What‘s the meaning of MeasureOrganizer?

Taejun · January 21, 2022, 12:32pm

Hi, the concept of AnyKinMeasureOrg is a little abstractive for me. I wonder the meaning of this AnyKinMeasureOrg. So is this AnyKinMeasureOrg Ankle_Flexion_Right means that SHANK_PART___2.EXO_ROBOT_HINGE_ANKLE_FLEXION_RIGHT and ANKLE_PART___1.EXO_ROBOT_HINGE_ANKLE_FLEXION_RIGHT, these two parts rotate around the same axis of rotation - the X-axis?

github.com

AnyBody/SitToStand_Exo/blob/main/Model/AdditionalInteractions.any

AnyFolder Robot_External_Forces = 
{
//  AnyReacForce Robot_Foot_GroundReaction_Left = 
//  {
//    AnyKinLinear lin = 
//    {
//      AnyRefFrame& base = Main.Model.EnvironmentModel.GlobalRef;
//      AnyRefFrame& target = Main.Model.EnvironmentModel.TEST_LOWER_EXO.FOOT_LEFT___1;
//      Ref = 0;
//    };
//    AnyKinRotational rot = 
//    {
//      AnyRefFrame& base = Main.Model.EnvironmentModel.GlobalRef;
//      AnyRefFrame& target = Main.Model.EnvironmentModel.TEST_LOWER_EXO.FOOT_LEFT___1;
//      Type = PlanarAngles;
//    };    
//  };
//  
//  AnyReacForce Robot_Foot_GroundReaction_Right = 
//  {

This file has been truncated. show original

Another example is this AnyKinEq Robot_Foot_Toe_Pos_Lateral_Left. Is this code means that ToePoint1 can only move along the direction of the Y-axis in GlobalRef?
1642768773(1)

Thank you!
Best,
TJ

Bjorn · January 25, 2022, 2:46pm

Hi @Taejun

The MeasureOrganizer help you pick only the coordinate that you need.
MeasureOrganizer = {1};
Means that you only pick the second coordinate of whatever measure you provide - for a AnyKinLin that would be the y component.

Also check out our tutorial on kinematic measures here: Lesson 4: Kinematic Measures — AnyBody Tutorials v7.3.4

Best regards,
Bjørn

system · May 30, 2022, 2:47pm

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