Thanks a lot! I think this is what I need.

Thanks for the reply. In fact, I want to compute the position and orientation (6D coordinates) of each link (center of mass position) of the model, rather than marker locations, given joint angles. Indeed, stepping through the code will do the work, but I am just wondering if there is a built-in fun...

Hello, I am new to OpenSim & SimTK and I am trying to use osim model to simulate human movements. I am confused by one simple problem: how to calculate the forward kinematics (FK) of the model, given joint angles? All I can find in the OpenSim/Simbody tutorial is how to calculate the inverse kinemat...