63 lines (53 with data), 2.0 kB

//  AnyReacForce LeftFootReaction = {
//    
//    AnyKinLinear LeftFootLinMeasure = {
//      AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot;
//      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;
//    };
//    AnyKinRotational LeftFootRotMeasure = {
//      AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot;
//      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;
//      Type = RotVector;
//
//    };  
//  };



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

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