Inverse dynamics and Static Optimisation

[Radhakrishnan Vignesh]

Hello,

I would like to understand how the output of Inverse dynamics is used by static optimisation? Based on the tutorials, I am not sure where the output of ID is fed? Or does static optimisation perform ID by itself?

Thanks
Vignesh

[Carmichael Ong]

ID is not used as input to the Static Optimization tool. The tool itself does these calculations based on input kinematics and GRF data. In particular, it actually tries to match joint accelerations rather than joint moments (https://github.com/opensim-org/opensim- ... t.cpp#L603), but these should be equivalent problems.

[Radhakrishnan Vignesh]

Thanks. So if I would like to calculate JRF, is there a particular reason the recommended process is :
IK-> ID->SO->JRF

Is there a benefit of performing the ID step