MATLAB example2DWalking.m

OpenSim Moco is a software toolkit to solve optimal control problems with musculoskeletal models defined in OpenSim using the direct collocation method.
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Ernesto Hernandez-Hinojosa
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Joined: Fri May 25, 2018 5:28 am

MATLAB example2DWalking.m

Post by Ernesto Hernandez-Hinojosa » Thu Jul 11, 2024 4:44 pm

Hello, I am looking into this example and I notice that the referenceGRF.sto file has zeros for the center of pressure. Is this the way it should be or is there a mistake here? I would assume the center of pressure of the ground force should be in the area where the foot touches the ground. Is there a corrected file somewhere?
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Oliver Demuth
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Joined: Mon Nov 27, 2023 8:10 am

Re: MATLAB example2DWalking.m

Post by Oliver Demuth » Fri Jul 12, 2024 4:10 am

Hi Ernesto,

The MocoContactTrackingGoal only minimises the (projected) force error. It does not track the COP nor the torques. See here: https://opensim-org.github.io/opensim-m ... _goal.html

The zeros in the referenceGRF.sto make sense as that part is not used/needed in the goal.

Cheers,
Oliver
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