62 lines (51 with data), 2.0 kB

  AnyReacForce RightFootReaction = {
    
    AnyKinLinear RightFootLinMeasure = {
      AnySeg &ref1=...HumanModel.BodyModel.Right.Leg.Seg.Foot;
      AnyFixedRefFrame &ref2 = ...Environment.GlobalRef;
    };
    AnyKinRotational RightFootRotMeasure = {
      AnySeg &ref1=...HumanModel.BodyModel.Right.Leg.Seg.Foot;
      AnyFixedRefFrame &ref2 = ...Environment.GlobalRef;
      Type = RotVector;
    };  
  };



  // Place the right toe and heel on the ground
  AnyKinEqSimpleDriver RToeGroundConstraint ={
    AnyKinLinear ToePos = {
      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;
      AnyRefNode &Ball = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.ToeJoint;
    };
   MeasureOrganizer = {1};  // Only the y coordinate
    DriverPos = {0.0};
    DriverVel = {0};
    Reaction.Type = {Off};   // Provide ground reaction forces
  
  };
  
  AnyKinEqSimpleDriver RHeelGroundConstraint ={
    AnyKinLinear HeelPos = {
      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;
      #if BM_LEG_MODEL == _LEG_MODEL_LEG_
        AnyRefNode &Ball = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelJoint;
      #else
        AnyRefNode &Ball = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelNode;
      #endif
    };
    MeasureOrganizer = {1};  // Only the y coordinate
    DriverPos = {0.0};
    DriverVel = {0};
    Reaction.Type = {Off};   // Provide ground reaction forces
  };

  
    // Position the Ankles right above the z axis
  AnyKinEqSimpleDriver RAnkleX = {
    AnyKinLinear AnklePos = {
      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;
      #if BM_LEG_MODEL == _LEG_MODEL_LEG_
        AnyRefNode &Ankle = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.AnkleJoint;
      #else
        AnyRefNode &Ankle = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.SubTalarJoint;
      #endif      
    };
    MeasureOrganizer = {0};  // Only the x coordinate
    DriverPos = {0.0};
    DriverVel = {0.0};
    Reaction.Type = {Off};
  };