Great! Thank you very much for that insight. It works very well.

Hi Nicos,
That works perfectly. Thank you very much.

I apologize Sherm. However, I want to cast my question to target the SimTK Community. If one has the position, velocity and hinge torque values for a system such as a double pendulum, it should be possible to use these to compute the resulting acceleration. If so, what is the Simbody function to use...

We have a system with three degrees-of-freedom and we set out to solve for the accelerations given the position, velocity and torque values. Our code looks like the following: const ForceSet& fSet = model.getForceSet(); for (i = 0; i < numActuators; i++) { ScalarActuator* act = dynamic_cast<ScalarAc...

We have a system with three degrees-of-freedom and we set out to solve for the accelerations given the position, velocity and torque values. Our code looks like the following: const ForceSet& fSet = model.getForceSet(); for (i = 0; i < numActuators; i++) { ScalarActuator* act = dynamic_cast<ScalarAc...

Great! Thanks Sherm. I'll look into that. I appreciate your help.

Is there a SimTK function to do initial velocity analysis for a closed-loop system? Something similar to sdinitvel function of good old SDFAST?
Thanks.
Musa

Thanks a lot Sherm. That works for compilation. Now I have another problem. The assembler only runs once: assembler.getNumAssemblySteps() = 1 and assembler.getNumGoalEvals() = 1. The gen coords are not changed from their mis-assembled values. Am I doing something wrong or missing a step somewhere? T...

We are trying to enforce constraints for a system with closed-chains using the Assembler object using the following: auto &system = osimModel.getMultibodySystem(); Assembler assembler(system); assembler.assemble(state); This assembles the model but most of the generalized coordinate bounds were viol...

Great. Thanks Nick. We do use the setOutputIndex() function to select the desired index of the vector to use for the foot position. We appreciate your insight and look forward to a future version that allows inclusion of dynamic stretching of the reference desired trajectory to match the current tim...