Main.Studies.InverseDynamicStudy = {

 InitialConditions.KinematicTol ??= 1e-2;

 InitialConditions.SolverType ??= KinSolOverDeterminate;

 InitialConditions.UseStartGuessOnOff ??= On;

 Kinematics.UseStartGuessOnOff ??= Off;

 Kinematics.KinematicTol ??= 1e-5; 

 Kinematics.OPERATION_DISPLAY_PRIORITY(PriorityLow);

 #if MOCAP_USE_GRF_PREDICTION == ON

  // GRF prediction needs UpperBound = Off, because this 

  // prevents solver change when residual "muscles" gets overloaded.

  InverseDynamics.Criterion.UpperBoundOnOff = Off; 

 #endif

InitialConditions.PreOperation = 

{

  AnyOperation &SetView = Main.ModelSetup.Views.SetViewMacros.InverseDynamicView;

};

// Add the Analysis to the Main.RunAnalysis sequence

Main.RunAnalysis.InverseDynamics.SubOperations = 

{

  #if (BM_LEG_MUSCLES_RIGHT == _MUSCLES_3E_HILL_) | (BM_LEG_MUSCLES_LEFT == _MUSCLES_3E_HILL_) | (BM_ARM_MUSCLES_RIGHT == _MUSCLES_3E_HILL_) | (BM_ARM_MUSCLES_LEFT == _MUSCLES_3E_HILL_) 

    AnyOperationSequence &MuscleCalibration = Main.HumanModel.Calibration.CalibrationSequence;

  #endif      

  AnyOperation &RunInverseDynamics = ....InverseDynamics;

};

 #ifndef N_STEP

 #define N_STEP Main.ModelSetup.TrialSpecificData.nStep

 #endif

 #ifndef T_END

 #define T_END Main.ModelSetup.TrialSpecificData.tEnd

 #endif

 #ifndef T_START

 #define T_START Main.ModelSetup.TrialSpecificData.tStart

 #endif

 AnyVar tFrame = iffun(gtfun(Main.ModelSetup.TrialSpecificData.nStep, 1), (T_END-T_START)/max({Main.ModelSetup.TrialSpecificData.nStep-1,1}), 0.01);

 Kinematics.ApproxVelAccPerturb = min({1.0/C3DData.Header.VideoFrameRate, tFrame});

 InitialConditions.ApproxVelAccPerturb = Kinematics.ApproxVelAccPerturb ;

 tStart = min({T_START+3*tFrame, T_END}); 

 tEnd = max({T_END-3*tFrame, tStart});

 nStep= max({N_STEP-6, 1});  

};