Real time inverse kinematics and inverse dynamics

[Peter Rück]

Hi,

I am currently working on a project where I can move the joints of a model in real time using a pose estimation program (MediaPipe). Then I want to calculate in real time the inverse kinematics and inverse dynamics.

I have not been working with OpenSim for so long and have only been able to realize the joint movements so far. For the inverse kinematic and inverse dynamic calculations, I haven't found anything for my case so far, since I'm working with Python.

I was able to implement the joint movements with the state class (setQ etc. ).

Since the documentation of OpenSim is very extensive, I would be happy if someone could tell me where I can find the relevant information in the documentation or how I could implement my project.

[Nicos Haralabidis]

Hello Peter,

Have you come across the article by Pizzolato et al. [1] on this type of work? I believe they managed to do what you describe.

Hope that helps,

Nicos

[1] https://www.tandfonline.com/doi/full/10 ... 16.1240789

[Mohammadreza Rezaie]

Hi, I think InverseKinematicsSolver and InverseDynamicsSolver are required. You may find useful functions and codes here: https://github.com/pslade2/RealTimeKin/tree/main