Hi, I'm trying to use the OpenSense Rajagopal2015 model with IMU reverse kinematics from the example, but the results are bad to say the least. It looks like the yaw direction for the sensors is all over the place, so instead of walking or running the model seems to be slipping on ice (legs sliding ...

OpenSim::XsensDataReader and OpenSim::APDMDataReader are part of the OpenSim sources. For an alternative IMU system, I would like to implement a plugin that implements the same functionality, including the MatLab and python availability of these classes. How would I go about doing that? Is there any...