000</point>
-				<point_is_global>false</point_is_global>
-				<direction>-1.00000000 -0.00000000 -0.00000000</direction>
-				<force_is_global>true</force_is_global>
-				<optimal_force>1000.00000000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>-infinity</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>infinity</max_control>
-				<bodyA />
-				<bodyB />
-				<torque_is_global>true</torque_is_global>
-				<axis>-1.00000000 -0.00000000 -0.00000000</axis>
-				<optimal_force>300.00000000</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>0.01000000</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>1.00000000</max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects />
-						<groups />
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>1.00000000 1.00000000 1.00000000</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>-0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects />
-						<groups />
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>1.00000000</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546.00000000</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.05350000</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.07800000</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>0.00000000</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>10.00000000</max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>0.01000000</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04000000</deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>10.00000000</Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>5.00000000</Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>0.03300000</FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.60000000</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.50000000</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4.00000000</KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>0.05000000</damping>
-				<!--force-velocity shape factor-->
-				<Af>0.30000000</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.80000000</Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>0.01000000</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>1.00000000</max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects />
-						<groups />
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>1.00000000 1.00000000 1.00000000</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>-0.00000000 0.00000000 -0.00000000 0.00000000 0.00000000 0.00000000</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects />
-						<groups />
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>1.00000000</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546.00000000</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.05350000</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.07800000</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>0.00000000</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>10.00000000</max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>0.10000000</time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>0.00000000</activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>0.00000000</activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>0.05000000</damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>-10.00000000 -0.00200000 -0.00100000 0.00000000 0.00131000 0.00281000 0.00431000 0.00581000 0.00731000 0.00881000 0.01030000 0.01180000 0.01230000 9.20000000 9.20100000 9.20200000 20.00000000</x>
-						<y>0.00000000 0.00000000 0.00000000 0.00000000 0.01080000 0.02570000 0.04350000 0.06520000 0.09150000 0.12300000 0.16100000 0.20800000 0.22700000 345.00000000 345.00000000 345.00000000 345.00000000</y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>-5.30769200 -4.30769200 -1.92307700 -0.88461500 -0.26923100 0.23076900 0.46153800 0.52725000 0.62875000 0.71875000 0.86125000 1.04500000 1.21750000 1.43875000 1.50000000 1.61538500 2.00000000 2.96153800 3.69230800 5.46153800 9.90190200</x>
-						<y>0.01218800 0.02189900 0.03646600 0.05249300 0.07531200 0.11415800 0.15785900 0.22666700 0.63666700 0.85666700 0.95000000 0.99333300 0.77000000 0.24666700 0.19382100 0.13325200 0.07268300 0.04441700 0.03634100 0.02189900 0.00733200</y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>-5.00000000 0.99800000 0.99900000 1.00000000 1.10000000 1.20000000 1.30000000 1.40000000 1.50000000 1.60000000 1.60100000 1.60200000 5.00000000</x>
-						<y>0.00000000 0.00000000 0.00000000 0.00000000 0.03500000 0.12000000 0.26000000 0.55000000 1.17000000 2.00000000 2.00000000 2.00000000 2.00000000</y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is on.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>1.00000000 1.00000000 1.00000000</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>false false false</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>1.00000000 1.00000000 1.00000000</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>1.00000000 1.00000000 1.00000000</kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>1.00000000 1.00000000 1.00000000</ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>0.00000000 0.00000000 0.00000000</r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>0.00000000 0.00000000 0.00000000</r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>0.00000000 0.00000000 0.00000000</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>0.00000000</limit>
-			</CMC_Joint>
-		</defaults>
 		<objects>
 			<PrescribedForce name="ExternalForce_1">
 				<isDisabled>false</isDisabled>
diff --git a/Pipelines/Gait2392_Simbody/gait2392_RRA_Actuators.xml b/Pipelines/Gait2392_Simbody/gait2392_RRA_Actuators.xml
index 5b27e59..2ebe4d5 100644
--- a/Pipelines/Gait2392_Simbody/gait2392_RRA_Actuators.xml
+++ b/Pipelines/Gait2392_Simbody/gait2392_RRA_Actuators.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ForceSet name="gait2392_RRA">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 	<objects>
 			<PointActuator name="FX">
 				<isDisabled> false </isDisabled>
diff --git a/Pipelines/Gait2392_Simbody/gait2392_RRA_ControlConstraints.xml b/Pipelines/Gait2392_Simbody/gait2392_RRA_ControlConstraints.xml
index dd6d842..49cdfe2 100644
--- a/Pipelines/Gait2392_Simbody/gait2392_RRA_ControlConstraints.xml
+++ b/Pipelines/Gait2392_Simbody/gait2392_RRA_ControlConstraints.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ControlSet name="Control Set">
-	<defaults>
-		<ControlLinear name="default">
-			<is_model_control> true </is_model_control>
-			<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-			<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-		</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-	</defaults>
 	<objects>
 		<ControlLinear name="FX.excitation">
 				<is_model_control> true </is_model_control>
diff --git a/Pipelines/Gait2392_Simbody/gait2392_RRA_Tasks.xml b/Pipelines/Gait2392_Simbody/gait2392_RRA_Tasks.xml
index 2c09664..271d274 100644
--- a/Pipelines/Gait2392_Simbody/gait2392_RRA_Tasks.xml
+++ b/Pipelines/Gait2392_Simbody/gait2392_RRA_Tasks.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<rdCMC_TaskSet name="gait2392_RRA">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<objects>
 			<rdCMC_Joint name="pelvis_tz">
 				<!--Flag (true or false) indicating whether or not a task is enabled.-->
diff --git a/Pipelines/Gait2392_Simbody/gait2392_SO_Residual_Actuators.xml b/Pipelines/Gait2392_Simbody/gait2392_SO_Residual_Actuators.xml
index dc21148..6e9c614 100644
--- a/Pipelines/Gait2392_Simbody/gait2392_SO_Residual_Actuators.xml
+++ b/Pipelines/Gait2392_Simbody/gait2392_SO_Residual_Actuators.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ForceSet name="gait2392_CMC">
-	<defaults>
-		<ControlLinear name="default">
-			<is_model_control> true </is_model_control>
-			<extrapolate> true </extrapolate>
-			<default_min>      -1.00000000 </default_min>
-			<default_max>       1.00000000 </default_max>
-			<filter_on> false </filter_on>
-			<use_steps> false </use_steps>
-			<x_nodes/>
-			<min_nodes/>
-			<max_nodes/>
-			<kp>     100.00000000 </kp>
-			<kv>      20.00000000 </kv>
-		</ControlLinear>
-		<CoordinateActuator name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-			<coordinate>  </coordinate>
-			<optimal_force>    1000.00000000 </optimal_force>
-		</CoordinateActuator>
-		<PointActuator name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-			<body>  </body>
-			<point>       0.00000000       0.00000000       0.00000000 </point>
-			<point_is_global> false </point_is_global>
-				<direction>       1.00000000       0.00000000       0.00000000 </direction>
-			<force_is_global> true </force_is_global>
-			<optimal_force>    1000.00000000 </optimal_force>
-		</PointActuator>
-		<TorqueActuator name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-			<bodyA>  </bodyA>
-			<bodyB>  </bodyB>
-			<torque_is_global> true </torque_is_global>
-				<axis>       1.00000000       0.00000000       0.00000000 </axis>
-			<optimal_force>    1000.00000000 </optimal_force>
-		</TorqueActuator>
-		<Thelen2003Muscle name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-			<GeometryPath name="">
-				<PathPointSet name="">
-					<objects/>
-					<groups/>
-				</PathPointSet>
-				<VisibleObject name="">
-					<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-					    .obj-->
-					<GeometrySet name="">
-						<objects/>
-						<groups/>
-					</GeometrySet>
-					<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-					<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-					<!--transform relative to owner specified as 3 rotations (rad) followed by
-					    3 translations rX rY rZ tx ty tz-->
-					<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-					<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-					    individual geometries-->
-					<display_preference> 4 </display_preference>
-				</VisibleObject>
-				<PathWrapSet name="">
-					<objects/>
-					<groups/>
-				</PathWrapSet>
-			</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-			<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-			<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-			<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-			<!--time constant for ramping up of muscle activation-->
-			<activation_time_constant>       0.01000000 </activation_time_constant>
-			<!--time constant for ramping down of muscle activation-->
-			<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-			<!--maximum contraction velocity at full activation in fiber lengths per
-			    second-->
-			<Vmax>      10.00000000 </Vmax>
-			<!--maximum contraction velocity at low activation in fiber lengths per
-			    second-->
-			<Vmax0>       5.00000000 </Vmax0>
-			<!--tendon strain due to maximum isometric muscle force-->
-			<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-			<!--passive muscle strain due to maximum isometric muscle force-->
-			<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-			<!--shape factor for Gaussian active muscle force-length relationship-->
-			<KshapeActive>       0.50000000 </KshapeActive>
-			<!--exponential shape factor for passive force-length relationship-->
-			<KshapePassive>       4.00000000 </KshapePassive>
-			<!--passive damping in the force-velocity relationship-->
-			<damping>       0.05000000 </damping>
-			<!--force-velocity shape factor-->
-			<Af>       0.30000000 </Af>
-			<!--maximum normalized lengthening force-->
-			<Flen>       1.80000000 </Flen>
-		</Thelen2003Muscle>
-		<Schutte1993Muscle name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-			<GeometryPath name="">
-				<PathPointSet name="">
-					<objects/>
-					<groups/>
-				</PathPointSet>
-				<VisibleObject name="">
-					<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-					    .obj-->
-					<GeometrySet name="">
-						<objects/>
-						<groups/>
-					</GeometrySet>
-					<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-					<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-					<!--transform relative to owner specified as 3 rotations (rad) followed by
-					    3 translations rX rY rZ tx ty tz-->
-					<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-					<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-					    individual geometries-->
-					<display_preference> 4 </display_preference>
-				</VisibleObject>
-				<PathWrapSet name="">
-					<objects/>
-					<groups/>
-				</PathWrapSet>
-			</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-			<!--Maximum isometric force that the fibers can generate-->
-			<max_isometric_force>     546.00000000 </max_isometric_force>
-			<!--Optimal length of the muscle fibers-->
-			<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-			<!--Resting length of the tendon-->
-			<tendon_slack_length>       0.07800000 </tendon_slack_length>
-			<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-			<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-			    per second-->
-			<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-			<!--Damping factor related to maximum contraction velocity-->
-			<damping>       0.05000000 </damping>
-			<!--Function representing force-length behavior of tendon-->
-			<tendon_force_length_curve>
-				<NaturalCubicSpline name="">
-					<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-					<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-				</NaturalCubicSpline>
-			</tendon_force_length_curve>
-			<!--Function representing active force-length behavior of muscle fibers-->
-			<active_force_length_curve>
-				<NaturalCubicSpline name="">
-					<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-					<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-				</NaturalCubicSpline>
-			</active_force_length_curve>
-			<!--Function representing passive force-length behavior of muscle fibers-->
-			<passive_force_length_curve>
-				<NaturalCubicSpline name="">
-					<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-					<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-				</NaturalCubicSpline>
-			</passive_force_length_curve>
-		</Schutte1993Muscle>
-		<CMC_Joint name="default">
-			<!--Flag (true or false) indicating whether or not a task is on.-->
-			<on> false </on>
-			<!--Weight with which a task is tracked relative to other tasks. To track
-			    a task more tightly, make the weight larger.-->
-			<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-			<!--Position error feedback gain (stiffness). To achieve critical damping
-			    of errors, choose kv = 2*sqrt(kp).-->
-			<kp>       1.00000000       1.00000000       1.00000000 </kp>
-			<!--Velocity error feedback gain (damping). To achieve critical damping of
-			    errors, choose kv = 2*sqrt(kp).-->
-			<kv>       1.00000000       1.00000000       1.00000000 </kv>
-			<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-			    gain.-->
-			<ka>       1.00000000       1.00000000       1.00000000 </ka>
-			<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-			    this propery.-->
-			<r0>       0.00000000       0.00000000       0.00000000 </r0>
-			<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-			    this property.-->
-			<r1>       0.00000000       0.00000000       0.00000000 </r1>
-			<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-			    this property.-->
-			<r2>       0.00000000       0.00000000       0.00000000 </r2>
-			<!--Name of the coordinate to be tracked.-->
-			<coordinate>  </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>       0.00000000 </limit>
-		</CMC_Joint>
-	</defaults>
 	<objects>
 		<PointActuator name="FX">
 				<isDisabled> false </isDisabled>
diff --git a/Pipelines/Gait2392_Simbody/gait2392_SO_weak_Residual_Actuators.xml b/Pipelines/Gait2392_Simbody/gait2392_SO_weak_Residual_Actuators.xml
index 6c2b676..5fdfb59 100644
--- a/Pipelines/Gait2392_Simbody/gait2392_SO_weak_Residual_Actuators.xml
+++ b/Pipelines/Gait2392_Simbody/gait2392_SO_weak_Residual_Actuators.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ForceSet name="gait2392_CMC">
-	<defaults>
-		<ControlLinear name="default">
-			<is_model_control> true </is_model_control>
-			<extrapolate> true </extrapolate>
-			<default_min>      -1.00000000 </default_min>
-			<default_max>       1.00000000 </default_max>
-			<filter_on> false </filter_on>
-			<use_steps> false </use_steps>
-			<x_nodes/>
-			<min_nodes/>
-			<max_nodes/>
-			<kp>     100.00000000 </kp>
-			<kv>      20.00000000 </kv>
-		</ControlLinear>
-		<CoordinateActuator name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-			<coordinate>  </coordinate>
-			<optimal_force>    1000.00000000 </optimal_force>
-		</CoordinateActuator>
-		<PointActuator name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-			<body>  </body>
-			<point>       0.00000000       0.00000000       0.00000000 </point>
-			<point_is_global> false </point_is_global>
-				<direction>       1.00000000       0.00000000       0.00000000 </direction>
-			<force_is_global> true </force_is_global>
-			<optimal_force>    1000.00000000 </optimal_force>
-		</PointActuator>
-		<TorqueActuator name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-			<bodyA>  </bodyA>
-			<bodyB>  </bodyB>
-			<torque_is_global> true </torque_is_global>
-				<axis>       1.00000000       0.00000000       0.00000000 </axis>
-			<optimal_force>    1000.00000000 </optimal_force>
-		</TorqueActuator>
-		<Thelen2003Muscle name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-			<GeometryPath name="">
-				<PathPointSet name="">
-					<objects/>
-					<groups/>
-				</PathPointSet>
-				<VisibleObject name="">
-					<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-					    .obj-->
-					<GeometrySet name="">
-						<objects/>
-						<groups/>
-					</GeometrySet>
-					<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-					<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-					<!--transform relative to owner specified as 3 rotations (rad) followed by
-					    3 translations rX rY rZ tx ty tz-->
-					<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-					<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-					    individual geometries-->
-					<display_preference> 4 </display_preference>
-				</VisibleObject>
-				<PathWrapSet name="">
-					<objects/>
-					<groups/>
-				</PathWrapSet>
-			</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-			<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-			<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-			<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-			<!--time constant for ramping up of muscle activation-->
-			<activation_time_constant>       0.01000000 </activation_time_constant>
-			<!--time constant for ramping down of muscle activation-->
-			<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-			<!--maximum contraction velocity at full activation in fiber lengths per
-			    second-->
-			<Vmax>      10.00000000 </Vmax>
-			<!--maximum contraction velocity at low activation in fiber lengths per
-			    second-->
-			<Vmax0>       5.00000000 </Vmax0>
-			<!--tendon strain due to maximum isometric muscle force-->
-			<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-			<!--passive muscle strain due to maximum isometric muscle force-->
-			<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-			<!--shape factor for Gaussian active muscle force-length relationship-->
-			<KshapeActive>       0.50000000 </KshapeActive>
-			<!--exponential shape factor for passive force-length relationship-->
-			<KshapePassive>       4.00000000 </KshapePassive>
-			<!--passive damping in the force-velocity relationship-->
-			<damping>       0.05000000 </damping>
-			<!--force-velocity shape factor-->
-			<Af>       0.30000000 </Af>
-			<!--maximum normalized lengthening force-->
-			<Flen>       1.80000000 </Flen>
-		</Thelen2003Muscle>
-		<Schutte1993Muscle name="default">
-			<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-			<GeometryPath name="">
-				<PathPointSet name="">
-					<objects/>
-					<groups/>
-				</PathPointSet>
-				<VisibleObject name="">
-					<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-					    .obj-->
-					<GeometrySet name="">
-						<objects/>
-						<groups/>
-					</GeometrySet>
-					<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-					<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-					<!--transform relative to owner specified as 3 rotations (rad) followed by
-					    3 translations rX rY rZ tx ty tz-->
-					<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-					<!--Whether to show a coordinate frame-->
-					<show_axes> false </show_axes>
-					<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-					    individual geometries-->
-					<display_preference> 4 </display_preference>
-				</VisibleObject>
-				<PathWrapSet name="">
-					<objects/>
-					<groups/>
-				</PathWrapSet>
-			</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-			<!--Maximum isometric force that the fibers can generate-->
-			<max_isometric_force>     546.00000000 </max_isometric_force>
-			<!--Optimal length of the muscle fibers-->
-			<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-			<!--Resting length of the tendon-->
-			<tendon_slack_length>       0.07800000 </tendon_slack_length>
-			<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-			<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-			    per second-->
-			<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-			<!--Damping factor related to maximum contraction velocity-->
-			<damping>       0.05000000 </damping>
-			<!--Function representing force-length behavior of tendon-->
-			<tendon_force_length_curve>
-				<NaturalCubicSpline name="">
-					<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-					<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-				</NaturalCubicSpline>
-			</tendon_force_length_curve>
-			<!--Function representing active force-length behavior of muscle fibers-->
-			<active_force_length_curve>
-				<NaturalCubicSpline name="">
-					<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-					<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-				</NaturalCubicSpline>
-			</active_force_length_curve>
-			<!--Function representing passive force-length behavior of muscle fibers-->
-			<passive_force_length_curve>
-				<NaturalCubicSpline name="">
-					<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-					<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-				</NaturalCubicSpline>
-			</passive_force_length_curve>
-		</Schutte1993Muscle>
-		<CMC_Joint name="default">
-			<!--Flag (true or false) indicating whether or not a task is on.-->
-			<on> false </on>
-			<!--Weight with which a task is tracked relative to other tasks. To track
-			    a task more tightly, make the weight larger.-->
-			<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-			<!--Position error feedback gain (stiffness). To achieve critical damping
-			    of errors, choose kv = 2*sqrt(kp).-->
-			<kp>       1.00000000       1.00000000       1.00000000 </kp>
-			<!--Velocity error feedback gain (damping). To achieve critical damping of
-			    errors, choose kv = 2*sqrt(kp).-->
-			<kv>       1.00000000       1.00000000       1.00000000 </kv>
-			<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-			    gain.-->
-			<ka>       1.00000000       1.00000000       1.00000000 </ka>
-			<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-			    this propery.-->
-			<r0>       0.00000000       0.00000000       0.00000000 </r0>
-			<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-			    this property.-->
-			<r1>       0.00000000       0.00000000       0.00000000 </r1>
-			<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-			    this property.-->
-			<r2>       0.00000000       0.00000000       0.00000000 </r2>
-			<!--Name of the coordinate to be tracked.-->
-			<coordinate>  </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>       0.00000000 </limit>
-		</CMC_Joint>
-	</defaults>
 	<objects>
 		<PointActuator name="FX">
 				<isDisabled> false </isDisabled>
diff --git a/Pipelines/Gait2392_Simbody/setup_JointReaction.xml b/Pipelines/Gait2392_Simbody/setup_JointReaction.xml
index e3510b0..f420806 100644
--- a/Pipelines/Gait2392_Simbody/setup_JointReaction.xml
+++ b/Pipelines/Gait2392_Simbody/setup_JointReaction.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<AnalyzeTool name="subject01">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.01000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.01000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is on.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file> subject01_simbody_adjusted.osim </model_file>
 		<!--Replace the model's force set with sets specified in
diff --git a/Pipelines/Gait2392_Simbody/setup_static_optimization.xml b/Pipelines/Gait2392_Simbody/setup_static_optimization.xml
index 54f9242..ba36fc6 100644
--- a/Pipelines/Gait2392_Simbody/setup_static_optimization.xml
+++ b/Pipelines/Gait2392_Simbody/setup_static_optimization.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<AnalyzeTool name="subject01">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.01000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.01000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is on.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file> subject01_simbody_adjusted.osim </model_file>
 		<!--Replace the model's force set with sets specified in
diff --git a/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_RRA.xml b/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_RRA.xml
index 0f6504a..ee4766b 100644
--- a/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_RRA.xml
+++ b/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_RRA.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<AnalyzeTool name="subject01">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is on.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file>  </model_file>
 		<!--Replace the model's force set with sets specified in
diff --git a/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_SO.xml b/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_SO.xml
index 347e9d7..5782095 100644
--- a/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_SO.xml
+++ b/Pipelines/Gait2392_Simbody/subject01_Setup_JointReaction_from_SO.xml
@@ -1,257 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<AnalyzeTool name="subject01">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is on.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file>  </model_file>
 		<!--Replace the model's force set with sets specified in
diff --git a/Pipelines/Gait2392_Simbody/subject01_walk1_grf.xml b/Pipelines/Gait2392_Simbody/subject01_walk1_grf.xml
index 53f1826..5de32f2 100644
--- a/Pipelines/Gait2392_Simbody/subject01_walk1_grf.xml
+++ b/Pipelines/Gait2392_Simbody/subject01_walk1_grf.xml
@@ -48,256 +48,5 @@
 		    and point of application.Note: this file overrides the data source
 		    specified by the individual external forces if specified.-->
 		<datafile> subject01_walk1_grf.mot </datafile>
-	  <defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000000000000000 </default_min>
-				<default_max>       1.00000000000000000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000000000000000 </kp>
-				<kv>      20.00000000000000000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000000000000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000000000000000      -0.00000000000000000000      -0.00000000000000000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000000000000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000000000000000      -0.00000000000000000000      -0.00000000000000000000 </axis>
-				<optimal_force>     300.00000000000000000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.01000000000000000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000000000000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000000000000000       0.00000000000000000000      -0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000000000000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000000000000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05349999999999999900 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000000000000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000000000000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000000000000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000000000000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000000000000100 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000000000000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000000000000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000000000000200 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.59999999999999998000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000000000000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000000000000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000000000000300 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.29999999999999999000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000000000000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.01000000000000000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000000000000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000000000000000       0.00000000000000000000      -0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000000000000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000000000000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05349999999999999900 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000000000000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000000000000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000000000000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000000000001000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000000000000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000000000000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000000000000300 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000000000000000      -0.00200000000000000000      -0.00100000000000000000       0.00000000000000000000       0.00131000000000000000       0.00281000000000000000       0.00430999999999999960       0.00581000000000000010       0.00730999999999999970       0.00881000000000000010       0.01030000000000000000       0.01180000000000000000       0.01230000000000000000       9.19999999999999930000       9.20100000000000050000       9.20200000000000000000      20.00000000000000000000 </x>
-						<y>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.01080000000000000100       0.02570000000000000100       0.04349999999999999700       0.06519999999999999400       0.09149999999999999800       0.12300000000000000000       0.16100000000000000000       0.20799999999999999000       0.22700000000000001000     345.00000000000000000000     345.00000000000000000000     345.00000000000000000000     345.00000000000000000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200000000030000      -4.30769200000000030000      -1.92307699999999990000      -0.88461500000000004000      -0.26923100000000000000       0.23076900000000000000       0.46153800000000000000       0.52725000000000000000       0.62875000000000003000       0.71875000000000000000       0.86124999999999996000       1.04499999999999990000       1.21750000000000000000       1.43875000000000000000       1.50000000000000000000       1.61538500000000010000       2.00000000000000000000       2.96153800000000000000       3.69230800000000010000       5.46153800000000000000       9.90190199999999980000 </x>
-						<y>       0.01218799999999999900       0.02189899999999999800       0.03646599999999999800       0.05249299999999999800       0.07531200000000000400       0.11415800000000000000       0.15785900000000000000       0.22666700000000001000       0.63666699999999998000       0.85666699999999996000       0.94999999999999996000       0.99333300000000002000       0.77000000000000002000       0.24666700000000000000       0.19382099999999999000       0.13325200000000001000       0.07268299999999999800       0.04441699999999999800       0.03634099999999999800       0.02189899999999999800       0.00733200000000000000 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000000000000000       0.99800000000000000000       0.99900000000000000000       1.00000000000000000000       1.10000000000000010000       1.20000000000000000000       1.30000000000000000000       1.39999999999999990000       1.50000000000000000000       1.60000000000000010000       1.60100000000000000000       1.60200000000000010000       5.00000000000000000000 </x>
-						<y>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.03500000000000000300       0.12000000000000000000       0.26000000000000001000       0.55000000000000004000       1.16999999999999990000       2.00000000000000000000       2.00000000000000000000       2.00000000000000000000       2.00000000000000000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000000000000000 </limit>
-			</CMC_Joint>
-		</defaults>
 	</ExternalLoads>
 </OpenSimDocument>
diff --git a/Pipelines/Hamner/FullBodyModel_Hamner2010_v2_0.osim b/Pipelines/Hamner/FullBodyModel_Hamner2010_v2_0.osim
index 5d481d7..2947e4a 100755
--- a/Pipelines/Hamner/FullBodyModel_Hamner2010_v2_0.osim
+++ b/Pipelines/Hamner/FullBodyModel_Hamner2010_v2_0.osim
@@ -1,125 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<Model name="3DGaitModelwithSimpleArms">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--The set of points defining the path of the actuator.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objects that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Default appearance attributes for this GeometryPath-->
-					<Appearance>
-						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
-						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
-					</Appearance>
-				</GeometryPath>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.29999999999999999</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-				<!--Activation time constant, in seconds-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--Deactivation time constant, in seconds-->
-				<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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 property.-->
-				<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>
 		<!--The model's ground reference frame.-->
 		<Ground name="ground">
 			<!--The geometry used to display the axes of this Frame.-->
diff --git a/Pipelines/Rajagopal/CMC/run/cmc_setup_run.xml b/Pipelines/Rajagopal/CMC/run/cmc_setup_run.xml
index ff79641..8ea22f6 100644
--- a/Pipelines/Rajagopal/CMC/run/cmc_setup_run.xml
+++ b/Pipelines/Rajagopal/CMC/run/cmc_setup_run.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<CMCTool name="cmc">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>false</extrapolate>
-				<default_min>0.02</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>true</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file>subject_run_adjusted.osim</model_file>
 		<!--Replace the model's force set with sets specified in <force_set_files>? If false, the force set is appended to.-->
diff --git a/Pipelines/Rajagopal/CMC/run/grf_run.xml b/Pipelines/Rajagopal/CMC/run/grf_run.xml
index b833a8a..5d59583 100644
--- a/Pipelines/Rajagopal/CMC/run/grf_run.xml
+++ b/Pipelines/Rajagopal/CMC/run/grf_run.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<ExternalLoads name="grf_run">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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> 0 0 0</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 			<ExternalForce name="RightFoot_ExternalForce">
 				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
diff --git a/Pipelines/Rajagopal/ID/grf_run.xml b/Pipelines/Rajagopal/ID/grf_run.xml
index 87f8cbb..c84a3c2 100644
--- a/Pipelines/Rajagopal/ID/grf_run.xml
+++ b/Pipelines/Rajagopal/ID/grf_run.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<ExternalLoads name="grf_run">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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> 0 0 0</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 			<ExternalForce name="RightFoot_ExternalForce">
 				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
diff --git a/Pipelines/Rajagopal/IK/ik_setup_run.xml b/Pipelines/Rajagopal/IK/ik_setup_run.xml
index f2d8c9c..09e7f13 100644
--- a/Pipelines/Rajagopal/IK/ik_setup_run.xml
+++ b/Pipelines/Rajagopal/IK/ik_setup_run.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<InverseKinematicsTool name="run">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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> 0 0 0</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 		<!--Directory used for writing results.-->
 		<results_directory>./results_run</results_directory>
 		<!--Directory for input files-->
diff --git a/Pipelines/Rajagopal/RRA/run/grf_run.xml b/Pipelines/Rajagopal/RRA/run/grf_run.xml
index b833a8a..5d59583 100644
--- a/Pipelines/Rajagopal/RRA/run/grf_run.xml
+++ b/Pipelines/Rajagopal/RRA/run/grf_run.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<ExternalLoads name="grf_run">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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> 0 0 0</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 			<ExternalForce name="RightFoot_ExternalForce">
 				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
diff --git a/Pipelines/Rajagopal/RRA/run/rra_setup_run_1.xml b/Pipelines/Rajagopal/RRA/run/rra_setup_run_1.xml
index 434113a..f524786 100644
--- a/Pipelines/Rajagopal/RRA/run/rra_setup_run_1.xml
+++ b/Pipelines/Rajagopal/RRA/run/rra_setup_run_1.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<RRATool name="rra_run_1">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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> 0 0 0</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file> ../../Scale/subject_scaled_run.osim </model_file>
 		<!--Replace the model's force set with sets specified in <force_set_files> 
diff --git a/Pipelines/Rajagopal/RRA/run/rra_setup_run_2.xml b/Pipelines/Rajagopal/RRA/run/rra_setup_run_2.xml
index f6c9074..af1c2e2 100644
--- a/Pipelines/Rajagopal/RRA/run/rra_setup_run_2.xml
+++ b/Pipelines/Rajagopal/RRA/run/rra_setup_run_2.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<RRATool name="rra_run_2">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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> 0 0 0</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file> subject_run_rra1.osim </model_file>
 		<!--Replace the model's force set with sets specified in <force_set_files> 
diff --git a/Pipelines/Rajagopal/RRA/run/rra_setup_run_3.xml b/Pipelines/Rajagopal/RRA/run/rra_setup_run_3.xml
index d960e86..eb1c3c8 100644
--- a/Pipelines/Rajagopal/RRA/run/rra_setup_run_3.xml
+++ b/Pipelines/Rajagopal/RRA/run/rra_setup_run_3.xml
@@ -1,164 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="30000">
 	<RRATool name="rra_run_3">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate>Unassigned</coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA>Unassigned</bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB>Unassigned</bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
-				<isDisabled>false</isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>1</max_control>
-				<!--The set of points defining the path of the muscle.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objecs that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Used to display the path in the 3D window-->
-					<VisibleObject name="display">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
-						<GeometrySet>
-							<objects />
-							<groups />
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors> 1 1 1</scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
-						<transform> -0 0 -0 0 0 0</transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes>false</show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
-						<display_preference>4</display_preference>
-					</VisibleObject>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>0</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--time constant for ramping up muscle activation-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>0.04</deactivation_time_constant>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.3</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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> 0 0 0</active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file> subject_run_rra2.osim </model_file>
 		<!--Replace the model's force set with sets specified in <force_set_files> 
diff --git a/Tutorials/Computed_Muscle_Control/OutputReference/ComputedMuscleControl/Results/arm26_controls.xml b/Tutorials/Computed_Muscle_Control/OutputReference/ComputedMuscleControl/Results/arm26_controls.xml
index 777f450..071ccdd 100644
--- a/Tutorials/Computed_Muscle_Control/OutputReference/ComputedMuscleControl/Results/arm26_controls.xml
+++ b/Tutorials/Computed_Muscle_Control/OutputReference/ComputedMuscleControl/Results/arm26_controls.xml
@@ -1,343 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ControlSet name="arm26">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate>  </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA>  </bodyA>
-				<bodyB>  </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>       0.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.00000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -35.00000000       0.00000000       0.40100000       0.40200000       0.40350000       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.61875000       1.62000000       1.62100000       2.20000000      35.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.00000000       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.00000000       0.00000000       0.00000000       0.00000000       0.00000000 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -35.00000000       0.99800000       0.99900000       1.15000000       1.25000000       1.35000000       1.45000000       1.55000000       1.65000000       1.75000000       1.75010000       1.75020000      35.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<Delp1990Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.13962634 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.01000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.04000000 </activation2>
-				<!--Normalized mass of the muscle between the tendon and muscle fibers-->
-				<mass>       0.00287000 </mass>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -35.00000000       0.00000000       0.40100000       0.40200000       0.40350000       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.61875000       1.62000000       1.62100000       2.20000000      35.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.00000000       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.00000000       0.00000000       0.00000000       0.00000000       0.00000000 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -35.00000000       0.99800000       0.99900000       1.15000000       1.25000000       1.35000000       1.45000000       1.55000000       1.65000000       1.75000000       1.75010000       1.75020000      35.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-				<!--Function representing force-velocity behavior of muscle fibers-->
-				<force_velocity_curve>
-					<NaturalCubicSpline name="">
-						<x>      -1.00100000      -1.00000000      -0.95000000      -0.90000000      -0.85000000      -0.80000000      -0.75000000      -0.70000000      -0.65000000      -0.60000000      -0.55000000      -0.50000000      -0.45000000      -0.40000000      -0.35000000      -0.30000000      -0.25000000      -0.20000000      -0.15000000      -0.10000000      -0.05000000       0.00000000       0.05000000       0.10000000       0.15000000       0.20000000       0.25000000       0.30000000       0.35000000       0.40000000       0.45000000       0.50000000       0.55000000       0.60000000       0.65000000       0.70000000       0.75000000       0.80000000       0.85000000       0.90000000       0.95000000       1.00000000 </x>
-						<y>       0.00000000       0.00000000       0.01041700       0.02173900       0.03409100       0.04761900       0.06250000       0.07894700       0.09722200       0.11764700       0.14062500       0.16666700       0.19642900       0.23076900       0.27083300       0.31818200       0.37500000       0.44444400       0.53125000       0.64285700       0.79166700       1.00000000       1.48201400       1.60157100       1.65579100       1.68673900       1.70675100       1.72075300       1.73109900       1.73905500       1.74536500       1.75049000       1.75473600       1.75831200       1.76136400       1.76399900       1.76629800       1.76832100       1.77011500       1.77171700       1.77315500       1.77445500 </y>
-					</NaturalCubicSpline>
-				</force_velocity_curve>
-			</Delp1990Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </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> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </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>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<objects>
 			<ControlLinear name="TRIlong.excitation">
 				<is_model_control> true </is_model_control>
diff --git a/Tutorials/Computed_Muscle_Control/OutputReference/ForwardDynamics/arm26_Modified_controls.xml b/Tutorials/Computed_Muscle_Control/OutputReference/ForwardDynamics/arm26_Modified_controls.xml
index 81cbd49..115a5b5 100644
--- a/Tutorials/Computed_Muscle_Control/OutputReference/ForwardDynamics/arm26_Modified_controls.xml
+++ b/Tutorials/Computed_Muscle_Control/OutputReference/ForwardDynamics/arm26_Modified_controls.xml
@@ -1,160 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <OpenSimDocument Version="20302">
 	<ControlSet name="Control Set">
-		<defaults>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-					<objects/>
-					<groups/>
-					</PathPointSet>
-				<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-				</VisibleObject>
-					<PathWrapSet name="">
-					<objects/>
-					<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-					<objects/>
-					<groups/>
-					</PathPointSet>
-				<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-				</VisibleObject>
-					<PathWrapSet name="">
-					<objects/>
-					<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>       0.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.00000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -35.00000000       0.00000000       0.40100000       0.40200000       0.40350000       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.61875000       1.62000000       1.62100000       2.20000000      35.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.00000000       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.00000000       0.00000000       0.00000000       0.00000000       0.00000000 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -35.00000000       0.99800000       0.99900000       1.15000000       1.25000000       1.35000000       1.45000000       1.55000000       1.65000000       1.75000000       1.75010000       1.75020000      35.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-		</defaults>
 		<objects>
 			<ControlLinear name="TRIlong">
 				<is_model_control> true </is_model_control>
diff --git a/Tutorials/Estimating_Joint_Reaction_Loads/foot_floor_loads.xml b/Tutorials/Estimating_Joint_Reaction_Loads/foot_floor_loads.xml
index 7525087..0da498f 100644
--- a/Tutorials/Estimating_Joint_Reaction_Loads/foot_floor_loads.xml
+++ b/Tutorials/Estimating_Joint_Reaction_Loads/foot_floor_loads.xml
@@ -1,151 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<ExternalLoads>
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate></coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA></bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB></bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>300</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--The set of points defining the path of the actuator.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objects that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Default appearance attributes for this GeometryPath-->
-					<Appearance>
-						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
-						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
-					</Appearance>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.29999999999999999</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-				<!--Activation time constant, in seconds-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--Deactivation time constant, in seconds-->
-				<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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 property.-->
-				<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>
 			<ExternalForce name="right_foot">
 				<!--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.-->
diff --git a/Tutorials/Estimating_Joint_Reaction_Loads/gait2392_SO_weak_Residual_Actuators.xml b/Tutorials/Estimating_Joint_Reaction_Loads/gait2392_SO_weak_Residual_Actuators.xml
index 1059d2d..d5931d5 100644
--- a/Tutorials/Estimating_Joint_Reaction_Loads/gait2392_SO_weak_Residual_Actuators.xml
+++ b/Tutorials/Estimating_Joint_Reaction_Loads/gait2392_SO_weak_Residual_Actuators.xml
@@ -1,151 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<ForceSet name="gait2392_CMC">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate></coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>1000</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>1 0 0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA></bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB></bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>1 0 0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--The set of points defining the path of the actuator.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objects that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Default appearance attributes for this GeometryPath-->
-					<Appearance>
-						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
-						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
-					</Appearance>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.29999999999999999</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-				<!--Activation time constant, in seconds-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--Deactivation time constant, in seconds-->
-				<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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 property.-->
-				<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>
 			<PointActuator name="FX">
 				<!--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.-->
diff --git a/Tutorials/Estimating_Joint_Reaction_Loads/setup_JointReaction.xml b/Tutorials/Estimating_Joint_Reaction_Loads/setup_JointReaction.xml
index 1dd38c1..07a2dd9 100644
--- a/Tutorials/Estimating_Joint_Reaction_Loads/setup_JointReaction.xml
+++ b/Tutorials/Estimating_Joint_Reaction_Loads/setup_JointReaction.xml
@@ -1,151 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<AnalyzeTool name="subject01">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate></coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>1000</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>1 0 0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA></bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB></bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>1 0 0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--The set of points defining the path of the actuator.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objects that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Default appearance attributes for this GeometryPath-->
-					<Appearance>
-						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
-						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
-					</Appearance>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.29999999999999999</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-				<!--Activation time constant, in seconds-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--Deactivation time constant, in seconds-->
-				<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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 property.-->
-				<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>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file>subject01_simbody_adjusted.osim</model_file>
 		<!--Replace the model's force set with sets specified in <force_set_files>? If false, the force set is appended to.-->
diff --git a/Tutorials/Estimating_Joint_Reaction_Loads/setup_static_optimization.xml b/Tutorials/Estimating_Joint_Reaction_Loads/setup_static_optimization.xml
index 849ad6f..4ccbb51 100644
--- a/Tutorials/Estimating_Joint_Reaction_Loads/setup_static_optimization.xml
+++ b/Tutorials/Estimating_Joint_Reaction_Loads/setup_static_optimization.xml
@@ -1,151 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<AnalyzeTool name="subject01">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate></coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>1000</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>1 0 0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA></bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB></bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>1 0 0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--The set of points defining the path of the actuator.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objects that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Default appearance attributes for this GeometryPath-->
-					<Appearance>
-						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
-						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
-					</Appearance>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.29999999999999999</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-				<!--Activation time constant, in seconds-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--Deactivation time constant, in seconds-->
-				<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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 property.-->
-				<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>
 		<!--Name of the .osim file used to construct a model.-->
 		<model_file>subject01_simbody_adjusted.osim</model_file>
 		<!--Replace the model's force set with sets specified in <force_set_files>? If false, the force set is appended to.-->
diff --git a/Tutorials/Estimating_Joint_Reaction_Loads/subject01_simbody_adjusted_StaticOp.osim b/Tutorials/Estimating_Joint_Reaction_Loads/subject01_simbody_adjusted_StaticOp.osim
index 2be9412..6ee31e2 100644
--- a/Tutorials/Estimating_Joint_Reaction_Loads/subject01_simbody_adjusted_StaticOp.osim
+++ b/Tutorials/Estimating_Joint_Reaction_Loads/subject01_simbody_adjusted_StaticOp.osim
@@ -1,151 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <OpenSimDocument Version="40000">
 	<Model name="subject01">
-		<defaults>
-			<ControlLinear name="default">
-				<is_model_control>true</is_model_control>
-				<extrapolate>true</extrapolate>
-				<default_min>-1</default_min>
-				<default_max>1</default_max>
-				<filter_on>false</filter_on>
-				<use_steps>false</use_steps>
-				<x_nodes />
-				<min_nodes />
-				<max_nodes />
-				<kp>100</kp>
-				<kv>20</kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of the generalized coordinate to which the actuator applies.-->
-				<coordinate></coordinate>
-				<!--The maximum generalized force produced by this actuator.-->
-				<optimal_force>300</optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which this actuator is applied.-->
-				<body></body>
-				<!--Location of application point; in body frame unless point_is_global=true-->
-				<point>0 0 0</point>
-				<!--Interpret point in Ground frame if true; otherwise, body frame.-->
-				<point_is_global>false</point_is_global>
-				<!--Force application direction; in body frame unless force_is_global=true.-->
-				<direction>-1 -0 -0</direction>
-				<!--Interpret direction in Ground frame if true; otherwise, body frame.-->
-				<force_is_global>true</force_is_global>
-				<!--The maximum force produced by this actuator when fully activated.-->
-				<optimal_force>1000</optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>-Inf</min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
-				<max_control>Inf</max_control>
-				<!--Name of Body to which the torque actuator is applied.-->
-				<bodyA></bodyA>
-				<!--Name of Body to which the equal and opposite torque is applied.-->
-				<bodyB></bodyB>
-				<!--Interpret axis in Ground frame if true; otherwise, body A's frame.-->
-				<torque_is_global>true</torque_is_global>
-				<!--Fixed direction about which torque is applied, in Ground or body A frame depending on 'torque_is_global' property.-->
-				<axis>-1 -0 -0</axis>
-				<!--The maximum torque produced by this actuator when fully activated.-->
-				<optimal_force>300</optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<!--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.-->
-				<appliesForce>true</appliesForce>
-				<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
-				<min_control>0.01</min_control>
-				<!--The set of points defining the path of the actuator.-->
-				<GeometryPath>
-					<!--The set of points defining the path-->
-					<PathPointSet>
-						<objects />
-						<groups />
-					</PathPointSet>
-					<!--The wrap objects that are associated with this path-->
-					<PathWrapSet>
-						<objects />
-						<groups />
-					</PathWrapSet>
-					<!--Default appearance attributes for this GeometryPath-->
-					<Appearance>
-						<!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
-						<color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
-					</Appearance>
-				</GeometryPath>
-				<!--The maximum force this actuator can produce.-->
-				<optimal_force>1</optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>546</max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>0.053499999999999999</optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>0.078</tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
-				<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
-				<max_contraction_velocity>10</max_contraction_velocity>
-				<!--tendon strain at maximum isometric muscle force-->
-				<FmaxTendonStrain>0.033000000000000002</FmaxTendonStrain>
-				<!--passive muscle strain at maximum isometric muscle force-->
-				<FmaxMuscleStrain>0.59999999999999998</FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>0.5</KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>4</KshapePassive>
-				<!--force-velocity shape factor-->
-				<Af>0.29999999999999999</Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>1.8</Flen>
-				<!--Activation time constant, in seconds-->
-				<activation_time_constant>0.01</activation_time_constant>
-				<!--Deactivation time constant, in seconds-->
-				<deactivation_time_constant>0.040000000000000001</deactivation_time_constant>
-			</Thelen2003Muscle>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on>false</on>
-				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
-				<weight> 1 1 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>false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kp> 1 1 1</kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
-				<kv> 1 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 property.-->
-				<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>
 		<!--The model's ground reference frame.-->
 		<Ground name="ground">
 			<!--The geometry used to display the axes of this Frame.-->
