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- In the OpenSim GUI, select File>Open Model... to open the WalkerModelTerrain.osim.
- The View panel is used to control the model's visual display. You can move the view camera around the model using a combination of mouse and trackpad gestures.
- In the Navigator panel on the left side of the screen, use the + icon to expand the list of model components. Explore the individual components in the model by clicking on them in the Navigator Panel.
- As you click on each component, scroll through the component's properties in the Property Editor panel underneath the Navigator panel.
- Observe each of the following:
- Bodies: A platform, pelvis, thigh, ans and shank bodies with mass, inertia, and visual geometry.
- Joints: A Planar joint connecting the model with the Platform and Pin joints between all the segmentspin segments' pin joints.
- Contact Geometry: Contact spheres and a contact half space (plane), which are used to generate contact forces.
- Contact forces: Forces that are computed and applied due to the interaction between contact geometries.
- Other Forces: Coordinate limit forces, which enforce the desired range of motion of the joints. Springs and general other forces.
- The Coordinates panel lists the current values of the model's generalized coordinates.
- The values of the coordinates (in meters or degrees) can be changed with the sliders or by entering a value in the left text box.
- The initial coordinate speeds (in meters/second or radians/second) are used as the initial conditions forward simulations. These can be set in the speed text box on the right hand side of each row.
- The value of a coordinate can be locked by toggling the lock icon.
- To reset the model to the default pose, select Poses>Default. You can also uses the Poses menu to change the default pose and add custom poses.
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