function [z,xSt0]=HybridcostMod(x,wrV)
    I_bod=[];gv=[];Lr=[];m=[];l0=[];Aznom=[];kpLe=[];kpAz=[];kdtau=[];tau0=[];g=[];
    tpHM0=[];
    phasphi=[];
    rZYXR=[];initrvec=[];
    InitSetUp;
    
    [Fz0,~,~] = LiftOffEventsFcn(0,xSt0,@Fextfun,Lr,Aznom,kpLe,kpAz,tau0,l0,I_bod,kdtau);
%     if (norm(xSt0)>1e+12||Fz0(1)<=-1e-5)
%         Fz0(1)
%         z=wrV;warning('ret. wrV1');%return;
%     end
    %CAREFULL WITH xStFS
    [tStF,xStFS] = StancePhaseOut(xSt0,I_bod,Lr,Aznom,kpLe,kpAz,tau0,l0,gv,m,tpHM0,kdtau);
    [Fz0,~,~]=LiftOffEventsFcn(tStF,xStFS,@Fextfun,Lr,Aznom,kpLe,kpAz,tau0,l0,I_bod,kdtau);
%     if ((tStF==tpHM0)||(tStF<0.001)||xStFS(3)<0||abs(Fz0(1))>1e-6)
%         z=wrV;disp('ret. wrV2');%return;
%     end
    
    [tFlF,xFlF,rFlFfoot] = FlightPhaseOutStride(xStFS,Aznom,l0,phasphi,Lr,gv,I_bod,tpHM0);
    if ((tFlF==tpHM0)||(tFlF<0.001)||(abs(rFlFfoot(3))>1e-4))
        tFlF
        abs(rFlFfoot(3))
        z=wrV;disp('ret. wrV4');%return;
    end
    z=xFlF(1:12)-xSt0;
    norm(z)
    %%%GOOD ONE 
    %z=sysDres(xSt0,xStFS,0);
    %z=z(1:12);%z=(xSt0-xFlF);%disp(norm(z));
   
% function res = sysDres(ya,yb,parave) %%%%%%NESTEDDDDDDDD
%     xStF=yb(4:6);
%     L0=yb(10:12);
%     tFlp=(ya(9)-yb(9))/(gv(3));
%     %Opt = odeset('Events', @(t,xF) TouchDoEventsFcn(t,xF));%'AbsTol',1e-10,%,Lr,l0,q5j,dq5j,av
%     Opt = odeset('AbsTol',1e-10,'RelTol',1e-10);%%,Lr,l0,q5j,dq5j,av
%     if tFlp==0
%         xFl=xStF';
%     else
%         [~,xFl] = ode45(@(t,x) flight2DOut_full_red(t,x,I_bod,L0), [0 tFlp], xStF,Opt);%Opt(t,x,I_bod,L0,g)%(tanh(parave(2))+1)
%     end
%     RMirr=diag([-1,1,1]);
%     xFlF312=[yb(3)+tFlp*yb(9)+gv(3)*(tFlp^2)/2;-xFl(end,1:2)';xFl(end,3);-yb(7);yb(8);-RMirr*L0];
%     rZYXRa=rotz(ya(4))*roty(ya(5))*rotx(ya(6));rloca=rZYXRa'*([0;0;0]-ya(1:3))-[0;0;Lr];
%     phasvpo=roty(Aznom)*rloca;%TOO SENSIBLEE
%     %phasphi=atan2(phasvpo(2),-phasvpo(3));
%     res=[rloca'*rloca-l0^2;%ya(9)+0.5;%
%         ya(7)-.7;%%
%         ya(8)-2;%atan2(phasvpo(2),-phasvpo(3))-0.1;
%         ya([3:8 10:12]')-xFlF312;
%         eqFextWz(yb(6),yb(4),yb(1),yb(2),yb(3),yb(5))];%%Consider signed initial conditions with parameters
% end
    
end
% function dydx = sysD(x,y,parave)%VERIFY L0P
%     r0x=y(1,:);r0y=y(2,:);r0z=y(3,:);
%     psi=y(4,:);th=y(5,:);phi=y(6,:);
%     dr0x=y(7,:);dr0y=y(8,:);dr0z=y(9,:);
%     L0p1=y(10,:);L0p2=y(11,:);L0p3=y(12,:);   
%     dydx=parave(1)*eqdSRBMdt(L0p1,L0p2,L0p3,dr0x,dr0y,dr0z,phi,psi,r0x,r0y,r0z,th);
% end