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Hi all, would it be possible to have one of my forces be dependent on say, the x direction translation in forward dynamics? For example, I want the force to increase linearly with increasing x-translation.

Thanks!

Something like a ExpressionBasedCoordinateForce would be useful if you plan on applying the force to the same coordinate of interest (in this case the X-translation of the pelvis). However, if you want to apply the force elsewhere, there doesn't seem to be an in-built force type that can do that.

Thinking about it some more — there is no in-built Force method to do this. You would have to build a controller and actuator pair that can take the independent variable and generate a force.