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/Tools/GRFPrediction/WeakResiduals.any
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| a | b/Tools/GRFPrediction/WeakResiduals.any | ||
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| 1 | AnyFolder HumanGroundResiduals = { |
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| 2 | AnyComponentDefinition obj = {}; |
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| 3 | |||
| 4 | AnyFolder CenterOfMass = { |
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| 5 | AnySeg DummySeg={ |
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| 6 | Mass=0; |
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| 7 | Jii={0,0,0}; |
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| 8 | }; |
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| 9 | AnyKinEqSimpleDriver FixRotation ={ |
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| 10 | AnyKinRotational rot ={ |
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| 11 | AnySeg &ref1=..DummySeg; |
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| 12 | Type=RotAxesAngles; |
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| 13 | }; |
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| 14 | DriverPos ={0,0,0}; DriverVel={0,0,0}; |
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| 15 | }; |
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| 16 | AnyKinEqSimpleDriver DummySegDriver ={ |
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| 17 | AnyKinMeasureLinComb LinComb ={ |
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| 18 | AnyKinLinear LinSeg ={ |
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| 19 | AnySeg &ref=...DummySeg; |
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| 20 | }; |
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| 21 | AnyKinCoM CoMMeasure = { |
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| 22 | AnyFolder& ref = Main.HumanModel.BodyModel; |
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| 23 | }; |
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| 24 | Coef ={{1,0,0,-1,0,0},{0,1,0,0,-1,0},{0,0,1,0,0,-1}}; |
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| 25 | OutDim =3; |
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| 26 | }; |
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| 27 | DriverPos ={0,0,0}; DriverVel={0,0,0}; |
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| 28 | }; |
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| 29 | }; |
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| 30 | |||
| 31 | |||
| 32 | AnyFolder &PelvisSegment = ..BodyModel.Trunk.SegmentsLumbar.PelvisSeg; |
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| 33 | AnyFolder &COMSegment = CenterOfMass.DummySeg; |
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| 34 | |||
| 35 | AnyFolder Measures = { |
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| 36 | AnyKinLinear LinearCOM ={ |
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| 37 | AnySeg &ref2 = ..COMSegment; |
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| 38 | }; |
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| 39 | AnyKinRotational RotationalPelvis ={ |
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| 40 | AnySeg &ref2 = ..PelvisSegment; |
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| 41 | Type=RotVector; |
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| 42 | AngVelOnOff = On; |
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| 43 | }; |
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| 44 | }; |
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| 45 | |||
| 46 | AnyFolder WeakRecruitedResiduals = |
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| 47 | { |
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| 48 | |||
| 49 | AnyRecruitedActuator Linear_1 = { |
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| 50 | AnyKinMeasure& ref= ..Measures.LinearCOM; |
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| 51 | Type = NonNegative; |
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| 52 | Strength = 5; |
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| 53 | SET_DEFAULT_ACTUATOR_VOLUME; |
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| 54 | }; |
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| 55 | AnyRecruitedActuator Linear_2 = { |
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| 56 | AnyKinMeasure& ref= ..Measures.LinearCOM; |
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| 57 | Type = NonPositive; |
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| 58 | Strength = 5; |
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| 59 | SET_DEFAULT_ACTUATOR_VOLUME; |
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| 60 | }; |
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| 61 | AnyRecruitedActuator Rotational_1 = { |
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| 62 | AnyKinMeasure& ref= ..Measures.RotationalPelvis; |
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| 63 | Type = NonNegative; |
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| 64 | Strength = 2; |
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| 65 | SET_DEFAULT_ACTUATOR_VOLUME; |
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| 66 | }; |
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| 67 | AnyRecruitedActuator Rotational_2 = { |
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| 68 | AnyKinMeasure& ref= ..Measures.RotationalPelvis; |
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| 69 | Type = NonPositive; |
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| 70 | Strength = 2; |
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| 71 | SET_DEFAULT_ACTUATOR_VOLUME; |
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| 72 | }; |
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| 73 | |||
| 74 | |||
| 75 | }; |
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| 76 | AnyVar PosX_Force = WeakRecruitedResiduals.Linear_1.Fout[0]+WeakRecruitedResiduals.Linear_2.Fout[0]; |
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| 77 | AnyVar PosY_Force = WeakRecruitedResiduals.Linear_1.Fout[1]+WeakRecruitedResiduals.Linear_2.Fout[1]; |
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| 78 | AnyVar PosZ_Force = WeakRecruitedResiduals.Linear_1.Fout[2]+WeakRecruitedResiduals.Linear_2.Fout[2]; |
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| 79 | AnyVar RotX_Torque = WeakRecruitedResiduals.Rotational_1.Fout[2]+WeakRecruitedResiduals.Rotational_2.Fout[2]; |
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| 80 | AnyVar RotY_Torque = WeakRecruitedResiduals.Rotational_1.Fout[1]+WeakRecruitedResiduals.Rotational_2.Fout[1]; |
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| 81 | AnyVar RotZ_Torque = WeakRecruitedResiduals.Rotational_1.Fout[0]+WeakRecruitedResiduals.Rotational_2.Fout[0]; |
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| 82 | |||
| 83 | }; |
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| 84 |