MBS-BOS package is a set of programs that implement the Multi-Body Systems (MBS) Benchmark [1] using the OpenSim APIs [2].

The first objective is to compare output from these simulations with the validated reference solutions available in the MBS Benchmark package. The second objective is to provide C++ solutions for common problems that can be found in the implementation of simulations of multi-body systems.

If you use MBS-BOS for research work, please cite:

L. Tagliapietra, M. Vivian, R. Caracciolo, and M. Reggiani. Evaluation of the biomechanical simulator OpenSim on a multi-body system benchmark. In Proceedings of the 2015 ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, July 2015 (2015)

MBS-BOS is an open project, released under GNU General Public License and hosted in GitHub:

https://github.com/RehabEngGroup/MBSbenchmarksInOpenSim

User manual of MBS-BOS is provided together with source code and can be built both in PDF and HTML version. To build documentation just set to True the following CMake variables:

• BUILD_SPHINX_MANUAL_HTML if you like HTML version

• BUILD_SPHINX_MANUAL_LATEX if you prefer Latex/PDF version.

A ready-to-use version of the documentation is also available on:

• SimTK project page in PDF format

• ghPages visit in HTML format.

To compile MBS-BOS you need the following software:

1. OpenSim v. 3.2 download

2. CMake download

3. Sphinx (to build documentation) download

Windows users also need to install:

1. Visual Studio

###MBS-BOS in Linux

####Configure OPENSIM_HOME environment variable

The successful compilation of MBS-BOS requires OpenSim libraries. If you installed OpenSim in a custom folder, please set the OPENSIM_HOME environment variable as follow:

1.Open a terminal and type

gedit .bashrc

2.Add the following line at the end of the file:

export OPENSIM_HOME = yourOpensimInstallDirectory

3.Save the file, close gedit, and close the terminal.

4.Open a new terminal and write the following line. It should the OpenSim installation directory previously specified.

echo $OPENSIM_HOME

####MBS-BOS Installation

1.Open a terminal

2.Change your working directory to where you want to work with MBS-BOS

3.Unzip the archive of MBS-BOS (available here) or download the software from the GitHub repository:

git clone https://github.com/RehabEngGroup/MBSbenchmarksInOpenSim.git

4.Create a build directory inside the MBS-BOS folder

mkdir build

5.Change your directory to build and run cmake:

cd build
cmake ..

6.Compile MBS-BOS programs:

make

7.If everything went fine, the executable are available in the build/bin directory

####Execution

The execution of all the benchmark problems is composed of two steps

1. creation of the model

2. execution of the simulation.

#####Example:

Suppose you want to execute the A01 benchmark problem: Simple Pendulum. The following are the steps to follow.

First you create the model:

cd yourFolder/build/bin
./SimplePendulumCreateModel ../data/A01-SimplePendulum

The output is the OpenSim model of the Simple Pendulum, stored in the directory:

yourFolder/build/data/A01-SimplePendulum

Second you run the simulation:

./SimplePendulumSimulate ../data/A01-SimplePendulum

After the successful execution of the simulation, the output data files are available in:

yourFolder/build/data/A01-SimplePendulum/SimulationResults

###MBS-BOS in Windows

The successful compilation of MBS-BOS requires OpenSim libraries. If you installed OpenSim in a custom folder, please set the OPENSIM_HOME environment variable through the Windows Control Panel.

####MBS-BOS Installation

1.Change your working directory to where you want to work with MBS-BOS

2.Unzip the archive of MBS-BOS or download the software from the GitHub repository using the Git terminal:

git clone https://github.com/RehabEngGroup/MBSbenchmarksInOpenSim.git

3.Create a build directory inside the MBS-BOS folder

4.Open Cmake GUI, select yours source and build directories and the Visual Studio version you are planning to use. If you have downloaded OpenSim binary you MUST select in Release as CompilationMode, Debug is not going to work.

5.Click on Generate

6.Open Visual Studio and import the project MBSBenchmarks.stl created at the previous step

7.Build the project

####Execution

Open a new Command Prompt, then change your working directory and move to the folder where the project was built. Depending on the choice made during compilation the final directory will be slightly different, i.e. change CompilationMode to Debug or Release:

cd yourBuildDirectory\bin\CompilationMode\

Then the execution of all the benchmark problems is composed of two steps:

1. creation of the model

2. execution of the simulation.

#####Example:

Suppose you want to execute the A01 benchmark problem: Simple Pendulum. The following are the steps to follow.

First you create the model:

simplePendulumCreateModel.exe ..\..\data\A01-SimplePendulum

The output is the OpenSim model of the Simple Pendulum, stored in the directory:

yourFolder\build\data\A01-SimplePendulum

Second you run the simulation:

SimplePendulumSimulate.exe ..\..\data\A01-SimplePendulum

After the successful execution of the simulation, the output data files are available in:

yourFolder\build\data\A01-SimplePendulum\SimulationResults

Please see the file called license.

Multi-Body Systems Benchmark in OpenSim (MBS-BOS) Copyright (C) 2013-2015 Luca Tagliapietra, Michele Vivian, Elena Ceseracciu, and Monica Reggiani.

MBS-BOS is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

MBS-BOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with MBS-BOS. If not, see <http://www.gnu.org/licenses/>.

The authors may be contacted via: tagliapietra@gest.unipd.it

• MBS-BOS bug report? Send an email to tagliapietra@gest.unipd.it

• Help with MBS-BOS? Send an email to tagliapietra@gest.unipd.it or reg-info@gest.unipd.it

• Developer access to MBS-BOS repository? Send an email to reg-info@gest.unipd.it

Need more information? Check the following links:

• MBS Benchmark click here

• OpenSim click here

• CMake click here

• GitHub click here

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