opensim-core

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[WIP] Sketch of minimal implementation for geodesic muscle wrapping solver

1

This is a sketch of a potential minimal implementation for the Scholz et al. 2015 muscle wrapping algorithm based on geodesic variations. It is not intended to be merged. ###...

nickbianco

[WIP] Fix Real Time IK

1

Fixes issue #3415 ### Brief summary of changes The inverseKinematicsSolver for real time applications was not working. This is a work in progress to try to get it working again....

RTnhN

Implement the abstract class `Surface` (and minimum set of related classes) for modeling a `Cylinder` wrapping obstacle. The cylinder wrap obstacle is an ideal starting point due to simplicity and...

nickbianco

Implementation of floating-base task space control

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Fixes issue #3636 ### Brief summary of changes New classes for task space control have been added in OpenSim/Tools. Currently the files are all prefixed with "TaskSpace", but could be...

nathantpickle-cfdrc

Extend implementations of task space control to support floating-base models

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**Background** Task space control is commonly used in robotics, but has not been as widely utilized in biomechanics. Several efforts have been made to implement task space control, such as...

nathantpickle-cfdrc

Addressing issue #3605 will introduce the notion of an `InputController`, which will enable controllers driven by inputs from OCP controls. This new functionality will introduce new complexities in defining, solving,...

nickbianco

Fix `Marker` does not render in the correct location when attached to a `PhysicalOffsetFrame`

4

Because it doesn't apply the correct transform w.r.t. the base frame. The code for doing it is there, but commented out: - https://github.com/opensim-org/opensim-core/blob/main/OpenSim/Simulation/Model/Marker.cpp#L173 Is it commented out for a GUI-related...

adamkewley

[Moco] `MocoProblem` summary not printing to MATLAB console output

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nickbianco

Convert all tests to the `Catch2` framework

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Current testing in OpenSim uses a variety of implementations and code styles. Most of the tests for Moco use `Catch2`, and since the Moco merge, we've been sporadically converting OpenSim...

nickbianco

Add settings, new analytical curves, or other needed features to `DeGrooteFregly2016Muscle` to support the muscle model used by the Rice Computational Neuromechanics Lab in their Neuromuscluskeletal Modeling (NMSM) Pipeline.

nickbianco