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1. Download and install the latest version of OpenSim (version 3.1) from the OpenSim downloads page. 
2. Download the archive of starter files (top of page) and unzip them to your working directory.
3. Follow the setup instructions on Scripting with Matlab to get your Matlab environment ready for scripting. Both 32-bit and 64-bit are supported, but the set-up for 64-bit requires a few extra steps.

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You can launch OpenSim 3.1 from the Windows Start menu. If you used default installation settings, simply select Windows>All Programs>OpenSim 3.1>OpenSim. You will see multiple information panels and an empty main View.  The can learn more about the Graphical User Interface in the OpenSim User's Guide.

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More information regarding the plotting tool is available by hitting the help button in the GUI or by going to the help page here.

E. Iteratively modify the model to maximize walking distance

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1. Modify the mass and inertia parameters of the bodies.
   
   1. The mass and inertia properties of the body can be accessed through the Navigator panel.  Open the bodies group by clicking on the + icon and selecting a body from the list.  In the properties window you can select the mass, the mass_center location, and the six unique elements of the inertia matrix for the body.
   2. By convention, the mass_center is the location of the mass center from the body origin measured in the body reference frame and the inertia values are the inertia of the body about the body center of mass measured in the body reference frame.
2. Modify the segment length in the joints.
   
   1. Access the joint properties in the Joints set in the Navigator panel.  The length of the segment is set by the adjacent joints (e.g., to change the length of the right thigh segment you will need to change the RThighToPelvis and the RShankToRThigh location parameters. Read more about OpenSim joints on the OpenSim Models page or in the OpenSim Doxygen.
3. Modify the initial starting conditions by entering the initial coordinate values and the initial coordinate speeds in the Coordinate panel..

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The base model has trouble maintaining knee extension during stance.  In this section, you will use the Matlab scripting interface to extend the base model in two ways.  First, you will create a custom force component to build a permanent magnet model that will always act to extend the knee.  Second, you will add a more substantial foot to the model based on a CAD .obj file. Before getting started:

1. Make sure you've setup the OpenSim Matlab interface by following the instructions for Scripting with Matlab.
2. The scripts assume that you've set your working directory in Matlab to DynamicWalkingConference/MatlabScripts

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• There is a large number of model components available for your model, please refer to the 3.1 Beta Doxygen online documentation for more information on model components and their methods. 
• The introductory page for the Matlab scripting interface is located here.
• In Matlab, you can use the command methodsview('classname') or methodsview(OpenSimObject) to get a list of available functions. You can also use tab completion to see the available methosds for an OpenSim object.
• You can quickly load models and motions from your output states files by dragging and dropping them onto the view window of the OpenSim GUI.
• If you want to walk without any environment obstacle forces, you can disable the force by right clicking on ObstacleForces in the Force Set in the Navigator pane and selecting Disable.
• Inside the Matlab GUI, you can type help <function-name> for any of the Matlab scripts presented here.

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