Get joint torques during forward simulation

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Saurabh Kothari
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Joined: Fri Aug 19, 2016 10:23 am

Get joint torques during forward simulation

Post by Saurabh Kothari » Thu Dec 07, 2023 12:30 pm

Hi,

I would like to know how to get access to joint torques during forward simulation using python API? Is there any API command for it?

Thanks,
Saurabh
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Windows
OpenSim 4.1
Python
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User avatar
Saurabh Kothari
Posts: 12
Joined: Fri Aug 19, 2016 10:23 am

Re: Get joint torques during forward simulation

Post by Saurabh Kothari » Fri Dec 08, 2023 1:04 pm

From simbody documentation, it seems getMobilityForces() and getRigidBodyForces() functions could be used for this. Can someone tell what is the difference between these two functions? And which one is appropriate for getting joint moments/torques due to muscles, gravity, centrifugal and coriolis? A code snippet would also be helpful.

Thanks,
Saurabh
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