Thanks again, When we realize the system to the position and velocity stages after adding the additional actuator, how does the forward dynamics knows that the first 6 controls should be used to evaluate f(a,l,ldot) of muscles torques without using the 7th ( which is already a torque/force). We have...

Thanks alot for your help, So if I add the force to the model : model.addForce( Force *force); and I defined a controller to be : controller = new ControlSetController(); then I set : controller->setActuators(model->updActuators()); and at the end of the ForceSet definition , I add the controller to...

Dear all, I am working on the arm26 model which has 6 muscles(actuators) that control the elbow movement. My aim is to add an external actuator at the elbow. In this case, if i understand right i can use either a coordinate actuator( defining elbow as the coordinate) or a torque actuator( defining f...

Thanks for the help, I applied the inverseDynamicsSolver on the model ( arm 26 , OpenSim 2.4.0) , but: when I add to my cpp code: InverseDynamicsSolver ids(model); // model is already defined and ids is object of type InverseDynamics solver I got no error while compiling and linking the cpp code How...

Thanks alot, very helpful and clear So now if I am not wrong, to get joint torques, after realizing the state to the Dynamics stage( Model.realizeDynamics(state) ) , I should call: SimTK::Vector Torque = state.getZDot() ; Otherwise I call : SimTK::Vector Torque = InverseDynamicsSolver.solve(state) B...

Dear OpenSim Team, I have a state output of arm26 Model at each time step from Forward dynamics ( I am coding in cpp). The state output is a vector 16x1 I want to run the InverseDynamicsSolver Tool ( called in cpp) to get the joint torque at each time step . I set : SimTK::State s ; // declare the a...

Thanks for pointing me out IDSolver() by taking a look at it, the function solve: virtual SimTK::Vector solve(SimTK::State &s, const SimTK::Vector &udot = SimTK::Vector(0)) It takes state ( position, velocity, time) and acceleration as input principally and gives torque as output The acceleration is...

Yes, in fact I am performing Forward dynamics with already built S function to be used in Simulink. The output state vector contains joints position and velocity. I was trying to avoid running inverse dynamics tool to get the joint torques out of: position, velocities, accelerations. But as you said...

Hello again, After Importing OpenSim 2.4 libraries to matlab, I run some scripts and I got an output state vector for the opensim model arm26 The output state vector is 16x1 composed of elbow flexion, shoulder elevation, the derivatives of the previous 2 states and other auxiliary states related to ...

Hello,

I tried replacing xml files (.osim xml and controls.xml) of opensim 2.4 in the files folder of S-Function compilation v.2.3.1 and the problem was solved,

Thanks Jim for pointing me out the issue