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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, 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 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 other forces.
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OpenSim comes with a large library of geometry files for visualizing elements of the human skeletal system, as well as simple generic shapes such as, spheres, cylinders, and boxes. If the base library is not sufficient for your model, it is easy to add additional geometry files. OpenSim can use Geometry types with the following file extensions: .vtp, .stl and .obj. By default, OpenSim looks for Geometry files in the Model's local directory and in the OpenSim Geometry folder. You can add additional locations to look for Geometry..
V. Design and Simulate your own Walker Model
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