Center of Pressure's Optimization in Moco

[Burak Kula]

Hello Everyone,

I am trying to optimize the center of pressure (CoP) during gait of a subject in my project. As far as I researched, there is not any function in Moco to do that. Therefore I think that I need to prepare my own custom goal of Moco.
Are there any people to give me some tips about it ?
How can I start to do that?
Are there any available examples?

Sincerely Burak.

[Nicholas Bianco]

Hi Burak,

Moco currently does not have a center of pressure goal. The best place to start would be the MocoContactTrackingGoal, as that will show you how to compute ground reaction forces from SmoothSphereHalfSpaceForce elements. This change would require C++ development -- is this something you're comfortable with?

-Nick

[Burak Kula]

Hello Nicholas,

Thank you for your reply. As far as I know, "MocoContactTrackingGoal" is not manipulatable. How can I manipulate or modify it as I want?

Best Regards,
Burak.

[Nicholas Bianco]

I point you to MocoContactTrackingGoal since it will show you how to compute contact forces, which is the first step towards computing the center-of-pressure. You could use some of that code as a starting point for a new goal (perhaps MocoCenterOfPressureTrackingGoal).