Thank you for the suggestion! I tried this and it seems like this produced identical results to the last plots I posted. I believe the reason for this is because idSolver.solve(state) realizes the state to the dynamics stage inside (you can see this is you view InverseDynamicsSolver.cpp on the opens...

As a quick follow up, I also actually found that without the GRFs, things match better when you provide the accelerations: idSolver.solve(state,qdd); But when you include the GRFs, my best attempt so far was without any accelerations provided (so I am guessing now that the acceleration info and the ...

Hello all! I been all over the forums trying to figure out (1) why the inverse dynamics solver doesn't match the IDTool when there are not ground reaction forces applied to either, and (2) how to successfully incorporate experimental GRF data into the InverseDynamicsSolver approach in MATLAB. While ...

Nick, Thank you so much for the super speedy reply and for pointing to that helpful example. I followed the example more closely and got things working. I think the issue was that my pathing was a bit strange because I was trying to access a PhysicalOffsetFrame in a weld joint rather than in a body....

Hi, My name is Owen. I hope you are all doing well! I have been messing around with tracking some higher order terms through the MATLAB scripting environment with MOCO's API, and haven't been able to find a file type/format or TimeSeriesTableVec3 that either the MocoAccelerationTrackingGoal or the M...