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| //% Section: Add HuntCrossleyForces
stiffness = 1000000;
dissipation = 2.0;
staticFriction = 0.8;
dynamicFriction = 0.4;
viscousFriction = 0.4;
transitionVelocity = 0.2;
% Make a Hunt Crossley Force for Right Hip and update parameters
HuntCrossleyRightHip = HuntCrossleyForce();
HuntCrossleyRightHip.setName('RHipForce');
HuntCrossleyRightHip.addGeometry('RHipContact');
HuntCrossleyRightHip.addGeometry('PlatformContact');
HuntCrossleyRightHip.setStiffness(stiffness);
HuntCrossleyRightHip.setDissipation(dissipation);
HuntCrossleyRightHip.setStaticFriction(staticFriction);
HuntCrossleyRightHip.setDynamicFriction(dynamicFriction);
HuntCrossleyRightHip.setViscousFriction(viscousFriction);
HuntCrossleyRightHip.setTransitionVelocity(transitionVelocity);
osimModel.addForce(HuntCrossleyRightHip); |
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| | A common bug is misspelling the name of the contact element in the call to addGeometry(). Matlab does not know if you have named the correct element, so the program will execute without an error in Matlab, but the resulting model will generate an error when it is loaded into OpenSim. |
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| % TODO: Construct CoordinateLimitForces Here
% ********** BEGIN CODE **********
% Define Coordinate Limit Force Parameters
upperStiffness = 0.5;
lowerStiffness = 0.5;
kneeUpperLimit = 0;
kneeLowerLimit = -140;
hipUpperLimit = 100;
hipLowerLimit = -100;
damping = 0.025;
transition = 5;
% Make a Right Hip Coordinate Limit Force
RHipLimitTorque = CoordinateLimitForce();
RHipLimitTorque.setName('RHipLimitTorque')
RHipLimitTorque.set_coordinate('RHip_rz');
RHipLimitTorque.setUpperStiffness(upperStiffness);
RHipLimitTorque.setLowerStiffness(lowerStiffness);
RHipLimitTorque.setUpperLimit(hipUpperLimit);
RHipLimitTorque.setLowerLimit(hipLowerLimit);
RHipLimitTorque.setDamping(damping);
RHipLimitTorque.setTransition(transition)
osimModel.addForce(RHipLimitTorque); |
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Search for CoordinateLimitForce in the OpenSim API documentation and find the method for constructing the CoordinateLimitForce with parameters. For the remaining three Leg coordinates, create a new set of CoordinateLimitForce objects (using the same parameter values as above) and add them to the model.
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