Hello again Aaron, I have a somewhat non-elegant solution to the controls problem I think. It involves adding a PrescribedController together with all the actuators you have in your model, then prior to computing the state derivatives you set the control values for each actuator. In the code below i...

Hello Aaron I think your problem line is related to: State.updQ()[j] = states[i,j] I don't think updQ lets you update/set the state variables I just tried (1.2 is arbitrary, but set it to the given state's value): model.setStateVariableValue(state, stateNames.get(j), 1.2) You can then compute the st...

Hello Josee!

Have you tried to take a look at the Path Actuator definition here: https://github.com/opensim-org/opensim- ... tuator.cpp

Perhaps you can share some code snippets too, that will help!

Thanks,

Nicos

Hello Leon!

Could you share your files etc? I will try to reproduce.

Thanks,

Nicos

Hello Jintao! To get the angular velocity of a body you can use getAngularVelocity https://simtk.org/api_docs/opensim/api_docs/classOpenSim_1_1SimbodyEngine.html#a2146fdaf259440e2f8e2d893fa89daae or getVelocityInGround https://simtk.org/api_docs/opensim/api_docs/classOpenSim_1_1Frame.html#a74bf67886...

Hello Arjun,

I think the problem is that your COP values are still in millimeters, but the software expects the values in meters.

Hopefully that fixes things.

Thanks,

Nicos

Hey Mohsen, Before realizing to the position stage you need to set the states (coordinates in this case) for each time frame, currently you are only extracting them from your *.mot file. Take a look at the following methods: https://simtk.org/api_docs/opensim/api_docs/classOpenSim_1_1Component.html#...

Hello Kardelen, To set the state variables for a coordinate you would do something as follows (roughly): model = Model(); state = model.initSystem(); X = [1 0]; % getting the 0th coordinate in the model, setting its value and speed model.getCoordinateSet.get(0).setValue(state,X(1)); model.getCoordin...

Hey Musa,

I think before: you need to include: Hopefully that works!

Nicos

Hello Alexander, Here are a couple of articles that fairly recently touched upon the points you raised in your post (hopefully they help!): [1] https://link.springer.com/article/10.1007/s11044-021-09808-7 [2] https://www.sciencedirect.com/science/article/abs/pii/S0021929024003087 [3] https://link.sp...