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Hi Nick
Thanks for your nice presentation on the TGCS workshop. I have one question about the IMU tracking example. I get confused about the objective function of IMU tracking, you said compared to Xsens, moco includes inverse dynamics tracking as well. In this case, ground reaction force needs to be included, right? Did you use ground reaction force in IMU example? I did not see it. I am very confusing. Thanks.

Best
Longbin

Hi Longbin,

In the squat-to-stand example, the model's foot is welded to the ground, so we don't need to apply ground reaction forces manually in that problem. The reaction forces from the weld joint between the foot and the ground effective creates ground reactions, although this is somewhat unrealistic since a negative vertical force is possible.

We used an inverse approach for the EMG-tracking problem, but we performed a tracking simulation in the IMU example where the model created it's own reaction forces between the foot and the ground.

Best,
-Nick