[Moco] Support tracking ground reaction moments and/or COPs

opensim-org / opensim-core

SimTK OpenSim C++ libraries and command-line applications, and Java/Python wrapping.

https://opensim.stanford.edu

Apache License 2.0

759 stars 308 forks source link

[Moco] Support tracking ground reaction moments and/or COPs #3688

Open nickbianco opened 5 months ago

nickbianco commented 5 months ago

Currently, MocoContactTrackingGoal only supports tracking the ground reaction force vector and not ground reaction moments or centers of pressure. We can borrow some code from MocoUtilities::createExternalLoadsTableForGait() for this.