diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9a7e65d679..fa2c9cc03a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -799,7 +799,8 @@ include_directories("${Simbody_INCLUDE_DIR}")
# CasADi
# ------
if(OPENSIM_WITH_CASADI)
- find_package(casadi 3.4.4 REQUIRED)
+ find_package(casadi 3.4.4 REQUIRED
+ HINTS "${OPENSIM_DEPENDENCIES_DIR}/casadi")
set_package_properties(casadi PROPERTIES
URL https://web.casadi.org
TYPE REQUIRED
@@ -831,7 +832,8 @@ if (OPENSIM_WITH_CASADI OR OPENSIM_WITH_TROPTER)
if(UNIX)
pkg_check_modules(IPOPT REQUIRED ipopt IMPORTED_TARGET)
else()
- find_package(Ipopt REQUIRED CONFIG)
+ find_package(Ipopt REQUIRED CONFIG
+ HINTS "${OPENSIM_DEPENDENCIES_DIR}/ipopt/lib/cmake/Ipopt")
set_package_properties(IPOPT PROPERTIES
URL https://projects.coin-or.org/Ipopt
TYPE REQUIRED
diff --git a/OpenSim/Examples/CMakeLists.txt b/OpenSim/Examples/CMakeLists.txt
index cd62a27839..fdfc011b21 100644
--- a/OpenSim/Examples/CMakeLists.txt
+++ b/OpenSim/Examples/CMakeLists.txt
@@ -24,6 +24,8 @@ if(BUILD_API_EXAMPLES)
add_subdirectory(DataAdapter)
add_subdirectory(Moco)
+ add_subdirectory(TaskSpace)
+
elseif()
add_subdirectory(ControllerExample)
diff --git a/OpenSim/Examples/TaskSpace/CMakeLists.txt b/OpenSim/Examples/TaskSpace/CMakeLists.txt
new file mode 100644
index 0000000000..28d15ac1ad
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/CMakeLists.txt
@@ -0,0 +1,12 @@
+file(TO_CMAKE_PATH "$ENV{OPENSIM_GEOMETRY_DIR}" OPENSIM_GEOMETRY_DIR)
+add_compile_definitions(OPENSIM_GEOMETRY_DIR="${OPENSIM_GEOMETRY_DIR}")
+message(STATUS ${OPENSIM_GEOMETRY_DIR})
+
+#Add all subdirectories
+file(GLOB EXAMPLE_SUBDIRS "*")
+foreach(subdir ${EXAMPLE_SUBDIRS})
+ if(IS_DIRECTORY ${subdir})
+ message("Adding ${subdir}")
+ add_subdirectory(${subdir})
+ endif()
+endforeach()
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleAbsoluteCoordinates/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExampleAbsoluteCoordinates/CMakeLists.txt
new file mode 100644
index 0000000000..f617835263
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleAbsoluteCoordinates/CMakeLists.txt
@@ -0,0 +1,23 @@
+
+file(GLOB_RECURSE TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" *.osim)
+
+OpenSimAddExampleCXX(NAME ExampleAbsoluteCoordinates SUBDIR TaskSpace
+ EXECUTABLES ExampleAbsoluteCoordinates
+ RESOURCES "${TEST_FILES}")
+
+# add_executable(ExampleAbsoluteCoordinates ExampleAbsoluteCoordinates.cpp)
+
+# message(STATUS "OpenSim LIBRARIES: ${OpenSim_LIBRARIES}")
+
+# target_link_libraries(ExampleAbsoluteCoordinates PRIVATE osimTaskSpace)
+
+# message(STATUS "OpenSim INCLUDE DIRS: ${OpenSim_INCLUDE_DIRS}")
+
+# target_include_directories(
+# ExampleAbsoluteCoordinates
+# PRIVATE
+# "${CMAKE_SOURCE_DIR}/src"
+# ${OpenSim_INCLUDE_DIRS}
+# "${OpenSim_INCLUDE_DIRS}/OpenSim"
+# ${Simbody_INCLUDE_DIR}
+# "${OpenSim_INCLUDE_DIRS}/../spdlog/include")
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleAbsoluteCoordinates/ExampleAbsoluteCoordinates.cpp b/OpenSim/Examples/TaskSpace/ExampleAbsoluteCoordinates/ExampleAbsoluteCoordinates.cpp
new file mode 100644
index 0000000000..cd532a2b96
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleAbsoluteCoordinates/ExampleAbsoluteCoordinates.cpp
@@ -0,0 +1,179 @@
+/**
+ * @file ExampleAbsoluteCoordinates.cpp
+ *
+ * \brief This example demonstrating working example of controlling (task space)
+ * a model that is build using absolute (Cartesian) coordinates. Since the
+ * underlying dynamics use constraint projection, constraints are implicitly
+ * accounted.
+ *
+ * @authors Dimitar Stanev, Nathan Pickle, Aravind Sundararajan
+ *
+ * @see [Publication]
+ */
+
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+Model constructModel(const std::string& name)
+{
+ // model
+ Model model;
+ model.setName(name);
+
+ // construct model
+ auto ground = &model.updGround();
+ // body1
+ double body1_m = 1, body1_length = 1, body1_radius = 0.03;
+ Vec3 body1_com = Vec3(0);
+ Inertia body1_I =
+ body1_m * Inertia::cylinderAlongY(body1_radius, body1_length);
+ auto body1_body = new OpenSim::Body("body1", body1_m, body1_com, body1_I);
+ auto body1_geom = new OpenSim::Cylinder(body1_radius, body1_length / 2);
+ body1_geom->setName("body1_cylinder");
+ body1_body->attachGeometry(body1_geom);
+ Vec3 body1_distal(0, -body1_length / 2, 0);
+ Vec3 body1_proximal(0, body1_length / 2, 0);
+ auto ground_body1 = new OpenSim::FreeJoint("ground_body1", *ground, Vec3(0),
+ Vec3(0), *body1_body, body1_distal, Vec3(0));
+ model.addBody(body1_body);
+ model.addJoint(ground_body1);
+
+ // body2
+ double body2_m = 1, body2_length = 1, body2_radius = 0.03;
+ Vec3 body2_com = Vec3(0);
+ Inertia body2_I =
+ body2_m * Inertia::cylinderAlongY(body2_radius, body2_length);
+ auto body2_body = new OpenSim::Body("body2", body2_m, body2_com, body2_I);
+ auto body2_geom = new OpenSim::Cylinder(body2_radius, body2_length / 2);
+ body2_geom->setName("body2_cylinder");
+ body2_body->attachGeometry(body2_geom);
+ Vec3 body2_distal(0, -body2_length / 2, 0);
+ Vec3 body2_proximal(0, body2_length / 2, 0);
+ auto body1_body2 = new OpenSim::FreeJoint("body1_body2", *body1_body,
+ body1_proximal, Vec3(0), *body2_body, body2_distal, Vec3(0));
+ model.addBody(body2_body);
+ model.addJoint(body1_body2);
+
+ // connect the two free bodies
+ auto pointConstraint1 =
+ new PointConstraint(*ground, Vec3(0), *body1_body, body1_distal);
+ pointConstraint1->setName("pc1");
+ model.addConstraint(pointConstraint1);
+ auto pointConstraint2 = new PointConstraint(
+ *body1_body, body2_proximal, *body2_body, body2_distal);
+ pointConstraint2->setName("pc2");
+ model.addConstraint(pointConstraint2);
+
+ return model;
+}
+
+void setInitialConfiguration(Model& model, const double& q1, const double& q2) {
+ auto* ground_body1 = FreeJoint::safeDownCast(&model.updJointSet().get("ground_body1"));
+ auto* body1_body2 = FreeJoint::safeDownCast(&model.updJointSet().get("body1_body2"));
+
+ auto& state = model.updWorkingState();
+
+ // initial configuration (pose)
+ ground_body1->upd_coordinates(2).setValue(
+ state, convertDegreesToRadians(q1));
+ body1_body2->upd_coordinates(2).setValue(
+ state, convertDegreesToRadians(q2));
+}
+
+void absoluteCoordinates() {
+ // parameters
+ const double q1 = -45.0;
+ const double q2 = 90;
+ const string taskBodyName = "body2";
+ const string example = "ExampleAbsoluteCoordinates";
+
+ auto model = constructModel(example);
+
+ // body kinematics
+ auto bodyKinematics = new BodyKinematics(&model);
+ bodyKinematics->setInDegrees(false);
+ model.addAnalysis(bodyKinematics);
+
+ // define the controller
+ TaskSpaceTorqueController* controller = new TaskSpaceTorqueController();
+ controller->set_ConstraintModel(DeSapioModel());
+ controller->set_control_strategy("force");
+ // model takes ownership
+ model.addController(controller);
+
+ // build and initialize model
+ model.setUseVisualizer(false);
+ model.initSystem();
+
+ setInitialConfiguration(model, q1, q2);
+
+ auto& taskBody = model.updBodySet().get(taskBodyName);
+ auto point = SimTK::Vec3(0, 0.5, 0);
+ auto& state = model.updWorkingState();
+ Vec3 initialPosition = taskBody.findStationLocationInGround(state, point);
+
+ // Set up position tracking for the block
+ auto task = new StationTask();
+ task->setName(taskBodyName+"task");
+ task->set_priority(0);
+ task->set_point(point);
+
+ task->set_kp(Array(100, 3));
+ task->set_kv(Array(20, 3));
+ task->set_weight(Array(1,3));
+
+ auto x_desired = Constant(initialPosition[0]);
+ auto y_desired = Sine(0.2, 2 * Pi, 0, initialPosition[1]);
+ auto z_desired = Constant(initialPosition[2]);
+
+ task->set_position_functions(0, x_desired);
+ task->set_position_functions(1, y_desired);
+ task->set_position_functions(2, z_desired);
+ task->set_wrt_body(taskBodyName);
+
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(task);
+
+ // reinitialize to set up the task
+ model.setUseVisualizer(true);
+ state = model.initSystem();
+
+ //reapply the initial configuration
+ setInitialConfiguration(model, q1, q2);
+
+ // configure visualizer
+ if (model.hasVisualizer()) {
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(
+ Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(
+ Visualizer::BackgroundType::SolidColor);
+ model.updMatterSubsystem().setShowDefaultGeometry(true);
+ }
+
+ // simulate
+ simulate(model, state, 2, true);
+
+ // export results
+ IO::makeDir("results");
+ controller->printResults(example, IO::getCwd()+"/results");
+ bodyKinematics->printResults(example, IO::getCwd()+"/results");
+
+ model.print(IO::getCwd()+"/results/"+example+".osim");
+}
+
+int main(int argc, char* argv[]) {
+ Logger::setLevel(Logger::Level::Info);
+ try {
+ absoluteCoordinates();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ return -1;
+ }
+ cout << "Example absolute coordinates finished." << endl;
+ return 0;
+}
diff --git a/OpenSim/Examples/TaskSpace/ExampleArm26/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExampleArm26/CMakeLists.txt
new file mode 100644
index 0000000000..b18252108a
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleArm26/CMakeLists.txt
@@ -0,0 +1,5 @@
+file(GLOB_RECURSE TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" *.osim)
+
+OpenSimAddExampleCXX(NAME ExampleArm26 SUBDIR TaskSpace
+ EXECUTABLES ExampleArm26
+ RESOURCES "${TEST_FILES}")
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleArm26/ExampleArm26.cpp b/OpenSim/Examples/TaskSpace/ExampleArm26/ExampleArm26.cpp
new file mode 100644
index 0000000000..a238b3876f
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleArm26/ExampleArm26.cpp
@@ -0,0 +1,144 @@
+/**
+ * @file ExampleArm26.cpp
+ *
+ * \brief This example demonstrates multi-tasking control of a musculoskeletal
+ * system. Two tasks are used in prioritized scheme and an optimization is
+ * performed for mapping the task space generalized forces to muscle
+ * excitations.
+ *
+ * @authors Dimitar Stanev, Nathan Pickle, Aravind Sundararajan
+ *
+ * @see [Publication]
+ */
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+Vec3 fromVectorToVec3(const Vector& v) { return Vec3(v[0], v[1], v[2]); }
+
+void arm26Simulation() {
+ const string example = "ExampleArm26";
+
+ ModelVisualizer::addDirToGeometrySearchPaths(OPENSIM_GEOMETRY_DIR);
+
+ const int kp = 100;
+ const int kv = 20;
+
+ // load model
+ Model model("arm26.osim");
+ model.setName(example);
+
+ // body kinematics
+ auto bodyKinematics = new BodyKinematics(&model);
+ bodyKinematics->setInDegrees(false);
+ model.addAnalysis(bodyKinematics);
+
+ // define the controller
+ TaskSpaceTorqueController* controller = new TaskSpaceTorqueController();
+ controller->set_ConstraintModel(NoConstraintModel());
+ controller->set_control_strategy("force");
+ model.addController(controller);
+
+ // build and initialize model so we can retrieve its initial configuration
+ auto& state = model.initSystem();
+ model.realizePosition(state);
+
+ double initial_shoulder_elevation = 0.1;
+ model.updCoordinateSet()
+ .get("r_shoulder_elev")
+ .setValue(state, initial_shoulder_elevation);
+
+ // humerus initial configuration
+ auto& humerusBody = model.updBodySet().get("r_humerus");
+ Vec3 initialOrientation_hum = humerusBody.getRotationInGround(state)
+ .convertRotationToBodyFixedXYZ();
+
+ // Set up orientation tracking for the humerus
+ auto humerusTask = new OrientationTask();
+ humerusTask->setName("r_humerus");
+ humerusTask->set_priority(0);
+
+ humerusTask->set_kp(Array(kp, 3));
+ humerusTask->set_kv(Array(kv, 3));
+ humerusTask->set_weight(Array(1.0, 3));
+
+ auto x_desired_hum = Constant(initialOrientation_hum[0]);
+ auto y_desired_hum = Constant(initialOrientation_hum[1]);
+ auto z_desired_hum = Constant(initialOrientation_hum[2]);
+
+ humerusTask->set_position_functions(0, x_desired_hum);
+ humerusTask->set_position_functions(1, y_desired_hum);
+ humerusTask->set_position_functions(2, z_desired_hum);
+ humerusTask->set_wrt_body("r_humerus");
+
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(humerusTask);
+
+ // ulna initial configuration
+ auto& ulnaBody = model.getBodySet().get("r_ulna_radius_hand");
+ Vec3 initialOrientation_uln =
+ ulnaBody.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+
+ // Set up orientation tracking for the ulna
+ auto ulnaTask = new OrientationTask();
+ ulnaTask->setName("r_ulna_radius_hand");
+ ulnaTask->set_priority(0);
+
+ ulnaTask->set_kp(Array(kp, 3));
+ ulnaTask->set_kv(Array(kv, 3));
+ humerusTask->set_weight(Array(1.0, 3));
+
+ auto x_desired_uln = Constant(0.0);
+ auto y_desired_uln = Constant(0.0);
+ auto z_desired_uln =
+ Sine(Pi / 4.0, 1 * Pi, 0, initialOrientation_uln[2] + 1);
+
+ ulnaTask->set_position_functions(0, x_desired_uln);
+ ulnaTask->set_position_functions(1, y_desired_uln);
+ ulnaTask->set_position_functions(2, z_desired_uln);
+ ulnaTask->set_wrt_body("r_ulna_radius_hand");
+ ulnaTask->set_express_body("ground");
+
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(ulnaTask);
+
+ // build and initialize model to initialize the tasks. also add a visualizer
+ model.setUseVisualizer(true);
+ state = model.initSystem();
+ model.updCoordinateSet()
+ .get("r_shoulder_elev")
+ .setValue(state, initial_shoulder_elevation);
+
+ // configure visualizer
+ if (model.hasVisualizer()) {
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(
+ Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(
+ Visualizer::BackgroundType::SolidColor);
+ model.updMatterSubsystem().setShowDefaultGeometry(false);
+ }
+
+ // print the complete model
+ model.print(example + ".osim");
+
+ // simulate
+ simulate(model, state, 4.0, true);
+
+ // export results
+ controller->printResults(example, ".");
+ bodyKinematics->printResults(example, ".");
+}
+
+int main(int argc, char* argv[]) {
+ try {
+ arm26Simulation();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ // getchar();
+ return -1;
+ }
+ return 0;
+}
diff --git a/OpenSim/Examples/TaskSpace/ExampleArm26/arm26.osim b/OpenSim/Examples/TaskSpace/ExampleArm26/arm26.osim
new file mode 100644
index 0000000000..6fb32ab12d
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleArm26/arm26.osim
@@ -0,0 +1,1647 @@
+
+
+
+
+
+ The OpenSim Development Team (Reinbolt, J; Seth, A; Habib, A; Hamner, S) adapted from a model originally created by Kate Holzbaur (11/22/04)
+
+ License:
+ Creative Commons (CCBY 3.0). You are free to distribute, remix, tweak, and build upon this work, even commercially,
+ as long as you credit us for the original creation.
+ http://creativecommons.org/licenses/by/3.0/
+
+ Holzbaur, K.R.S., Murray, W.M., Delp, S.L. A Model of the Upper Extremity for Simulating Musculoskeletal Surgery and Analyzing Neuromuscular Control.
+ Annals of Biomedical Engineering, vol 33, pp 829–840, 2005
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+ 0 2.26892803
+
+ false
+
+ false
+
+
+
+
+
+
+ false
+
+
+
+
+
+
+
+
+ arm_r_ulna.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_radius.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_lunate.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_scaphoid.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_pisiform.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_triquetrum.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_capitate.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_trapezium.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_trapezoid.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_hamate.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_1mc.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_2mc.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_3mc.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_4mc.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_5mc.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_thumbprox.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_thumbdist.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_2proxph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_2midph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_2distph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_3proxph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_3midph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_3distph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_4proxph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_4midph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_4distph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_5proxph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_5midph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+ arm_r_5distph.vtp
+
+ 1 1 1
+
+
+
+ -0 0 -0 0 0 0
+
+ 1 1 1
+
+ 4
+
+ 1
+
+
+
+
+
+ 1 1 1
+
+ -0 0 -0 0 0 0
+
+ false
+
+ 4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ false
+
+ 0
+
+ 1
+
+
+
+
+
+ -0.05365 -0.01373 0.14723
+ base
+
+
+ -0.02714 -0.11441 -0.00664
+ r_humerus
+
+
+ -0.03184 -0.22637 -0.01217
+ r_humerus
+
+
+ -0.01743 -0.26757 -0.01208
+ r_humerus
+
+
+ -0.0219 0.01046 -0.00078
+ r_ulna_radius_hand
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ -0 0 -0 0 0 0
+
+ false
+
+ 4
+
+
+
+
+ TRI
+ hybrid
+ -1 -1
+
+
+ TRIlonghh
+ hybrid
+ -1 -1
+
+
+ TRIlongglen
+ hybrid
+ -1 -1
+
+
+
+
+
+
+ 1
+
+ 798.52
+
+ 0.134
+
+ 0.143
+
+ 0.20943951
+
+ 10
+
+ 0.01
+
+ 0.04
+
+ 0.033
+
+ 0.6
+
+ 0.5
+
+ 4
+
+ 0.3
+
+ 1.8
+
+
+
+ false
+
+ 0
+
+ 1
+
+
+
+
+
+ -0.00599 -0.12646 0.00428
+ r_humerus
+
+
+ -0.02344 -0.14528 0.00928
+ r_humerus
+
+
+ -0.03184 -0.22637 -0.01217
+ r_humerus
+
+
+ -0.01743 -0.26757 -0.01208
+ r_humerus
+
+
+ -0.0219 0.01046 -0.00078
+ r_ulna_radius_hand
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ -0 0 -0 0 0 0
+
+ false
+
+ 4
+
+
+
+
+ TRI
+ hybrid
+ -1 -1
+
+
+
+
+
+
+ 1
+
+ 624.3
+
+ 0.1138
+
+ 0.098
+
+ 0.15707963
+
+ 10
+
+ 0.01
+
+ 0.04
+
+ 0.033
+
+ 0.6
+
+ 0.5
+
+ 4
+
+ 0.3
+
+ 1.8
+
+
+
+ false
+
+ 0
+
+ 1
+
+
+
+
+
+ -0.00838 -0.13695 -0.00906
+ r_humerus
+
+
+ -0.02601 -0.15139 -0.0108
+ r_humerus
+
+
+ -0.03184 -0.22637 -0.01217
+ r_humerus
+
+
+ -0.01743 -0.26757 -0.01208
+ r_humerus
+
+
+ -0.0219 0.01046 -0.00078
+ r_ulna_radius_hand
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ -0 0 -0 0 0 0
+
+ false
+
+ 4
+
+
+
+
+ TRI
+ hybrid
+ -1 -1
+
+
+
+
+
+
+ 1
+
+ 624.3
+
+ 0.1138
+
+ 0.0908
+
+ 0.15707963
+
+ 10
+
+ 0.01
+
+ 0.04
+
+ 0.033
+
+ 0.6
+
+ 0.5
+
+ 4
+
+ 0.3
+
+ 1.8
+
+
+
+ false
+
+ 0
+
+ 1
+
+
+
+
+
+ -0.039235 0.00347 0.14795
+ base
+
+
+ -0.028945 0.01391 0.15639
+ base
+
+
+ 0.02131 0.01793 0.01028
+ r_humerus
+
+
+ 0.02378 -0.00511 0.01201
+ r_humerus
+
+
+ 0.01345 -0.02827 0.00136
+ r_humerus
+
+
+ 0.01068 -0.07736 -0.00165
+ r_humerus
+
+
+ 0.01703 -0.12125 0.00024
+ r_humerus
+
+
+ 0.0228 -0.1754 -0.0063
+ r_humerus
+
+
+ 0.00751 -0.04839 0.02179
+ r_ulna_radius_hand
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ -0 0 -0 0 0 0
+
+ false
+
+ 4
+
+
+
+
+ BIClonghh
+ hybrid
+ 2 3
+
+
+
+
+
+
+ 1
+
+ 624.3
+
+ 0.1157
+
+ 0.2723
+
+ 0
+
+ 10
+
+ 0.01
+
+ 0.04
+
+ 0.033
+
+ 0.6
+
+ 0.5
+
+ 4
+
+ 0.3
+
+ 1.8
+
+
+
+ false
+
+ 0
+
+ 1
+
+
+
+
+
+ 0.004675 -0.01231 0.13475
+ base
+
+
+ -0.007075 -0.04004 0.14507
+ base
+
+
+ 0.01117 -0.07576 -0.01101
+ r_humerus
+
+
+ 0.01703 -0.12125 -0.01079
+ r_humerus
+
+
+ 0.0228 -0.1754 -0.0063
+ r_humerus
+
+
+ 0.00751 -0.04839 0.02179
+ r_ulna_radius_hand
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ -0 0 -0 0 0 0
+
+ false
+
+ 4
+
+
+
+
+
+
+
+ 1
+
+ 435.56
+
+ 0.1321
+
+ 0.1923
+
+ 0
+
+ 10
+
+ 0.01
+
+ 0.04
+
+ 0.033
+
+ 0.6
+
+ 0.5
+
+ 4
+
+ 0.3
+
+ 1.8
+
+
+
+ false
+
+ 0
+
+ 1
+
+
+
+
+
+ 0.0068 -0.1739 -0.0036
+ r_humerus
+
+
+ -0.0032 -0.0239 0.0009
+ r_ulna_radius_hand
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ -0 0 -0 0 0 0
+
+ false
+
+ 4
+
+
+
+
+ TRI
+ hybrid
+ -1 -1
+
+
+
+
+
+
+ 1
+
+ 987.26
+
+ 0.0858
+
+ 0.0535
+
+ 0
+
+ 10
+
+ 0.01
+
+ 0.04
+
+ 0.033
+
+ 0.6
+
+ 0.5
+
+ 4
+
+ 0.3
+
+ 1.8
+
+
+
+
+
+
+
+
+
+ base
+
+ -0.01256 0.04 0.17
+
+ false
+
+
+
+ r_humerus
+
+ 0.005 -0.2904 0.03
+
+ false
+
+
+
+ r_ulna_radius_hand
+
+ -0.0011 -0.23559 0.0943
+
+ false
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/OpenSim/Examples/TaskSpace/ExampleClosedKinematicChain/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExampleClosedKinematicChain/CMakeLists.txt
new file mode 100644
index 0000000000..e1d0d68eaf
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleClosedKinematicChain/CMakeLists.txt
@@ -0,0 +1,5 @@
+file(GLOB_RECURSE TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" *.osim)
+
+OpenSimAddExampleCXX(NAME ExampleClosedKinematicChain SUBDIR TaskSpace
+ EXECUTABLES ExampleClosedKinematicChain
+ RESOURCES "${TEST_FILES}")
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleClosedKinematicChain/ExampleClosedKinematicChain.cpp b/OpenSim/Examples/TaskSpace/ExampleClosedKinematicChain/ExampleClosedKinematicChain.cpp
new file mode 100644
index 0000000000..7cededdee9
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleClosedKinematicChain/ExampleClosedKinematicChain.cpp
@@ -0,0 +1,183 @@
+/**
+ * @file ExampleClosedKinematicChain.cpp
+ *
+ * \brief This example demonstrating working example of controlling (task
+ * space) a model of a closed kinematic chain topology that is build using
+ * absolute (Cartesian) coordinates. Since the underlying dynamics use
+ * constraint projection, constraints are implicitly accounted.
+ *
+ * @authors Dimitar Stanev, Nathan Pickle, Aravind Sundararajan
+ *
+ * @see [Publication]
+ */
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+Vec3 fromVectorToVec3(const Vector& v) { return Vec3(v[0], v[1], v[2]); }
+
+void closedKinematicChain() {
+ // parameters
+ string taskBodyName = "body1";
+ const double q1 = -0.0;
+ double body3_length = 1;
+ const string example = "ExampleClosedKinematicChain";
+
+ // create model
+ Model model;
+ model.setName(example);
+ auto& ground = model.getGround();
+
+ // construct body-joints
+ // body1
+ double body1_m = 1, body1_length = 1, body1_radius = 0.03;
+ Vec3 body1_com = Vec3(0);
+ Inertia body1_I =
+ body1_m * Inertia::cylinderAlongY(body1_radius, body1_length);
+ auto body1_body = new OpenSim::Body("body1", body1_m, body1_com, body1_I);
+ auto body1_geom = new OpenSim::Cylinder(body1_radius, body1_length / 2);
+ body1_geom->setName("body1_cylinder");
+ body1_body->attachGeometry(body1_geom);
+ Vec3 body1_distal(0, -body1_length / 2, 0);
+ Vec3 body1_proximal(0, body1_length / 2, 0);
+ auto ground_body1 = new OpenSim::PinJoint("ground_body1", ground, Vec3(0),
+ Vec3(0), *body1_body, body1_distal, Vec3(0));
+ ground_body1->upd_coordinates(0).setDefaultValue(
+ SimTK::convertDegreesToRadians(q1));
+ model.addBody(body1_body);
+ model.addJoint(ground_body1);
+
+ // body2
+ double body2_m = 1, body2_length = 1, body2_radius = 0.03;
+ Vec3 body2_com = Vec3(0);
+ Inertia body2_I =
+ body2_m * Inertia::cylinderAlongY(body2_radius, body2_length);
+ auto body2_body = new OpenSim::Body("body2", body2_m, body2_com, body2_I);
+ auto body2_geom = new OpenSim::Cylinder(body2_radius, body2_length / 2);
+ body2_geom->setName("body2_cylinder");
+ body2_body->attachGeometry(body2_geom);
+ Vec3 body2_distal(0, -body2_length / 2, 0);
+ Vec3 body2_proximal(0, body2_length / 2, 0);
+ auto ground_body2 = new OpenSim::PinJoint("body1_body2", ground,
+ Vec3(body3_length, 0, 0), Vec3(0), *body2_body, body2_distal,
+ Vec3(0));
+ ground_body2->upd_coordinates(0).setDefaultValue(
+ SimTK::convertDegreesToRadians(q1));
+ model.addBody(body2_body);
+ model.addJoint(ground_body2);
+
+ // body3
+ double body3_m = 1, body3_radius = 0.03;
+ Vec3 body3_com = Vec3(0);
+ Inertia body3_I =
+ body3_m * Inertia::cylinderAlongY(body3_radius, body3_length);
+ auto body3_body = new OpenSim::Body("body3", body3_m, body3_com, body3_I);
+ auto body3_geom = new OpenSim::Cylinder(body3_radius, body3_length / 2);
+ body3_geom->setName("body3_cylinder");
+ body3_body->attachGeometry(body3_geom);
+ Vec3 body3_distal(0, -body3_length / 2, 0);
+ Vec3 body3_proximal(0, body3_length / 2, 0);
+ auto ground_body3 = new OpenSim::FreeJoint("body1_body3", ground, Vec3(0),
+ Vec3(0), *body3_body, body3_distal, Vec3(0));
+ model.addBody(body3_body);
+ model.addJoint(ground_body3);
+
+ // connect the two free bodies with constraints
+ auto pointConstraint1 = new PointConstraint(
+ *body1_body, body1_proximal, *body3_body, body3_distal);
+ pointConstraint1->setName("pc1");
+ model.addConstraint(pointConstraint1);
+ auto pointConstraint2 = new PointConstraint(
+ *body2_body, body2_proximal, *body3_body, body3_proximal);
+ pointConstraint2->setName("pc2");
+ model.addConstraint(pointConstraint2);
+
+ auto& state = model.initSystem();
+
+ // body kinematics
+ auto bodyKinematics = new BodyKinematics(&model);
+ bodyKinematics->setInDegrees(false);
+ model.addAnalysis(bodyKinematics);
+
+ // define the controller
+ TaskSpaceTorqueController* controller = new TaskSpaceTorqueController();
+ controller->set_ConstraintModel(AghiliModel());
+ controller->set_control_strategy("force");
+ model.addController(controller);
+
+ // build and initialize model
+ state = model.initSystem();
+
+ // initial configuration (pose)
+ model.updCoordinateSet()[0].setValue(state, convertDegreesToRadians(q1));
+ model.updCoordinateSet()[1].setValue(state, convertDegreesToRadians(q1));
+ auto& taskBody = model.updBodySet().get(taskBodyName);
+ Vec3 initialOrientation =
+ taskBody.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+
+ // Set up orientation tracking
+ auto task = new OrientationTask();
+ task->setName(taskBodyName);
+ task->set_priority(0);
+
+ task->set_kp(Array(100, 3));
+ task->set_kv(Array(20, 3));
+ task->set_weight(Array(1, 3));
+
+ task->set_direction_vectors(0, SimTK::Vec3(1, 0, 0));
+ task->set_direction_vectors(1, SimTK::Vec3(0, 1, 0));
+ task->set_direction_vectors(2, SimTK::Vec3(0, 0, 1));
+ // task->set_active(Array(true));
+ auto x_desired = Constant(initialOrientation[0]);
+ auto y_desired = Constant(initialOrientation[1]);
+ auto z_desired = Sine(0.9*Pi / 2, 2 * Pi, 0, initialOrientation[2]);
+
+ task->set_position_functions(0, x_desired);
+ task->set_position_functions(1, y_desired);
+ task->set_position_functions(2, z_desired);
+
+ task->set_wrt_body(taskBodyName);
+
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(task);
+
+ // build and initialize model to initialize the tasks. also add a visualizer
+ model.setUseVisualizer(true);
+ state = model.initSystem();
+
+ // configure visualizer
+ if (model.hasVisualizer()) {
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(
+ Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(
+ Visualizer::BackgroundType::SolidColor);
+ model.updMatterSubsystem().setShowDefaultGeometry(true);
+ }
+
+ // simulate
+ simulate(model, state, 2, true);
+
+ // export results
+ controller->printResults(example, "/results");
+ bodyKinematics->printResults(example, "/results");
+
+ model.print("ExampleClosedKinematicChain.osim");
+}
+
+int main(int argc, char* argv[]) {
+ Logger::setLevel(Logger::Level::Info);
+
+ try {
+ closedKinematicChain();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ // getchar();
+ return -1;
+ }
+ cout << "done" << endl;
+ return 0;
+}
diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExampleCycling/CMakeLists.txt
new file mode 100644
index 0000000000..5ecbecc46d
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/CMakeLists.txt
@@ -0,0 +1,7 @@
+file(GLOB_RECURSE TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" *.osim *.obj)
+
+message(STATUS ${TEST_FILES})
+
+OpenSimAddExampleCXX(NAME ExampleCycling SUBDIR TaskSpace
+ EXECUTABLES ExampleCycling
+ RESOURCES "${TEST_FILES}")
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/ExampleCycling.cpp b/OpenSim/Examples/TaskSpace/ExampleCycling/ExampleCycling.cpp
new file mode 100644
index 0000000000..59bc03d4da
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/ExampleCycling.cpp
@@ -0,0 +1,175 @@
+/**
+ * @file ExampleCycling.cpp
+ *
+ * \brief Simulation of cycling using task space control of the gear rotation.
+ *
+ * @authors Dimitar Stanev, Nathan Pickle, Aravind Sundararajan
+ *
+ * @see [Publication]
+ */
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+#define USE_VISUALIZER 1
+
+Vec3 fromVectorToVec3(const Vector& v) { return Vec3(v[0], v[1], v[2]); }
+
+SimTK::State simulate2(Model& model, const SimTK::State& initialState,
+ double finalTime, bool saveStatesFile = false) {
+ // Returned/ state begins as a copy of the initial state
+ SimTK::State state = initialState;
+ SimTK::Visualizer::InputSilo* silo;
+
+ bool simulateOnce = true;
+
+ // Configure the visualizer.
+ if (model.getUseVisualizer() && model.hasVisualizer()) {
+ SimTK::Visualizer& viz = model.updVisualizer().updSimbodyVisualizer();
+ // We use the input silo to get key presses.
+ silo = &model.updVisualizer().updInputSilo();
+
+ SimTK::DecorativeText help("Press any key to start a new simulation; "
+ "ESC to quit.");
+ help.setIsScreenText(true);
+ viz.addDecoration(SimTK::MobilizedBodyIndex(0), SimTK::Vec3(0), help);
+
+ viz.setShowSimTime(true);
+ viz.drawFrameNow(state);
+ std::cout << "A visualizer window has opened." << std::endl;
+
+ // if visualizing enable replay
+ simulateOnce = false;
+ }
+
+ // Simulate until the user presses ESC (or enters 'q' if visualization has
+ // been disabled).
+ do {
+ if (model.getUseVisualizer() && model.hasVisualizer()) {
+ // Get a key press.
+ silo->clear(); // Ignore any previous key presses.
+ unsigned key, modifiers;
+ silo->waitForKeyHit(key, modifiers);
+ if (key == SimTK::Visualizer::InputListener::KeyEsc) { break; }
+ }
+
+ // reset the state to the initial state
+ state = initialState;
+ // Set up manager and simulate.
+ Manager manager(model);
+ state.setTime(0.0);
+ manager.setIntegratorAccuracy(
+ 1e-1); // model is a bit unstable due to constraints
+ manager.initialize(state);
+ manager.integrate(finalTime);
+
+ // Save the states to a storage file (if requested).
+ if (saveStatesFile) {
+ manager.getStateStorage().print(model.getName() + "_states.sto");
+ }
+ } while (!simulateOnce);
+
+ return state;
+}
+
+void cyclingSimulation() {
+ const string example = "ExampleCycling";
+
+ ModelVisualizer::addDirToGeometrySearchPaths(OPENSIM_GEOMETRY_DIR);
+
+ // load model
+ Model model("bicycle_v10.osim");
+ model.set_assembly_accuracy(0.1);
+
+ // body kinematics
+ auto bodyKinematics = new BodyKinematics(&model);
+ bodyKinematics->setInDegrees(false);
+ model.addAnalysis(bodyKinematics);
+
+ // define the controller
+ TaskSpaceTorqueController* controller = new TaskSpaceTorqueController();
+ controller->set_ConstraintModel(NoConstraintModel());
+ model.addController(controller);
+
+ // disable any actuators when computing the total force to improve
+ // simulation time
+ auto& ms = model.updMuscles();
+ for (int i = 0; i < ms.getSize(); i++) { ms[i].set_appliesForce(false); }
+
+ // build and initialize model
+ model.finalizeFromProperties();
+ auto& state = model.initSystem();
+
+ // gears initial configuration
+ auto& gearsBody = model.updBodySet().get("gears");
+ Vec3 initialOrientation = gearsBody.getRotationInGround(state)
+ .convertRotationToBodyFixedXYZ();
+
+ Vec3 direction(1.0, 0.0, 0.0);
+ double mag = 2 * Pi;
+
+ // Set up orientation tracking for the humerus
+ auto gearsTask = new OrientationTask();
+ gearsTask->setName("gears_task");
+
+ gearsTask->set_kp(Array(500, 3));
+ gearsTask->set_kv(Array(50, 3));
+
+ gearsTask->set_direction_vectors(0, SimTK::Vec3(1, 0, 0));
+ gearsTask->set_direction_vectors(1, SimTK::Vec3(0, 1, 0));
+ gearsTask->set_direction_vectors(2, SimTK::Vec3(0, 0, 1));
+
+ auto x_desired = LinearFunction(mag * direction[0], initialOrientation[0]);
+ auto y_desired = LinearFunction(mag * direction[1], initialOrientation[1]);
+ auto z_desired = LinearFunction(mag * direction[2], initialOrientation[2]);
+
+ gearsTask->set_position_functions(0, x_desired);
+ gearsTask->set_position_functions(1, y_desired);
+ gearsTask->set_position_functions(2, z_desired);
+ gearsTask->set_wrt_body("gears");
+
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(gearsTask);
+
+#if USE_VISUALIZER == 1
+ model.setUseVisualizer(true);
+#endif
+ model.initSystem();
+
+ // configure visualizer
+#if USE_VISUALIZER == 1
+ if (model.hasVisualizer()) {
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(
+ Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(
+ Visualizer::BackgroundType::SolidColor);
+ model.updMatterSubsystem().setShowDefaultGeometry(false);
+ }
+#endif
+
+ // print the complete model
+ model.print(example + ".osim");
+
+ // simulate we have to relax the tolerance because of the constraints
+ // simulate(model, state, 2, true);
+ simulate2(model, state, 4.0, true);
+
+ // export results
+ controller->printResults(example, ".");
+ bodyKinematics->printResults(example, ".");
+}
+
+int main(int argc, char* argv[]) {
+ try {
+ cyclingSimulation();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ getchar();
+ return -1;
+ }
+ return 0;
+}
diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/bicycle_v10.osim b/OpenSim/Examples/TaskSpace/ExampleCycling/bicycle_v10.osim
new file mode 100644
index 0000000000..85cbbe21aa
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/bicycle_v10.osim
@@ -0,0 +1,6595 @@
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+ 0.3
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+ 1.8
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+
+
+
+ glut_max1_r glut_med1_r glut_med2_r glut_med3_r peri_r sar_r tfl_r
+
+
+ glut_med1_r grac_r iliacus_r pect_r psoas_r rect_fem_r sar_r tfl_r
+
+
+ glut_med1_r iliacus_r psoas_r tfl_r
+
+
+ gem_r glut_med3_r peri_r quad_fem_r
+
+
+ add_mag2_r bifemlh_r glut_max1_r glut_max2_r glut_max3_r glut_med3_r
+
+
+ add_mag2_r bifemlh_r grac_r pect_r
+
+
+ bifemlh_r bifemsh_r grac_r med_gas_r sar_r
+
+
+ rect_fem_r vas_int_r
+
+
+ med_gas_r soleus_r tib_post_r
+
+
+ tib_ant_r tib_post_r
+
+
+ tib_ant_r
+
+
+ glut_max1_l glut_med1_l glut_med2_l glut_med3_l peri_l sar_l tfl_l
+
+
+ glut_med1_l grac_l iliacus_l pect_l psoas_l rect_fem_l sar_l tfl_l
+
+
+ glut_med1_l iliacus_l psoas_l tfl_l
+
+
+ gem_l glut_med3_l peri_l quad_fem_l
+
+
+ add_mag2_l bifemlh_l glut_max1_l glut_max2_l glut_max3_l glut_med3_l
+
+
+ add_mag2_l bifemlh_l grac_l pect_l
+
+
+ bifemlh_l bifemsh_l grac_l med_gas_l sar_l
+
+
+ rect_fem_l vas_int_l
+
+
+ med_gas_l soleus_l tib_post_l
+
+
+ tib_ant_l tib_post_l
+
+
+ tib_ant_l
+
+
+
+
+
+
+
+
+ frame
+
+ 0.00114552 0.376431 -0.379321
+
+ true
+
+
+
+ frame
+
+ -0.0366384 -0.291526 -0.20305
+
+ true
+
+
+
+ gears
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+ 0.118742 -0.113054 0.159427
+
+ true
+
+
+
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diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/frame.obj b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/frame.obj
new file mode 100644
index 0000000000..3cf82f0e61
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diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/gears.obj b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/gears.obj
new file mode 100644
index 0000000000..c51f4a6300
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/gears.obj
@@ -0,0 +1,2398 @@
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+# 1588 faces, 0 coords texture
+
+# End of File
diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/pedal_l.obj b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/pedal_l.obj
new file mode 100644
index 0000000000..e66afa7877
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/pedal_l.obj
@@ -0,0 +1,206 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pedal_l.obj
+#
+# Vertices: 62
+# Faces: 128
+#
+####
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+
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+# 128 faces, 0 coords texture
+
+# End of File
diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/pedal_r.obj b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/pedal_r.obj
new file mode 100644
index 0000000000..21cc2603be
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/pedal_r.obj
@@ -0,0 +1,206 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pedal_r.obj
+#
+# Vertices: 62
+# Faces: 128
+#
+####
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+v 0.085827 0.013619 -0.052982
+v 0.085827 0.014753 0.019151
+v 0.085827 0.022690 0.053319
+# 62 vertices, 0 vertices normals
+
+f 1 2 3
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+f 6 5 2
+f 6 7 5
+f 8 7 6
+f 8 1 7
+f 7 1 3
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+f 44 1 58
+f 2 1 44
+f 19 36 47
+f 47 36 48
+f 52 36 51
+f 51 36 19
+# 128 faces, 0 coords texture
+
+# End of File
diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/saddle.obj b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/saddle.obj
new file mode 100644
index 0000000000..a7b780868b
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/saddle.obj
@@ -0,0 +1,153 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object saddle.obj
+#
+# Vertices: 47
+# Faces: 90
+#
+####
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+v -0.044066 -0.034818 0.201463
+v 0.000274 -0.034818 0.167295
+# 47 vertices, 0 vertices normals
+
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+f 40 25 26
+f 42 40 26
+f 43 30 38
+f 30 44 38
+# 90 faces, 0 coords texture
+
+# End of File
diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/wheel_f.obj b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/wheel_f.obj
new file mode 100644
index 0000000000..c1c36fef6c
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/wheel_f.obj
@@ -0,0 +1,714 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object wheel_f.obj
+#
+# Vertices: 288
+# Faces: 410
+#
+####
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diff --git a/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/wheel_r.obj b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/wheel_r.obj
new file mode 100644
index 0000000000..33ab8134c8
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleCycling/geometry/wheel_r.obj
@@ -0,0 +1,822 @@
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+v 0.032569 0.055409 0.001795
+# 344 vertices, 0 vertices normals
+
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+f 337 342 338
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+f 344 337 154
+f 154 337 155
+# 462 faces, 0 coords texture
+
+# End of File
diff --git a/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/CMakeLists.txt
new file mode 100644
index 0000000000..372e7fac07
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/CMakeLists.txt
@@ -0,0 +1,5 @@
+file(GLOB_RECURSE TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" *.osim)
+
+OpenSimAddExampleCXX(NAME ExamplePerreault2001Experiment SUBDIR TaskSpace
+ EXECUTABLES ExamplePerreault2001Experiment
+ RESOURCES "${TEST_FILES}")
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/ExamplePerreault2001Experiment.cpp b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/ExamplePerreault2001Experiment.cpp
new file mode 100644
index 0000000000..6f40386164
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/ExamplePerreault2001Experiment.cpp
@@ -0,0 +1,208 @@
+/**
+ * @file ExamplePerreault2001Experiment.cpp
+ *
+ * \brief Control of the MoBL 2016 upper limb model.
+ *
+ * [1] Perreault, E. J., Kirsch, R. F., & Crago, P. E. (2001). Effects of
+ * voluntary force generation on the elastic components of endpoint stiffness.
+ * Experimental Brain Research, 141(3), 312--323.
+ *
+ * @authors Dimitar Stanev, Nathan Pickle, Aravind Sundararajan
+ *
+ * @see [Publication]
+ */
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+#define USE_VISUALIZER 1
+
+Vec3 fromVectorToVec3(const Vector& v) { return Vec3(v[0], v[1], v[2]); }
+
+void findExperimentConfiguration(State& state, Model& model,
+ double thetaShoulderDeg, double thetaElbowDeg) {
+ // add orientation osensor
+ SimTK::OrientationSensors* imus = new SimTK::OrientationSensors();
+ auto humerusMX = imus->addOSensor("humerus",
+ model.updBodySet().get("humerus").getMobilizedBodyIndex(),
+ SimTK::Rotation(), 1);
+
+ auto radiusMX = imus->addOSensor("radius",
+ model.updBodySet().get("radius").getMobilizedBodyIndex(),
+ SimTK::Rotation(), 1);
+
+ // finalize observation order (to allocate ObservationIx)
+ static const int OSENSORS = 2;
+ static const char* osensor_observation_order[2] = {"humerus", "radius"};
+ imus->defineObservationOrder(OSENSORS, osensor_observation_order);
+
+ // get all ObservationIx
+ auto humerusOX = imus->getObservationIxForOSensor(humerusMX);
+ auto radiusOX = imus->getObservationIxForOSensor(radiusMX);
+
+ // move to initial target
+ SimTK::Assembler ik(model.updMultibodySystem());
+ ik.setAccuracy(1e-5);
+ ik.adoptAssemblyGoal(imus);
+ imus->moveOneObservation(humerusOX,
+ SimTK::Rotation(SimTK::BodyOrSpaceType::SpaceRotationSequence,
+ convertDegreesToRadians(-60), SimTK::XAxis,
+ convertDegreesToRadians(thetaShoulderDeg), SimTK::YAxis,
+ convertDegreesToRadians(0), SimTK::ZAxis));
+ imus->moveOneObservation(radiusOX,
+ SimTK::Rotation(SimTK::BodyOrSpaceType::SpaceRotationSequence,
+ convertDegreesToRadians(-90), SimTK::XAxis,
+ convertDegreesToRadians(thetaShoulderDeg + thetaElbowDeg),
+ SimTK::YAxis, convertDegreesToRadians(0), SimTK::ZAxis));
+
+ // setup inverse kinematics
+ state.setTime(0);
+ ik.initialize(state);
+ ik.assemble(state);
+}
+
+void perreault2001Experiment() {
+
+ const string example = "ExamplePerreault2001Experiment";
+
+ const double kp = 100;
+ const double kv = 20;
+
+ ModelVisualizer::addDirToGeometrySearchPaths(OPENSIM_GEOMETRY_DIR);
+
+ // load model
+ Model model("mobl_2016_ideal_muscles.osim");
+
+ // body kinematics
+ auto bodyKinematics = new BodyKinematics(&model);
+ bodyKinematics->setInDegrees(false);
+ model.addAnalysis(bodyKinematics);
+
+ // define the controller
+ TaskSpaceTorqueController* controller = new TaskSpaceTorqueController();
+ controller->set_ConstraintModel(AghiliModel());
+ controller->set_control_strategy("velocity");
+ model.addController(controller);
+
+ auto& marker = model.getMarkerSet().get("end_effector");
+ // here we just have to find the body to which the marker is
+ // attached, but due to OpenSim's Frame it is more difficult now
+ auto markerFrame = marker.getParentFrameName();
+ auto handBodyName = markerFrame.substr(markerFrame.find("/", 1) + 1);
+
+ // build and initialize model
+ auto& state = model.initSystem();
+ findExperimentConfiguration(state, model, 60, 120);
+ model.realizePosition(state);
+
+ // hand initial configuration
+ auto& handBody = model.getBodySet().get(handBodyName);
+ Vec3 initialOrientation =
+ handBody.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+ Vec3 initialPosition = marker.getLocationInGround(state);
+
+ log_debug("initial position: {}", initialPosition);
+
+ // Set up spatial tracking for the hand
+ auto hand_orientation = new OrientationTask();
+ hand_orientation->set_priority(0);
+ hand_orientation->set_kp(Array(kp, 3));
+ hand_orientation->set_kv(Array(kv, 3));
+ auto xorient_desired = Constant(initialOrientation[0]);
+ auto yorient_desired = Constant(initialOrientation[1]);
+ auto zorient_desired = Constant(initialOrientation[2]);
+ hand_orientation->set_position_functions(0, xorient_desired);
+ hand_orientation->set_position_functions(1, yorient_desired);
+ hand_orientation->set_position_functions(2, zorient_desired);
+ hand_orientation->set_wrt_body(handBodyName);
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_orientation);
+
+ auto hand_position = new StationTask();
+ hand_position->set_priority(0);
+ hand_position->set_point(marker.get_location());
+ hand_position->set_kp(Array(kp, 3));
+ hand_position->set_kv(Array(kv, 3));
+ //No acceleration error term
+ hand_position->set_ka(Array(0.0, 3));
+ auto xpos_desired = Constant(initialPosition[0]);
+ auto ypos_desired = Constant(initialPosition[1]);
+ auto zpos_desired = Sine(0.1, 2 * Pi, 0, initialPosition[2]);
+ //auto zpos_desired = Constant(initialPosition[2]);
+ hand_position->set_position_functions(0, xpos_desired);
+ hand_position->set_position_functions(1, ypos_desired);
+ hand_position->set_position_functions(2, zpos_desired);
+ //Don't use derivative of position function
+ hand_position->set_velocity_functions(0, Constant(0));
+ hand_position->set_velocity_functions(1, Constant(0));
+ hand_position->set_velocity_functions(2, Constant(0));
+ hand_position->set_wrt_body(handBodyName);
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_position);
+
+
+
+#if USE_VISUALIZER == 1
+ // build and initialize model to initialize the tasks. also add a visualizer
+ model.setUseVisualizer(true);
+ state = model.initSystem();
+
+ // put the model back in the correct initial configuration
+ findExperimentConfiguration(state, model, 60, 120);
+ model.realizePosition(state);
+
+ for (int i = 0; i < model.getCoordinateSet().getSize(); i++) {
+ if (!model.getCoordinateSet()[i].isConstrained(state))
+ cout << model.getCoordinateSet()[i].getName() << " "
+ << convertRadiansToDegrees(
+ model.getCoordinateSet()[i].getValue(state))
+ << endl;
+ }
+
+ // configure visualizer
+ if (model.hasVisualizer()) {
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(
+ Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(
+ Visualizer::BackgroundType::SolidColor);
+ model.updMatterSubsystem().setShowDefaultGeometry(false);
+ }
+#endif
+ IO::makeDir("results");
+
+ // print the complete model
+ model.print("results/" + example + ".osim");
+
+ // simulate
+ //simulate(model, state, 3.0, true);
+
+ state.setTime(0.0);
+ model.realizeDynamics(state);
+ Manager manager(model);
+ manager.setIntegratorMaximumStepSize(1e-3);
+ manager.initialize(state);
+ controller->computeControls(state, controller->_tau);
+ double end_time = 1;
+ log_debug("#####################################################");
+ log_info("\nIntegrating from {} to {}", 0.0, end_time);
+ state = manager.integrate(end_time);
+
+ // export results
+ controller->printResults(example, "results");
+ bodyKinematics->printResults(example, "results");
+}
+
+int main(int argc, char* argv[]) {
+ Logger::setLevel(Logger::Level::Info);
+ try {
+ perreault2001Experiment();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ getchar();
+ return -1;
+ }
+ return 0;
+}
diff --git a/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/mobl_2016_ideal_muscles.osim b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/mobl_2016_ideal_muscles.osim
new file mode 100644
index 0000000000..0152ea2e21
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/mobl_2016_ideal_muscles.osim
@@ -0,0 +1,9022 @@
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+
+ -0.07247 -0.03285 0.01233
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+
+
+ 0.00206 -0.07602 0.01045
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+
+
+
+
+
+
+
+
+ Delt3
+ hybrid
+ 1 2
+
+
+ delt3hum
+ hybrid
+ -1 -1
+
+
+ DELT_TMAJ_LAT_PEC_CORBhh
+ hybrid
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+
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
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+
+ -0.044 -0.01512 -0.05855
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+
+
+
+
+
+
+
+ SUPSP
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+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ 0 0 0 0 0 0
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+
+
+
+
+ -0.00887 0.00484 0.02448
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+
+
+ -0.07382 -0.05476 -0.04781
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+
+
+
+
+
+
+
+
+ INFSP
+ hybrid
+ -1 -1
+
+
+ INFSP_and_TMIN_hum_head
+ hybrid
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+
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
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+ 4
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+ 1075.8
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+
+ -0.01831 -0.05223 -0.02457
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+
+ -0.07246 -0.03943 -0.06475
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+
+
+
+
+
+
+
+ SUBSCAP
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+
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+
+
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+
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+
+ -0.09473 -0.07991 -0.04737
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+
+ -0.09643 -0.08121 -0.05298
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+
+
+
+
+
+
+
+ TMIN
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+ 1 2
+
+
+ INFSP_and_TMIN_hum_head
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+ 1 2
+
+
+ TMINhum
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+ 1 2
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
+
+
+
+
+
+
+ TMAJ_LAThum
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+
+
+ LAT_TMAJhh
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+ 1 2
+
+
+ LAT_TMAJ2hh
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+
+
+
+
+
+
+
+
+
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+
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+ 144
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+
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
+ 0.00321 -0.00013 0.05113
+ clavicle
+
+
+
+
+
+
+
+
+ Thorax
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+ -1 -1
+
+
+ PEC12hum
+ hybrid
+ 2 3
+
+
+ PEC1hh
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+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
+
+
+
+
+
+
+
+ Thorax
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+ -1 -1
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+
+ PEC12hum
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+ 2 3
+
+
+ TMAJ_LAT_PEC_CORBhh
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+ -1 -1
+
+
+ PEC23hh
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+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
+ 0.05724 -0.11654 0.03787
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+
+
+
+
+
+
+
+
+ Thorax
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+ -1 -1
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+
+ PEC3hum
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+
+ PEC23hh
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+
+
+
+
+
+
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+
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+
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+
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+
+ -0.11828 -0.10118 0.03316
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+
+ -0.09578 -0.11724 0.00882
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+
+
+
+
+
+
+
+ TMAJ_LAThum
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+
+ LAT_TMAJhh
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+
+ LAT_TMAJ2hh
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+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
+ -0.10992 -0.16908 0.02878
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+
+ -0.07186 -0.18818 0.00815
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+
+
+
+
+
+
+
+ TMAJ_LAThum
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+
+ LAT_TMAJhh
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+
+ LAT_TMAJ2hh
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+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
+
+
+
+
+
+
+ TMAJ_LAThum
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+
+ LAT_TMAJhh
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+
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+
+
+
+
+
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+
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+
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+
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+
+ 0.00743 -0.15048 -0.00782
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+
+
+
+
+
+
+
+ CORBhum
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+
+ TMAJ_LAT_PEC_CORBhh
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+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
+ -0.0219 0.01046 -0.00078
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+
+
+
+
+
+
+
+
+ TRI
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+ -1 -1
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+
+ TRIlonghh
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+ -1 -1
+
+
+ TRIlongglen
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+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
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+
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+
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+
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+
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+
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+
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+
+ -0.0219 0.01046 -0.00078
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+
+
+
+
+
+
+
+
+ TRI
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+
+
+
+
+
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+
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+
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+
+
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+
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+
+
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+
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+
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+
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+
+
+ -0.0219 0.01046 -0.00078
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+
+
+
+
+
+
+
+
+ TRI
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+
+
+
+
+
+
+
+
+
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+
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+
+
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+
+ -0.02532 -0.00124 0.006
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+
+
+
+
+
+
+
+
+ ANC
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+
+
+
+
+
+
+
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+
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+
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+
+ -0.0136 -0.03384 0.02013
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+
+
+
+
+
+
+
+ SUP
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+
+
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+
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+
+
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+
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+
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+
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+
+ -0.0032 -0.0239 0.0009
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+
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+
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+
+
+
+ Elbow_BIC_BRD
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+
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+
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+
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+
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diff --git a/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/opensim.log b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/opensim.log
new file mode 100644
index 0000000000..ee27d99b4e
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExamplePerreault2001Experiment/opensim.log
@@ -0,0 +1,742 @@
+[2024-01-18 08:29:30.166] [info] Updating Model file from 30000 to latest format...
+[2024-01-18 08:29:30.208] [info] Loaded model MoBL_2016_Ideal_Muscles from file C:\Users\nathan.pickle\Documents\Source\OpenSim4\opensim-core-source\OpenSim\Examples\TaskSpace\ExamplePerreault2001Experiment\mobl_2016_ideal_muscles.osim
+[2024-01-18 08:29:30.210] [warning] Couldn't find file 'thorax.vtp'.
+[2024-01-18 08:29:30.211] [warning] Couldn't find file 'clavicle.vtp'.
+[2024-01-18 08:29:30.211] [warning] Couldn't find file 'scapula.vtp'.
+[2024-01-18 08:29:30.233] [warning] Couldn't find file 'lunate.vtp'.
+[2024-01-18 08:29:30.233] [warning] Couldn't find file 'sdfastSCAPHOIDw.vtp'.
+[2024-01-18 08:29:30.233] [warning] Couldn't find file 'sdfastPISIFORMw.vtp'.
+[2024-01-18 08:29:30.233] [warning] Couldn't find file 'sdfastTRIQUETRALw.vtp'.
+[2024-01-18 08:29:30.234] [warning] Couldn't find file 'sdfast_1seg_hand_fr_c_5mc.vtp'.
+[2024-01-18 08:29:30.234] [warning] Couldn't find file 'sdfast_1seg_hand_fr_c_4mc.vtp'.
+[2024-01-18 08:29:30.234] [warning] Couldn't find file 'sdfast_1seg_hand_fr_c_3mc.vtp'.
+[2024-01-18 08:29:30.234] [warning] Couldn't find file 'sdfast_1seg_hand_fr_c_2mc.vtp'.
+[2024-01-18 08:29:30.234] [warning] Couldn't find file 'sdfast_1seg_hand_fr_c_trapezium.vtp'.
+[2024-01-18 08:29:30.234] [warning] Couldn't find file 'sdfast_1seg_hand_fr_c_trapezoid.vtp'.
+[2024-01-18 08:29:30.234] [warning] Couldn't find file 'sdfast_1seg_hand_fr_c_hamate.vtp'.
+[2024-01-18 08:29:30.235] [warning] Couldn't find file 'capitate.vtp'.
+[2024-01-18 08:29:30.235] [warning] Couldn't find file 'hand_2proxph.vtp'.
+[2024-01-18 08:29:30.235] [warning] Couldn't find file 'hand_2midph.vtp'.
+[2024-01-18 08:29:30.235] [warning] Couldn't find file 'hand_2distph.vtp'.
+[2024-01-18 08:29:30.235] [warning] Couldn't find file 'hand_3proxph.vtp'.
+[2024-01-18 08:29:30.235] [warning] Couldn't find file 'hand_3midph.vtp'.
+[2024-01-18 08:29:30.235] [warning] Couldn't find file 'hand_3distph.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_4proxph.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_4midph.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_4distph.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_5proxph.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_5midph.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_5distph.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_thumbprox.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_thumbdist.vtp'.
+[2024-01-18 08:29:30.236] [warning] Couldn't find file 'hand_1mc.vtp'.
+[2024-01-18 08:29:30.236] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.236] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.236] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.237] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-18 08:29:30.238] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-18 08:29:50.119] [warning] Visualizer couldn't open thorax.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\thorax.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\thorax.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.120] [warning] Visualizer couldn't open clavicle.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\clavicle.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\clavicle.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.121] [warning] Visualizer couldn't open scapula.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\scapula.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\scapula.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.140] [warning] Visualizer couldn't open lunate.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\lunate.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\lunate.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.140] [warning] Visualizer couldn't open sdfastSCAPHOIDw.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfastSCAPHOIDw.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfastSCAPHOIDw.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.140] [warning] Visualizer couldn't open sdfastPISIFORMw.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfastPISIFORMw.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfastPISIFORMw.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.140] [warning] Visualizer couldn't open sdfastTRIQUETRALw.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfastTRIQUETRALw.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfastTRIQUETRALw.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open sdfast_1seg_hand_fr_c_5mc.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_5mc.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_5mc.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open sdfast_1seg_hand_fr_c_4mc.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_4mc.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_4mc.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open sdfast_1seg_hand_fr_c_3mc.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_3mc.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_3mc.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open sdfast_1seg_hand_fr_c_2mc.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_2mc.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_2mc.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open sdfast_1seg_hand_fr_c_trapezium.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_trapezium.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_trapezium.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open sdfast_1seg_hand_fr_c_trapezoid.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_trapezoid.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_trapezoid.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open sdfast_1seg_hand_fr_c_hamate.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_hamate.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\sdfast_1seg_hand_fr_c_hamate.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open capitate.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\capitate.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\capitate.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_2proxph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_2proxph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_2proxph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_2midph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_2midph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_2midph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_2distph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_2distph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_2distph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_3proxph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_3proxph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_3proxph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_3midph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_3midph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_3midph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_3distph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_3distph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_3distph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_4proxph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_4proxph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_4proxph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.141] [warning] Visualizer couldn't open hand_4midph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_4midph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_4midph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.142] [warning] Visualizer couldn't open hand_4distph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_4distph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_4distph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.142] [warning] Visualizer couldn't open hand_5proxph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_5proxph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_5proxph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.142] [warning] Visualizer couldn't open hand_5midph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_5midph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_5midph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.142] [warning] Visualizer couldn't open hand_5distph.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_5distph.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_5distph.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.142] [warning] Visualizer couldn't open hand_thumbprox.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_thumbprox.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_thumbprox.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.142] [warning] Visualizer couldn't open hand_thumbdist.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_thumbdist.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_thumbdist.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:29:50.142] [warning] Visualizer couldn't open hand_1mc.vtp because: SimTK Exception thrown at PolygonalMesh.cpp:411:
+ Error detected by Simbody method PolygonalMesh::loadVtpFile(): Attempt to load a VTK PolyData (.vtp) file from file name 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_1mc.vtp' failed with message:
+ SimTK Exception thrown at Xml.cpp:108:
+ Error detected by Simbody method Xml::readFromFile(): Failed to load the Xml file 'C:\OpenSim 4.5-2023-07-13-4cc8683\opensim\..\\Geometry\hand_1mc.vtp' with error 'Failed to open file (line=0, col=0)'.
+ (Required condition 'loadOK' was not met.)
+
+ (Required condition '!"failed"' was not met.)
+
+[2024-01-18 08:30:12.674] [warning] Running tool MoBL_2016_Ideal_Muscles...
+[2024-01-18 08:30:12.674] [info] No external loads will be applied (external loads file not specified).
+[2024-01-18 08:30:12.685] [cout] [info] MODEL: MoBL_2016_Ideal_Muscles
+
+numStates = 40
+numCoordinates = 20
+numSpeeds = 20
+numActuators = 47
+numBodies = 11
+numConstraints = 13
+numProbes = 0
+
+ANALYSES (total: 2)
+analysis[0] = Un-named analysis.
+analysis[1] = Un-named analysis.
+
+BODIES (total: 11)
+body[0] = clavicle. mass: 0.156
+ moments of inertia: ~[0.00024259,0.00025526,4.442e-05]
+ products of inertia: ~[-1.898e-05,-6.994e-05,5.371e-05]
+body[1] = clavphant. mass: 0.0001
+ moments of inertia: ~[1,1,1]
+ products of inertia: ~[0,0,0]
+body[2] = scapula. mass: 0.70396
+ moments of inertia: ~[0.0012429,0.0011504,0.0013651]
+ products of inertia: ~[0.0004494,0.00040922,0.0002411]
+body[3] = scapphant. mass: 0.0001
+ moments of inertia: ~[1,1,1]
+ products of inertia: ~[0,0,0]
+body[4] = humphant. mass: 0.0001
+ moments of inertia: ~[1,1,1]
+ products of inertia: ~[0,0,0]
+body[5] = humphant1. mass: 0.0001
+ moments of inertia: ~[1,1,1]
+ products of inertia: ~[0,0,0]
+body[6] = humerus. mass: 1.99757
+ moments of inertia: ~[0.0122776,0.00255133,0.0125789]
+ products of inertia: ~[-0.00034741,-0.0002325,0.0012293]
+body[7] = ulna. mass: 1.1053
+ moments of inertia: ~[0.00541309,0.00115318,0.00494361]
+ products of inertia: ~[0.00031686,-7.615e-05,0.00109169]
+body[8] = radius. mass: 0.23359
+ moments of inertia: ~[0.00043855,8.859e-05,0.00040258]
+ products of inertia: ~[3.014e-05,-4.24e-06,6.418e-05]
+body[9] = proximal_row. mass: 0.0001
+ moments of inertia: ~[1e-05,1e-05,1e-05]
+ products of inertia: ~[0,0,0]
+body[10] = hand. mass: 0.5819
+ moments of inertia: ~[0.00011,6e-05,0.00015]
+ products of inertia: ~[9e-07,-2e-07,1.2e-05]
+
+JOINTS (total: 11)
+joint[0] = sternoclavicular. parent: ground_offset, child: clavicle_offset
+joint[1] = unrotscap. parent: clavicle_offset, child: clavphant_offset
+joint[2] = acromioclavicular. parent: clavphant_offset, child: scapula_offset
+joint[3] = unrothum. parent: scapula_offset, child: scapphant_offset
+joint[4] = shoulder0. parent: scapphant_offset, child: humphant_offset
+joint[5] = shoulder1. parent: humphant_offset, child: humphant1_offset
+joint[6] = shoulder2. parent: humphant1_offset, child: humerus_offset
+joint[7] = elbow. parent: humerus_offset, child: ulna_offset
+joint[8] = radioulnar. parent: ulna_offset, child: radius_offset
+joint[9] = radiocarpal. parent: radius_offset, child: proximal_row_offset
+joint[10] = wrist_hand. parent: proximal_row_offset, child: hand_offset
+
+ACTUATORS (total: 47)
+actuator[0] = DELT1
+actuator[1] = DELT3
+actuator[2] = SUPSP
+actuator[3] = INFSP
+actuator[4] = SUBSC
+actuator[5] = TMIN
+actuator[6] = TMAJ
+actuator[7] = PECM1
+actuator[8] = PECM2
+actuator[9] = PECM3
+actuator[10] = LAT1
+actuator[11] = LAT2
+actuator[12] = LAT3
+actuator[13] = CORB
+actuator[14] = TRIlong
+actuator[15] = TRIlat
+actuator[16] = TRImed
+actuator[17] = ANC
+actuator[18] = SUP
+actuator[19] = BRA
+actuator[20] = BRD
+actuator[21] = ECRL
+actuator[22] = ECRB
+actuator[23] = ECU
+actuator[24] = FCR
+actuator[25] = FCU
+actuator[26] = PL
+actuator[27] = PT
+actuator[28] = PQ
+actuator[29] = FDSL
+actuator[30] = FDSR
+actuator[31] = FDSM
+actuator[32] = FDSI
+actuator[33] = FDPL
+actuator[34] = FDPR
+actuator[35] = FDPM
+actuator[36] = FDPI
+actuator[37] = EDCL
+actuator[38] = EDCR
+actuator[39] = EDCM
+actuator[40] = EDCI
+actuator[41] = EDM
+actuator[42] = EIP
+actuator[43] = EPL
+actuator[44] = EPB
+actuator[45] = FPL
+actuator[46] = APL
+
+STATES (total: 40)
+y[0] = /jointset/sternoclavicular/sternoclavicular_r2/value
+y[1] = /jointset/sternoclavicular/sternoclavicular_r2/speed
+y[2] = /jointset/sternoclavicular/sternoclavicular_r3/value
+y[3] = /jointset/sternoclavicular/sternoclavicular_r3/speed
+y[4] = /jointset/unrotscap/unrotscap_r3/value
+y[5] = /jointset/unrotscap/unrotscap_r3/speed
+y[6] = /jointset/unrotscap/unrotscap_r2/value
+y[7] = /jointset/unrotscap/unrotscap_r2/speed
+y[8] = /jointset/acromioclavicular/acromioclavicular_r2/value
+y[9] = /jointset/acromioclavicular/acromioclavicular_r2/speed
+y[10] = /jointset/acromioclavicular/acromioclavicular_r3/value
+y[11] = /jointset/acromioclavicular/acromioclavicular_r3/speed
+y[12] = /jointset/acromioclavicular/acromioclavicular_r1/value
+y[13] = /jointset/acromioclavicular/acromioclavicular_r1/speed
+y[14] = /jointset/unrothum/unrothum_r1/value
+y[15] = /jointset/unrothum/unrothum_r1/speed
+y[16] = /jointset/unrothum/unrothum_r3/value
+y[17] = /jointset/unrothum/unrothum_r3/speed
+y[18] = /jointset/unrothum/unrothum_r2/value
+y[19] = /jointset/unrothum/unrothum_r2/speed
+y[20] = /jointset/shoulder0/elv_angle/value
+y[21] = /jointset/shoulder0/elv_angle/speed
+y[22] = /jointset/shoulder1/shoulder_elv/value
+y[23] = /jointset/shoulder1/shoulder_elv/speed
+y[24] = /jointset/shoulder1/shoulder1_r2/value
+y[25] = /jointset/shoulder1/shoulder1_r2/speed
+y[26] = /jointset/shoulder2/shoulder_rot/value
+y[27] = /jointset/shoulder2/shoulder_rot/speed
+y[28] = /jointset/elbow/elbow_flexion/value
+y[29] = /jointset/elbow/elbow_flexion/speed
+y[30] = /jointset/radioulnar/pro_sup/value
+y[31] = /jointset/radioulnar/pro_sup/speed
+y[32] = /jointset/radiocarpal/deviation/value
+y[33] = /jointset/radiocarpal/deviation/speed
+y[34] = /jointset/radiocarpal/flexion/value
+y[35] = /jointset/radiocarpal/flexion/speed
+y[36] = /jointset/wrist_hand/wrist_hand_r1/value
+y[37] = /jointset/wrist_hand/wrist_hand_r1/speed
+y[38] = /jointset/wrist_hand/wrist_hand_r3/value
+y[39] = /jointset/wrist_hand/wrist_hand_r3/speed
+
+[2024-01-18 08:30:12.685] [info] Integrating from 0.0 to 5.0.
+[2024-01-19 14:29:14.364] [info] Updating Model file from 30000 to latest format...
+[2024-01-19 14:29:14.442] [info] Loaded model MoBL_2016_Ideal_Muscles from file C:\Users\nathan.pickle\Documents\Source\OpenSim4\opensim-core-source\OpenSim\Examples\TaskSpace\ExamplePerreault2001Experiment\mobl_2016_ideal_muscles.osim
+[2024-01-19 14:29:14.448] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.448] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.448] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.448] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.448] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.448] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.449] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:14.450] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.581] [info] Updating Model file from 30000 to latest format...
+[2024-01-19 14:29:45.616] [info] Loaded model MoBL_2016_Ideal_Muscles from file C:\Users\nathan.pickle\Documents\Source\StanevTaskSpace\data\mobl\mobl_2016_ideal_muscles.osim
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.618] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'default'. The duplicate is being renamed to 'default_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:29:45.619] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
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+[2024-01-19 14:31:32.098] [info] Updating Model file from 30000 to latest format...
+[2024-01-19 14:31:32.126] [info] Loaded model MoBL_2016_Ideal_Muscles from file C:\Users\nathan.pickle\Documents\Source\OpenSim4\opensim-core-build\RelWithDebInfo\mobl_2016_ideal_muscles.osim
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
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+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
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+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.129] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
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+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_2'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_0'.
+[2024-01-19 14:31:32.130] [warning] GeometryPath 'geometrypath' has subcomponents with duplicate name 'pathwrap'. The duplicate is being renamed to 'pathwrap_1'.
diff --git a/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/CMakeLists.txt
new file mode 100644
index 0000000000..546387a58f
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/CMakeLists.txt
@@ -0,0 +1,8 @@
+
+set(EXAMPLE_BALANCE2D_FILES
+ gait2d.osim
+ )
+
+OpenSimAddExampleCXX(NAME ExampleStandingBalance2D SUBDIR TaskSpace
+ EXECUTABLES ExampleStandingBalance2D
+ RESOURCES "${EXAMPLE_BALANCE2D_FILES}")
diff --git a/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/ExampleStandingBalance2D.cpp b/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/ExampleStandingBalance2D.cpp
new file mode 100644
index 0000000000..aaab2069b0
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/ExampleStandingBalance2D.cpp
@@ -0,0 +1,294 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim TaskSpace: ExampleStandingBalance2D.cpp *
+ * -------------------------------------------------------------------------- *
+ * Copyright (c) 2024 CFD Resarch Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Ryan Middle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file ExampleStandingBalance2D.cpp
+ *
+ * \brief
+ *
+ * @authors Nathan Pickle, Aravind Sundararajan, Garrett Tuer, Ryan Middle
+ *
+ */
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+#include "OpenSim/Moco/MocoUtilities.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+#define USE_VISUALIZER 1
+
+void balanceSimulation() {
+ const string example = "ExampleStandingBalance2D";
+
+ ModelVisualizer::addDirToGeometrySearchPaths(OPENSIM_GEOMETRY_DIR);
+
+ // load model
+ Model model("gait2d.osim");
+
+ // // body kinematics
+ auto bodyKinematics = new BodyKinematics(&model);
+ bodyKinematics->setInDegrees(false);
+ model.addAnalysis(bodyKinematics);
+
+ auto kinematics = new StatesReporter(&model);
+ kinematics->setInDegrees(false);
+ model.addAnalysis(kinematics);
+
+ // define the controller
+ auto controller = new TaskSpaceTorqueController();
+ // Specify the constraint model to use
+ controller->set_ConstraintModel(SupportModel());
+
+ model.addController(controller);
+
+ // Specify unactuated coordinates in the model
+ Array excluded_coords;
+ excluded_coords.append("rz");
+ excluded_coords.append("tx");
+ excluded_coords.append("ty");
+ controller->set_excluded_coords(excluded_coords);
+
+ // build and initialize model
+ auto& state = model.initSystem();
+
+ // initial configuration
+ auto& torso = model.updBodySet().get("torso");
+ auto initialOrientation_torso = torso.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+ auto initialPosition_torso = torso.findStationLocationInGround(state, torso.getMassCenter());
+
+ auto& pelvis = model.updBodySet().get("pelvis");
+ auto initialOrientation_pelvis = pelvis.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+ auto initialPosition_pelvis = pelvis.findStationLocationInGround(state, pelvis.getMassCenter());
+
+ auto& hand_r = model.updBodySet().get("hand_r");
+ auto initialOrientation_hand_r = hand_r.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+ auto initialPosition_hand_r = hand_r.findStationLocationInGround(state, hand_r.getMassCenter());
+
+ auto& hand_l = model.updBodySet().get("hand_l");
+ auto initialOrientation_hand_l = hand_l.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+ auto initialPosition_hand_l = hand_l.findStationLocationInGround(state, hand_l.getMassCenter());
+
+ Array weights(1.0, 3);
+
+ //========================
+ // TORSO
+ //========================
+ // Torso orientation
+ auto torso_orientation_task = new OrientationTask();
+ torso_orientation_task->setName("torso_orientation_task");
+ torso_orientation_task->set_priority(0);
+ torso_orientation_task->set_kp(Array(100, 3));
+ torso_orientation_task->set_kv(Array(20, 3));
+ weights[0] = 0.0;
+ weights[1] = 0.0;
+ weights[2] = 1;
+ torso_orientation_task->set_weight(weights);
+ auto tx_desired_com_2 = Constant(initialOrientation_torso[0]);
+ auto ty_desired_com_2 = Constant(initialOrientation_torso[1]);
+ auto tz_desired_com_2 = Constant(initialOrientation_torso[2]);
+ torso_orientation_task->set_position_functions(0, tx_desired_com_2);
+ torso_orientation_task->set_position_functions(1, ty_desired_com_2);
+ torso_orientation_task->set_position_functions(2, tz_desired_com_2);
+ torso_orientation_task->set_wrt_body("torso");
+ torso_orientation_task->set_express_body("ground");
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(torso_orientation_task);
+
+ //========================
+ // PELVIS
+ //========================
+
+ // Pelvis forward progression tracking
+ auto pelvis_position_task = new StationTask();
+ pelvis_position_task->setName("pelvis_position");
+ pelvis_position_task->set_priority(0);
+ pelvis_position_task->set_kp(Array(100, 3));
+ pelvis_position_task->set_kv(Array(20, 3));
+ weights[0] = 1.0;
+ weights[1] = 1.0;
+ weights[2] = 0.0;
+ pelvis_position_task->set_weight(weights);
+ pelvis_position_task->set_point(pelvis.getMassCenter());
+ auto tx_desired_pelvis = Constant(initialPosition_pelvis[0]);
+ auto ty_desired_pelvis = Constant(initialPosition_pelvis[1]);
+ auto tz_desired_pelvis = Constant(0);
+ pelvis_position_task->set_position_functions(0, tx_desired_pelvis);
+ pelvis_position_task->set_position_functions(1, ty_desired_pelvis);
+ pelvis_position_task->set_position_functions(2, tz_desired_pelvis);
+ pelvis_position_task->set_wrt_body("pelvis");
+ pelvis_position_task->set_express_body("ground");
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(pelvis_position_task);
+
+ // Pelvis orientation
+ auto pelvis_orientation_task = new OrientationTask();
+ pelvis_orientation_task->setName("pelvis_orientation_task");
+ pelvis_orientation_task->set_priority(0);
+ pelvis_orientation_task->set_kp(Array(100, 3));
+ pelvis_orientation_task->set_kv(Array(20, 3));
+ weights[0] = 0.0;
+ weights[1] = 0.0;
+ weights[2] = 1.0;
+ pelvis_orientation_task->set_weight(weights);
+ auto rx_desired_pelvis = Constant(initialOrientation_pelvis[0]);
+ auto ry_desired_pelvis = Constant(initialOrientation_pelvis[1]);
+ auto rz_desired_pelvis = Constant(initialOrientation_pelvis[2]);
+ pelvis_orientation_task->set_position_functions(0, rx_desired_pelvis);
+ pelvis_orientation_task->set_position_functions(1, ry_desired_pelvis);
+ pelvis_orientation_task->set_position_functions(2, rz_desired_pelvis);
+ pelvis_orientation_task->set_wrt_body("pelvis");
+ pelvis_orientation_task->set_express_body("ground");
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(pelvis_orientation_task);
+
+ //========================
+ // HANDS
+ //========================
+
+ // RIGHT HAND
+ auto hand_position_r = new StationTask();
+ hand_position_r->setName("hand_position_r");
+ hand_position_r->set_priority(0);
+ hand_position_r->set_kp(Array(100,3));
+ hand_position_r->set_kv(Array(20,3));
+ weights[0] = 1.0;
+ weights[1] = 1.0;
+ weights[2] = 0.0;
+ hand_position_r->set_weight(weights);
+ hand_position_r->set_point(hand_r.getMassCenter());
+ auto tx_desired_hand_r = Constant(initialPosition_hand_r[0]);
+ auto ty_desired_hand_r = Constant(initialPosition_hand_r[1]);
+ auto tz_desired_hand_r = Constant(initialPosition_hand_r[2]);
+ hand_position_r->set_position_functions(0, tx_desired_hand_r);
+ hand_position_r->set_position_functions(1, ty_desired_hand_r);
+ hand_position_r->set_position_functions(2, tz_desired_hand_r);
+ hand_position_r->set_wrt_body("hand_r");
+ hand_position_r->set_express_body("ground");
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_position_r);
+
+ auto hand_orientation_r = new OrientationTask();
+ hand_orientation_r->setName("hand_orientation_r");
+ hand_orientation_r->set_priority(0);
+ hand_orientation_r->set_kp(Array(100,3));
+ hand_orientation_r->set_kv(Array(20,3));
+ weights[0] = 1.0;
+ weights[1] = 1.0;
+ weights[2] = 0.0;
+ hand_orientation_r->set_weight(weights);
+ auto rx_desired_hand_r = Constant(initialOrientation_hand_r[0]);
+ auto ry_desired_hand_r = Constant(initialOrientation_hand_r[1]);
+ auto rz_desired_hand_r = Constant(initialOrientation_hand_r[2]);
+ hand_orientation_r->set_position_functions(0, rx_desired_hand_r);
+ hand_orientation_r->set_position_functions(1, ry_desired_hand_r);
+ hand_orientation_r->set_position_functions(2, rz_desired_hand_r);
+ hand_orientation_r->set_wrt_body("hand_r");
+ hand_orientation_r->set_express_body("ground");
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_orientation_r);
+
+ // LEFT HAND
+ auto hand_position_l = new StationTask();
+ hand_position_l->setName("hand_position_l");
+ hand_position_l->set_priority(0);
+ hand_position_l->set_kp(Array(100,3));
+ hand_position_l->set_kv(Array(20,3));
+ weights[0] = 1.0;
+ weights[1] = 1.0;
+ weights[2] = 0.0;
+ hand_position_l->set_weight(weights);
+ hand_position_l->set_point(hand_l.getMassCenter());
+ auto tx_desired_hand_l = Constant(initialPosition_hand_l[0]);
+ auto ty_desired_hand_l = Constant(initialPosition_hand_l[1]);
+ auto tz_desired_hand_l = Constant(initialPosition_hand_l[2]);
+ hand_position_l->set_position_functions(0, tx_desired_hand_l);
+ hand_position_l->set_position_functions(1, ty_desired_hand_l);
+ hand_position_l->set_position_functions(2, tz_desired_hand_l);
+ hand_position_l->set_wrt_body("hand_l");
+ hand_position_l->set_express_body("ground");
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_position_l);
+
+ auto hand_orientation_l = new OrientationTask();
+ hand_orientation_l->setName("hand_orientation_l");
+ hand_orientation_l->set_priority(0);
+ hand_orientation_l->set_kp(Array(100,3));
+ hand_orientation_l->set_kv(Array(20,3));
+ weights[0] = 1.0;
+ weights[1] = 1.0;
+ weights[2] = 0.0;
+ hand_orientation_l->set_weight(weights);
+ auto rx_desired_hand_l = Constant(initialOrientation_hand_l[0]);
+ auto ry_desired_hand_l = Constant(initialOrientation_hand_l[1]);
+ auto rz_desired_hand_l = Constant(initialOrientation_hand_l[2]);
+ hand_orientation_l->set_position_functions(0, rx_desired_hand_l);
+ hand_orientation_l->set_position_functions(1, ry_desired_hand_l);
+ hand_orientation_l->set_position_functions(2, rz_desired_hand_l);
+ hand_orientation_l->set_wrt_body("hand_l");
+ hand_orientation_l->set_express_body("ground");
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_orientation_l);
+
+ model.setUseVisualizer(true);
+ state = model.initSystem();
+
+#if USE_VISUALIZER == 1
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(Visualizer::BackgroundType::SolidColor);
+ model.updVisualizer().updSimbodyVisualizer().setDesiredFrameRate(200);
+ model.updVisualizer().updSimbodyVisualizer().setShowFrameRate(true);
+ model.updVisualizer().updSimbodyVisualizer().setShowSimTime(true);
+ model.updVisualizer().updSimbodyVisualizer().setRealTimeScale(0.5);
+ model.updMatterSubsystem().setShowDefaultGeometry(false);
+#endif
+
+ state.setTime(0.0);
+ Manager manager(model);
+ manager.initialize(state);
+ double end_time = 2;
+ log_info("\nIntegrating from {} to {}", 0.0, end_time);
+ state = manager.integrate(end_time);
+ model.setUseVisualizer(false);
+
+ // export results
+ IO::makeDir("./results");
+ controller->printResults(example, "./results");
+ bodyKinematics->printResults(example, "./results");
+ kinematics->printResults(example, "./results");
+ auto tab = manager.getStatesTable();
+ StatesTrajectory ST = StatesTrajectory::createFromStatesTable(model, tab);
+ std::vector contact_r;
+ std::vector contact_l;
+ contact_r.push_back("/forceset/contactHeel_r");
+ contact_r.push_back("/forceset/contactToes_r");
+ contact_l.push_back("/forceset/contactHeel_l");
+ contact_l.push_back("/forceset/contactToes_l");
+ auto externalForcesTableFlat = createExternalLoadsTableForGait(model, ST, contact_r, contact_l);
+ STOFileAdapter::write(externalForcesTableFlat,
+ "./results/"+example+"_grf.sto");
+ log_info("Done!");
+}
+
+int main(int argc, char* argv[]) {
+ Logger::setLevel(Logger::Level::Info);
+ try {
+ balanceSimulation();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ getchar();
+ return -1;
+ }
+ return 0;
+}
diff --git a/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/gait2d.osim b/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/gait2d.osim
new file mode 100644
index 0000000000..f3b22343af
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleStandingBalance2D/gait2d.osim
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+
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+
+ 300000
+
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+
+
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+ 300000
+
+ 2
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+ 1
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+ 0.01
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+
+
+ /contactgeometryset/contactSphere_Toes_r
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+ /contactgeometryset/floor
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+ 300000
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+ 2
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+ 1
+
+ 1
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+ 1
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+ 0.01
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+ 0.01
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+ 300
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+ 75
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+
+
+
+
+
+
+
+
+ /ground
+
+ 0 0 -1.5707963705062866
+
+
+
+ /bodyset/calcn_l
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+ 0 0 0
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+ 0.0099999997764825821
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+
+
+ /bodyset/calcn_r
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+ 0 0 0
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+ 0 0 0
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+
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+ /bodyset/calcn_r
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+ 0.20000000298023224 0 0
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+ 0.0099999997764825821
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+
+
+ /bodyset/calcn_l
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+ 0.20000000298023224 0 0
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+ 0.0099999997764825821
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+
+
diff --git a/OpenSim/Examples/TaskSpace/ExampleTaskBasedControl/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExampleTaskBasedControl/CMakeLists.txt
new file mode 100644
index 0000000000..dfc75e48bd
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleTaskBasedControl/CMakeLists.txt
@@ -0,0 +1,5 @@
+file(GLOB_RECURSE TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" *.osim)
+
+OpenSimAddExampleCXX(NAME ExampleTaskBasedControlSUBDIR TaskSpace
+ EXECUTABLES ExampleTaskBasedControl
+ RESOURCES "${TEST_FILES}")
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleTaskBasedControl/ExampleTaskBasedControl.cpp b/OpenSim/Examples/TaskSpace/ExampleTaskBasedControl/ExampleTaskBasedControl.cpp
new file mode 100644
index 0000000000..ab7b67c278
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleTaskBasedControl/ExampleTaskBasedControl.cpp
@@ -0,0 +1,147 @@
+/**
+ * @file ExampleTaskBasedControl.cpp
+ *
+ * \brief An example of utilizing the task based projection in order to control
+ * a model in task space. In this example a block is created and a position task
+ * is assigned. The goal is prescribed using a PD tracking controller and a
+ * forward simulation is performed.
+ *
+ * @authors Dimitar Stanev, Nathan Pickle, Aravind Sundararajan
+ *
+ */
+
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+Model constructModel(const std::string& name)
+{
+ // create model
+ Model model;
+ model.setName(name);
+ model.setUseVisualizer(true);
+
+ Vec3 halfLength(0.2, 0.2, 0.2);
+ auto block =
+ new OpenSim::Body("block", 1, Vec3(0), Inertia::brick(halfLength));
+ auto blockGeom = new OpenSim::Brick(halfLength);
+ block->attachGeometry(blockGeom);
+ model.addBody(block);
+ auto joint = new FreeJoint("joint", model.getGround(), Vec3(0), Vec3(0),
+ *block, Vec3(0), Vec3(0));
+ model.addJoint(joint);
+
+ // add coordinate console reporter
+ auto reporter = new ConsoleReporter();
+ reporter->setName("reporter");
+ reporter->set_report_time_interval(0.1);
+ reporter->addToReport(joint->getCoordinate(FreeJoint::Coord::TranslationX)
+ .getOutput("value"),
+ "X");
+ reporter->addToReport(joint->getCoordinate(FreeJoint::Coord::TranslationY)
+ .getOutput("value"),
+ "Y");
+ reporter->addToReport(joint->getCoordinate(FreeJoint::Coord::TranslationZ)
+ .getOutput("value"),
+ "Z");
+ reporter->addToReport(joint->getCoordinate(FreeJoint::Coord::Rotation1X)
+ .getOutput("value"),
+ "thetaX");
+ reporter->addToReport(joint->getCoordinate(FreeJoint::Coord::Rotation2Y)
+ .getOutput("value"),
+ "thetaY");
+ reporter->addToReport(joint->getCoordinate(FreeJoint::Coord::Rotation3Z)
+ .getOutput("value"),
+ "thetaZ");
+ model.addComponent(reporter);
+
+ return model;
+}
+
+void taskBasedControl() {
+ const string example = "ExampleTaskBasedControl";
+
+ auto model = constructModel(example);
+
+ // construct a torque controller and supply the control strategy
+ TaskSpaceTorqueController* controller = new TaskSpaceTorqueController();
+ controller->set_ConstraintModel(NoConstraintModel());
+ model.addController(controller);
+
+ // initial configuration
+ Vec3 initialPosition(0, 0.5, 0);
+
+ // Position tracking
+ auto station_task = new StationTask();
+ station_task->setName("block_position");
+ station_task->set_wrt_body("block");
+ auto x_desired = Sine(1.0, 2 * Pi, 0, initialPosition[0]);
+ auto y_desired = Constant(initialPosition[1]);
+ auto z_desired = Constant(initialPosition[2]);
+ station_task->set_position_functions(0, x_desired);
+ station_task->set_position_functions(1, y_desired);
+ station_task->set_position_functions(2, z_desired);
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(station_task);
+
+ // Orientation tracking
+ auto orientation_task = new OrientationTask();
+ orientation_task->setName("block_orientation");
+ orientation_task->set_wrt_body("block");
+ auto ox_desired = Constant(0);
+ auto oy_desired = Constant(0);
+ auto oz_desired = Sine(0.2, 2*Pi, 0, 0);
+ orientation_task->set_position_functions(0, ox_desired);
+ orientation_task->set_position_functions(1, oy_desired);
+ orientation_task->set_position_functions(2, oz_desired);
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(orientation_task);
+
+ // Build and initialize model. Note this must be done AFTER adding the
+ // tasks to ensure proper initialization.
+ auto& state = model.initSystem();
+
+ // Set the model pose to the initial configuration.
+ auto joint = FreeJoint::safeDownCast(&model.updJointSet().get("joint"));
+ joint->updCoordinate(FreeJoint::Coord::TranslationX)
+ .setValue(state, initialPosition[0]);
+ joint->updCoordinate(FreeJoint::Coord::TranslationY)
+ .setValue(state, initialPosition[1]);
+ joint->updCoordinate(FreeJoint::Coord::TranslationZ)
+ .setValue(state, initialPosition[2]);
+
+ // configure visualizer
+ if (model.hasVisualizer()) {
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(
+ Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(
+ Visualizer::BackgroundType::SolidColor);
+ model.updMatterSubsystem().setShowDefaultGeometry(true);
+ }
+
+ // print the complete model
+ IO::makeDir("results");
+ model.print(IO::getCwd()+"/results/"+example+".osim");
+
+ // simulate
+ simulate(model, state, 2, true);
+
+ // export results
+ controller->printResults(example, IO::getCwd()+"/results");
+ auto reporter = model.getComponent("reporter");
+ reporter.print("results/" + example + "_Reporter.sto");
+}
+
+int main(int argc, char* argv[]) {
+ Logger::setLevel(Logger::Level::Info);
+ try {
+ taskBasedControl();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ return -1;
+ }
+ return 0;
+}
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleUpperLimb/CMakeLists.txt b/OpenSim/Examples/TaskSpace/ExampleUpperLimb/CMakeLists.txt
new file mode 100644
index 0000000000..d724e612bc
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleUpperLimb/CMakeLists.txt
@@ -0,0 +1,5 @@
+file(GLOB_RECURSE TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" *.osim)
+
+OpenSimAddExampleCXX(NAME ExampleUpperLimb SUBDIR TaskSpace
+ EXECUTABLES ExampleUpperLimb
+ RESOURCES "${TEST_FILES}")
\ No newline at end of file
diff --git a/OpenSim/Examples/TaskSpace/ExampleUpperLimb/ExampleUpperLimb.cpp b/OpenSim/Examples/TaskSpace/ExampleUpperLimb/ExampleUpperLimb.cpp
new file mode 100644
index 0000000000..f6f0738937
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleUpperLimb/ExampleUpperLimb.cpp
@@ -0,0 +1,159 @@
+/**
+ * @file ExampleUpperLimb.cpp
+ *
+ * \brief Control of the MoBL 2016 upper limb model.
+ *
+ * @authors Dimitar Stanev, Nathan Pickle, Aravind Sundararajan
+ *
+ * @see [Publication]
+ */
+#include "OpenSim/Common/osimCommon.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Analyses/osimAnalyses.h"
+#include "OpenSim/Tools/osimTools.h"
+
+using namespace std;
+using namespace OpenSim;
+using namespace SimTK;
+
+#define USE_VISUALIZER 1
+
+Vec3 fromVectorToVec3(const Vector& v) { return Vec3(v[0], v[1], v[2]); }
+
+void predictiveSimulation() {
+ const string example = "ExampleUpperLimb";
+
+ const double kp = 100;
+ const double kv = 20;
+
+ ModelVisualizer::addDirToGeometrySearchPaths(OPENSIM_GEOMETRY_DIR);
+
+ // load model
+ Model model("mobl_2016_ideal_muscles.osim");
+
+ // body kinematics
+ auto bodyKinematics = new BodyKinematics(&model);
+ bodyKinematics->setInDegrees(false);
+ model.addAnalysis(bodyKinematics);
+
+ // construct a torque controller and supply the control strategy
+ // define the controller
+ TaskSpaceTorqueController* controller = new TaskSpaceTorqueController();
+ controller->set_ConstraintModel(AghiliModel());
+ controller->set_control_strategy("force");
+ model.addController(controller);
+
+ auto marker = model.getMarkerSet().get("end_effector");
+ // here we just have to find the body to which the marker is
+ // attached, but due to OpenSim's Frame it is more difficult now
+ auto markerFrame = marker.getParentFrameName();
+ auto handBodyName = markerFrame.substr(markerFrame.find("/", 1) + 1);
+
+ // build and initialize model
+ auto& state = model.initSystem();
+ model.realizePosition(state);
+
+ model.updCoordinateSet()
+ .get("elv_angle")
+ .setValue(state, convertDegreesToRadians(50));
+ model.updCoordinateSet()
+ .get("shoulder_elv")
+ .setValue(state, convertDegreesToRadians(50));
+ model.updCoordinateSet()
+ .get("shoulder_rot")
+ .setValue(state, convertDegreesToRadians(-20));
+ model.updCoordinateSet()
+ .get("elbow_flexion")
+ .setValue(state, convertDegreesToRadians(95));
+ model.updCoordinateSet().get("pro_sup").setValue(
+ state, convertDegreesToRadians(75));
+ model.updCoordinateSet().get("flexion").setValue(
+ state, convertDegreesToRadians(0));
+
+ // hand initial configuration
+ auto& handBody = model.getBodySet().get(handBodyName);
+ Vec3 initialOrientation =
+ handBody.getRotationInGround(state).convertRotationToBodyFixedXYZ();
+ Vec3 initialPosition = handBody.getPositionInGround(state);
+
+ // Set up spatial tracking for the hand
+ auto hand_position = new StationTask();
+ hand_position->setName(handBodyName);
+ hand_position->set_kp(Array(kp, 3));
+ hand_position->set_kv(Array(kv, 3));
+ auto xpos_desired = Constant(initialPosition[0]);
+ // FOR REVIEW: The original code specified these positions as a function of
+ // two sinusoids multiplied together, which does not seem to be possible
+ // using built-in OpenSim Functions. Is this required functionality? If so,
+ // is there a way to implement it as a Function?
+ auto ypos_desired = Sine(0.1, Pi, 0, initialPosition[1]);
+ auto zpos_desired = Sine(0.1, 2 * Pi, 0, initialPosition[2]);
+ hand_position->set_position_functions(0, xpos_desired);
+ hand_position->set_position_functions(1, ypos_desired);
+ hand_position->set_position_functions(2, zpos_desired);
+ hand_position->set_wrt_body(handBodyName);
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_position);
+
+ auto hand_orientation = new OrientationTask();
+ hand_orientation->setName(handBodyName);
+ hand_orientation->set_kp(Array(kp, 3));
+ hand_orientation->set_kv(Array(kv, 3));
+ auto xorient_desired = Constant(initialOrientation[0]);
+ auto yorient_desired = Constant(initialOrientation[1]);
+ auto zorient_desired = Constant(initialOrientation[2]);
+ hand_orientation->set_position_functions(0, xorient_desired);
+ hand_orientation->set_position_functions(1, yorient_desired);
+ hand_orientation->set_position_functions(2, zorient_desired);
+ hand_orientation->set_wrt_body(handBodyName);
+ controller->upd_TaskSpaceTaskSet().adoptAndAppend(hand_orientation);
+
+ // build and initialize model to initialize the tasks. also add a visualizer
+ model.setUseVisualizer(true);
+ state = model.initSystem();
+
+ // configure visualizer
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundColor(Vec3(0));
+ model.updVisualizer().updSimbodyVisualizer().setBackgroundType(
+ Visualizer::BackgroundType::SolidColor);
+ model.updMatterSubsystem().setShowDefaultGeometry(false);
+
+ // put the model back in initial position
+ model.realizePosition(state);
+ model.updCoordinateSet()
+ .get("elv_angle")
+ .setValue(state, convertDegreesToRadians(50));
+ model.updCoordinateSet()
+ .get("shoulder_elv")
+ .setValue(state, convertDegreesToRadians(50));
+ model.updCoordinateSet()
+ .get("shoulder_rot")
+ .setValue(state, convertDegreesToRadians(-20));
+ model.updCoordinateSet()
+ .get("elbow_flexion")
+ .setValue(state, convertDegreesToRadians(95));
+ model.updCoordinateSet().get("pro_sup").setValue(
+ state, convertDegreesToRadians(75));
+ model.updCoordinateSet().get("flexion").setValue(
+ state, convertDegreesToRadians(0));
+
+ // print the complete model
+ model.print("results/" + example + ".osim");
+
+ // simulate
+ simulate(model, state, 2.0, true);
+
+ // export results
+ controller->printResults(example, "results");
+ bodyKinematics->printResults(example, "results");
+}
+
+int main(int argc, char* argv[]) {
+ try {
+ predictiveSimulation();
+ } catch (exception& e) {
+ cout << typeid(e).name() << ": " << e.what() << endl;
+ // getchar();
+ return -1;
+ }
+ return 0;
+}
diff --git a/OpenSim/Examples/TaskSpace/ExampleUpperLimb/mobl_2016_ideal_muscles.osim b/OpenSim/Examples/TaskSpace/ExampleUpperLimb/mobl_2016_ideal_muscles.osim
new file mode 100644
index 0000000000..0152ea2e21
--- /dev/null
+++ b/OpenSim/Examples/TaskSpace/ExampleUpperLimb/mobl_2016_ideal_muscles.osim
@@ -0,0 +1,9022 @@
+
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+ Comp Meth Biomech Biomed Eng 2014
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+
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+
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+
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+
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+
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+
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+
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+
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+
+
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+
+
+
+
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+
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+
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+
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+
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+
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+
+
+
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
+
+
+
+
+
+
+ Thorax
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+
+
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+
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+
+
+
+
+
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+
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+
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+ ground
+
+
+
+
+
+
+
+
+ Thorax
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+
+
+ PEC12hum
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+ 2 3
+
+
+ TMAJ_LAT_PEC_CORBhh
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+
+
+ PEC23hh
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+
+
+
+
+
+
+
+
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+
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+
+
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+
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+
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+
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+
+
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+
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+
+
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+
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+
+
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+
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+
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+
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+
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+
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+
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+
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+
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+
+
+
+
+
+
+
+
+ Thorax
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+
+
+ PEC3hum
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+
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+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
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+
+
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+
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+
+
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+
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+
+
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+
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+
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+
+
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+
+
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+
+
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+
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+
+
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+
+
+ -0.11828 -0.10118 0.03316
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+
+ -0.09578 -0.11724 0.00882
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+
+
+
+
+
+
+
+
+ TMAJ_LAThum
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+ -1 -1
+
+
+ LAT_TMAJhh
+ hybrid
+ 1 2
+
+
+ LAT_TMAJ2hh
+ hybrid
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+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
+ 290.5
+
+
+
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+
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+
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+
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+
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+
+
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+
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+
+
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+
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+
+
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+
+ -0.10544 -0.128957 -0.0645967
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+
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+
+
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+
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+
+
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+
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+
+
+ shoulder_elv
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+
+ -0.10992 -0.16908 0.02878
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+
+ -0.07186 -0.18818 0.00815
+ ground
+
+
+
+
+
+
+
+
+ TMAJ_LAThum
+ hybrid
+ -1 -1
+
+
+ LAT_TMAJhh
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+ 1 2
+
+
+ LAT_TMAJ2hh
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+
+
+
+
+
+
+
+
+
+
+
+
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+
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+ 4
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+
+
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+
+
+
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+
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+
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+
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+
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+
+
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+
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+
+
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+
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+
+
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+
+
+ -0.10059 -0.16313 -0.0590767
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+
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+
+
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+
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+
+
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+
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+
+
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+
+
+ -0.11157 -0.19387 0.05532
+ ground
+
+
+ -0.07117 -0.24858 0.00907
+ ground
+
+
+
+
+
+
+
+
+ TMAJ_LAThum
+ hybrid
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+
+
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+ hybrid
+ 5 6
+
+
+ Fourthpm_ext
+ hybrid
+ 7 8
+
+
+ Fourthmd_ext
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+
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+ -1.5708 0 1.5708
+ 0.01178 0.01528 0.01439
+
+
+ pro_sup
+
+
+ 0.0144 -0.22323 0.04223
+ radius
+
+
+ 0.00039 -0.05274 0.01491
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+
+
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+ hand
+
+
+ 0.02195 -0.07701 -0.05663
+ hand
+
+
+
+
+
+
+
+
+ EDCM
+ hybrid
+ 1 4
+
+
+ Thirdmd_ext
+ hybrid
+ 9 10
+
+
+ Thirdpm_ext
+ hybrid
+ 7 8
+
+
+ _3rdmcp_ext
+ hybrid
+ 5 6
+
+
+
+
+
+
+
+
+
+
+
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+ 1 1 1
+
+ 0 0 0 0 0 0
+
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+
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+
+
+ 0.00228 -0.03918 0.01483
+ radius
+
+
+ -1.5708 0 1.5708
+ 0.01308 0.00228 -0.00852
+
+
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+
+
+ -1.5708 0 1.5708
+ -0.04048 -0.03918 -0.03538
+
+
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+
+
+ -1.5708 0 1.5708
+ 0.01133 0.01483 0.01394
+
+
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+
+
+ 0.01533 -0.22314 0.04196
+ radius
+
+
+ 0.01543 -0.0468 0.01639
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+
+
+ 0.01897 -0.05654 0.01438
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+ 0.01994 -0.07678 0.00594
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+ hand
+
+
+ 0.02929 -0.08103 -0.04966
+ hand
+
+
+
+
+
+
+
+
+ EDCI
+ hybrid
+ 3 4
+
+
+ _2rdmcp_ext
+ hybrid
+ 5 6
+
+
+ Secondpm_ext
+ hybrid
+ 7 8
+
+
+ Secondmd_ext
+ hybrid
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+
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+ -0.00977 -0.03907 0.03085
+ ulna
+
+
+ -0.00755 -0.08267 0.03646
+ ulna
+
+
+ 0.00454 -0.22641 0.03678
+ radius
+
+
+ -0.02059 -0.01032 0.00372
+ hand
+
+
+ -0.02563 -0.04722 0.00023
+ hand
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+ -0.02549 -0.06511 -0.01098
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+ hand
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+ 0.00132 -0.07345 -0.04803
+ hand
+
+
+
+
+
+
+
+
+ EDM
+ hybrid
+ 4 5
+
+
+ Fifthmd_ext
+ hybrid
+ 10 11
+
+
+ Fifthpm_ext
+ hybrid
+ 8 9
+
+
+ _5rdmcp_ext
+ hybrid
+ 6 7
+
+
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+
+
+
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+ 1 1 1
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+ 0 0 0 0 0 0
+
+ false
+
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+
+
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+
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+
+
+
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+
+
+ 0.00171 -0.17469 0.04049
+ ulna
+
+
+ 0.01076 -0.22783 0.03664
+ radius
+
+
+ 0.00388 -0.02234 0.01184
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+
+
+ 0.01693 -0.0564 0.01377
+ hand
+
+
+ 0.01735 -0.07692 0.00581
+ hand
+
+
+ 0.02765 -0.09314 -0.01511
+ hand
+
+
+ 0.02879 -0.09437 -0.02823
+ hand
+
+
+ 0.0287 -0.08524 -0.04295
+ hand
+
+
+ 0.02834 -0.07785 -0.05501
+ hand
+
+
+
+
+
+
+
+
+ Extensor_ellipse
+ hybrid
+ -1 -1
+
+
+ _2rdmcp_ext
+ hybrid
+ 5 6
+
+
+ Secondpm_ext
+ hybrid
+ 7 8
+
+
+ Secondmd_ext
+ hybrid
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+
+
+
+
+
+
+
+
+
+
+
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+ 1 1 1
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+ 0 0 0 0 0 0
+
+ false
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+ 4
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+
+
+
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+
+ 1
+
+
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+
+
+ 0.00124 -0.13668 0.0227
+ radius
+
+
+ 0.02702 -0.21872 0.03828
+ radius
+
+
+ 0.03382 -0.22754 0.04607
+ radius
+
+
+ 0.04234 -0.23771 0.04173
+ radius
+
+
+ 0.02428 0.00014 0.00608
+ hand
+
+
+ 0.02338 -0.00917 -0.00039
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+
+ 0.02905 -0.01427 -0.00489
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+ hand
+
+
+ 0.04011 -0.07565 -0.04283
+ hand
+
+
+
+
+
+
+
+
+ MPthumb
+ hybrid
+ -1 -1
+
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ 0 0 0 0 0 0
+
+ false
+
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+
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+
+
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+
+
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+ radius
+
+
+ 0.03123 0.00256 -0.00327
+ hand
+
+
+ 0.02972 -0.00794 -0.01436
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+
+
+ 0.04422 -0.033 -0.02422
+ hand
+
+
+ 0.04528 -0.04785 -0.03186
+ hand
+
+
+
+
+
+
+
+
+ MPthumb
+ hybrid
+ -1 -1
+
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+
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+
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+ 1 1 1
+
+ 0 0 0 0 0 0
+
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+
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+
+
+ 0.01869 0.00882 -0.01547
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+
+
+ -1.22173 0 1.22173
+ 0.01869 0.01869 0.01549
+
+
+ flexion
+
+
+ -1.22173 0 1.22173
+ 0.00882 0.00882 -0.00078
+
+
+ flexion
+
+
+ -1.22173 0 1.22173
+ -0.01547 -0.01547 -0.02087
+
+
+ flexion
+
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+
+
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+
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+ FPL
+ hybrid
+ -1 -1
+
+
+ IPthumb
+ hybrid
+ 10 11
+
+
+ MPthumb
+ hybrid
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+ radius
+
+
+ 0.03993 -0.16072 0.034
+ radius
+
+
+ 0.04397 -0.17845 0.03134
+ radius
+
+
+ 0.05505 -0.23084 0.02368
+ radius
+
+
+ 0.03385 0.00634 -0.00745
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+
+
+ -1.22173 0 1.22173
+ 0.03385 0.03385 0.03135
+
+
+ flexion
+
+
+ -1.22173 0 1.22173
+ 0.00634 0.00634 0.00534
+
+
+ flexion
+
+
+ -1.22173 0 1.22173
+ -0.00745 -0.00745 -0.01245
+
+
+ flexion
+
+
+ 0.02587 0.00205 -0.0165
+ hand
+
+
+ 0.02878 -0.00674 -0.0187
+ hand
+
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+ 0.03076 -0.01583 -0.01885
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+
+ 0 0 0 0 0 0
+
+ false
+
+ 4
+
+
+
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+
+
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+
+
+
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diff --git a/OpenSim/Tools/CMC_Joint.cpp b/OpenSim/Tools/CMC_Joint.cpp
index ccca23a329..5c629a558e 100644
--- a/OpenSim/Tools/CMC_Joint.cpp
+++ b/OpenSim/Tools/CMC_Joint.cpp
@@ -140,7 +140,7 @@ updateWorkVariables()
_q = 0;
if(_model) {
try {
- _q = &_model->updCoordinateSet().get(_coordinateName);
+ _q = &_model->getCoordinateSet().get(_coordinateName);
}
catch (const Exception&) {
throw Exception("CMC_Joint.updateWorkVariables: ERROR- joint task '" + getName()
@@ -191,7 +191,7 @@ operator=(const CMC_Joint &aTask)
* @param aModel Model.
*/
void CMC_Joint::
-setModel(Model& aModel)
+setModel(const Model& aModel)
{
CMC_Task::setModel(aModel);
updateWorkVariables();
diff --git a/OpenSim/Tools/CMC_Joint.h b/OpenSim/Tools/CMC_Joint.h
index 7ae51a6f9c..1063a3c8a3 100644
--- a/OpenSim/Tools/CMC_Joint.h
+++ b/OpenSim/Tools/CMC_Joint.h
@@ -62,7 +62,7 @@ OpenSim_DECLARE_CONCRETE_OBJECT(CMC_Joint, CMC_Task);
double &_limit;
// Work Variables
- Coordinate *_q;
+ const Coordinate *_q;
//=============================================================================
// METHODS
@@ -91,7 +91,7 @@ OpenSim_DECLARE_CONCRETE_OBJECT(CMC_Joint, CMC_Task);
//--------------------------------------------------------------------------
// GET AND SET
//--------------------------------------------------------------------------
- virtual void setModel(Model& aModel) override;
+ virtual void setModel(const Model& aModel) override;
void setCoordinateName(const std::string &aName);
std::string getCoordinateName() const;
double getLimit() const;
diff --git a/OpenSim/Tools/CMC_Orientation.cpp b/OpenSim/Tools/CMC_Orientation.cpp
index b31c079100..6a7964402a 100644
--- a/OpenSim/Tools/CMC_Orientation.cpp
+++ b/OpenSim/Tools/CMC_Orientation.cpp
@@ -90,7 +90,7 @@ setNull()
* Compute the Jacobian.
*/
void CMC_Orientation::
-computeJacobian()
+computeJacobian(const SimTK::State& s)
{
diff --git a/OpenSim/Tools/CMC_Orientation.h b/OpenSim/Tools/CMC_Orientation.h
index a20fdabc3b..1e79bb6c26 100644
--- a/OpenSim/Tools/CMC_Orientation.h
+++ b/OpenSim/Tools/CMC_Orientation.h
@@ -74,7 +74,7 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(CMC_Orientation, CMC_Task);
//--------------------------------------------------------------------------
// COMPUTATIONS
//--------------------------------------------------------------------------
- void computeJacobian() override;
+ void computeJacobian(const SimTK::State& s) override;
void computeEffectiveMassMatrix() override;
diff --git a/OpenSim/Tools/CMC_Point.cpp b/OpenSim/Tools/CMC_Point.cpp
index 5a60a8846f..2cda35947e 100644
--- a/OpenSim/Tools/CMC_Point.cpp
+++ b/OpenSim/Tools/CMC_Point.cpp
@@ -127,7 +127,7 @@ updateWorkVariables(const SimTK::State& s)
_v = 0;
if(_model) {
- BodySet& bs = _model->updBodySet();
+ const BodySet& bs = _model->getBodySet();
_model->getMultibodySystem().realize(s, SimTK::Stage::Velocity);
@@ -199,21 +199,6 @@ operator=(const CMC_Point &aTask)
// GET AND SET
//=============================================================================
//-----------------------------------------------------------------------------
-// MODEL
-//-----------------------------------------------------------------------------
-//_____________________________________________________________________________
-/**
- * Initializes pointers to the Coordinate and Speed in the model given the
- * coordinate name assigned to this task.
- *
- * @param aModel Model.
- */
-void CMC_Point::
-setModel(Model& aModel)
-{
- CMC_Task::setModel(aModel);
-}
-//-----------------------------------------------------------------------------
// Point
//-----------------------------------------------------------------------------
//_____________________________________________________________________________
@@ -265,7 +250,7 @@ computeErrors(const SimTK::State& s, double aT)
//std::cout<<"_inertialPTrk[2] = "<<_inertialPTrk[2]<getTotalMass(s);
+ SimTK::Matrix J(3, s.getNU(), 0.0);
+ for (int i = 0; i < _model->getBodySet().getSize(); i++) {
+ auto m = _model->getBodySet()[i].get_mass();
+ if (m == 0) {
+ cout << "Warning: body " << _model->getBodySet()[i].getName()
+ << " has zero mass" << endl;
+ continue;
+ }
+ auto com = _model->getBodySet()[i].get_mass_center();
+ SimTK::Matrix temp;
+ _model->getMatterSubsystem()
+ .calcStationJacobian(s,
+ _model->getBodySet()[i]
+ .getMobilizedBodyIndex(), com, temp);
+ J += m * temp;
+ }
+ _j = J / M;
+ } else {
+ _model->getMatterSubsystem()
+ .calcStationJacobian(s,
+ _model->getBodySet().get(_wrtBodyName)
+ .getMobilizedBodyIndex(), _point, _j);
+ }
+}
+
+//_____________________________________________________________________________
+/**
+ * Compute the Jacobian bias term for the tracked point given the current state
+ * of the model.
+ */
+void CMC_Point::
+computeBias(const SimTK::State& s )
+{
+ if (_wrtBodyName == "center_of_mass") {
+ double M = _model->getTotalMass(s);
+ SimTK::Vec3 JdotQdot(0);
+ for (int i = 0; i < _model->getBodySet().getSize(); i++) {
+ auto m = _model->getBodySet()[i].get_mass();
+ if (m == 0) {
+ cout << "Warning: body " << _model->getBodySet()[i].getName() <<
+ " has zero mass" << endl;
+ continue;
+ }
+ auto com = _model->getBodySet()[i].get_mass_center();
+ SimTK::Vec3 temp = _model->getMatterSubsystem().
+ calcBiasForStationJacobian(
+ s, _model->getBodySet()[i].getMobilizedBodyIndex(), com);
+ JdotQdot += m * temp;
+ }
+ _b = SimTK::Vector(-1.0 * JdotQdot / M);
+ } else {
+ SimTK::Vec3 JdotQdot = _model->getMatterSubsystem().
+ calcBiasForStationJacobian(
+ s, _model->getBodySet().get(_wrtBodyName).getMobilizedBodyIndex(), _point);
+ _b = SimTK::Vector(-1.0 * JdotQdot);
+ }
+}
+
//=============================================================================
// XML
//=============================================================================
diff --git a/OpenSim/Tools/CMC_Point.h b/OpenSim/Tools/CMC_Point.h
index 4bde65c385..aab620dd4f 100644
--- a/OpenSim/Tools/CMC_Point.h
+++ b/OpenSim/Tools/CMC_Point.h
@@ -61,7 +61,7 @@ OpenSim_DECLARE_CONCRETE_OBJECT(CMC_Point, CMC_Task);
// Work Variables
SimTK::Vec3 _p,_v,_inertialPTrk,_inertialVTrk;
- Body *_wrtBody,*_expressBody;
+ const Body *_wrtBody,*_expressBody;
//=============================================================================
// METHODS
@@ -90,7 +90,6 @@ OpenSim_DECLARE_CONCRETE_OBJECT(CMC_Point, CMC_Task);
//--------------------------------------------------------------------------
// GET AND SET
//--------------------------------------------------------------------------
- void setModel(Model& aModel) override;
void setPoint(const SimTK::Vec3 &aPoint);
SimTK::Vec3 getPoint() const;
@@ -101,6 +100,8 @@ OpenSim_DECLARE_CONCRETE_OBJECT(CMC_Point, CMC_Task);
void computeDesiredAccelerations(const SimTK::State& s, double aT) override;
void computeDesiredAccelerations(const SimTK::State& s, double aTI,double aTF) override;
void computeAccelerations(const SimTK::State& s ) override;
+ void computeJacobian(const SimTK::State& s) override;
+ void computeBias(const SimTK::State& s) override;
//--------------------------------------------------------------------------
// XML
diff --git a/OpenSim/Tools/CMC_Task.cpp b/OpenSim/Tools/CMC_Task.cpp
index 82f875a62a..f880481f7c 100644
--- a/OpenSim/Tools/CMC_Task.cpp
+++ b/OpenSim/Tools/CMC_Task.cpp
@@ -899,12 +899,24 @@ getAcceleration(int aWhich) const
* Compute the Jacobian.
*/
void CMC_Task::
-computeJacobian()
+computeJacobian(const SimTK::State& s)
{
log_error("CMC_Task::computeJacobian: This method should be overridden in "
"derived classes.");
}
+//_____________________________________________________________________________
+/**
+ * Compute the bias term for the Jacobian.
+ */
+void CMC_Task::
+computeBias(const SimTK::State& s)
+{
+ log_error("CMC_Task::computeBias: This method should be overridden in "
+ "derived classes.");
+}
+
+
//-----------------------------------------------------------------------------
// EFFECTIVE MASS MATRIX
//-----------------------------------------------------------------------------
diff --git a/OpenSim/Tools/CMC_Task.h b/OpenSim/Tools/CMC_Task.h
index ce40dd2aa4..97c20f4817 100644
--- a/OpenSim/Tools/CMC_Task.h
+++ b/OpenSim/Tools/CMC_Task.h
@@ -118,9 +118,11 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(CMC_Task, TrackingTask);
/** Accelerations. */
SimTK::Vec3 _a;
/** Jacobian. */
- double *_j;
+ SimTK::Matrix _j;
+ /** Jacobian bias. */
+ SimTK::Vector _b;
/** Effective mass matrix. */
- double *_m;
+ SimTK::Matrix _m;
//=============================================================================
// METHODS
@@ -204,6 +206,9 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(CMC_Task, TrackingTask);
double getDesiredAcceleration(int aWhich) const;
// ACCELERATIONS
double getAcceleration(int aWhich) const;
+ // JACOBIAN
+ SimTK::Matrix getJacobian() const;
+ SimTK::Vector getBias() const;
//--------------------------------------------------------------------------
// COMPUTATIONS
@@ -212,7 +217,8 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(CMC_Task, TrackingTask);
virtual void computeDesiredAccelerations(const SimTK::State& s, double aT) = 0;
virtual void computeDesiredAccelerations(const SimTK::State& s, double aTI,double aTF) = 0;
virtual void computeAccelerations(const SimTK::State& s ) = 0;
- virtual void computeJacobian();
+ virtual void computeJacobian(const SimTK::State& s);
+ virtual void computeBias(const SimTK::State& s);
virtual void computeEffectiveMassMatrix();
//=============================================================================
diff --git a/OpenSim/Tools/RegisterTypes_osimTools.cpp b/OpenSim/Tools/RegisterTypes_osimTools.cpp
index 6def930d80..8cbad4020d 100644
--- a/OpenSim/Tools/RegisterTypes_osimTools.cpp
+++ b/OpenSim/Tools/RegisterTypes_osimTools.cpp
@@ -55,6 +55,15 @@
#include "CorrectionController.h"
#include "MuscleStateTrackingTask.h"
+#include "TaskSpaceTorqueController.h"
+#include "TaskSpaceConstraintModel.h"
+#include "TaskSpaceTask.h"
+#include "TaskSpaceBodyTask.h"
+#include "TaskSpaceOrientationTask.h"
+#include "TaskSpaceStationTask.h"
+#include "TaskSpaceCoordinateTask.h"
+#include "TaskSpaceInertiaTask.h"
+
#include
#include
#include
@@ -103,6 +112,19 @@ OSIMTOOLS_API void RegisterTypes_osimTools()
Object::registerType( InverseKinematicsTool() );
Object::registerType( IMUInverseKinematicsTool());
Object::registerType( InverseDynamicsTool() );
+
+ Object::registerType( TaskSpaceTorqueController() );
+ Object::registerType( StationTask() );
+ Object::registerType( OrientationTask() );
+ Object::registerType( CoordinateTask() );
+ Object::registerType( OrientationTask() );
+ Object::registerType( InertiaTask() );
+ Object::registerType( NoConstraintModel() );
+ Object::registerType( DeSapioModel() );
+ Object::registerType( MistryModel() );
+ Object::registerType( SupportModel() );
+ Object::registerType( AghiliModel() );
+
// Old versions
Object::RenameType("rdCMC_Joint", "CMC_Joint");
Object::RenameType("rdCMC_Point", "CMC_Point");
diff --git a/OpenSim/Tools/TaskSpaceBodyTask.cpp b/OpenSim/Tools/TaskSpaceBodyTask.cpp
new file mode 100644
index 0000000000..7b1b3e472f
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceBodyTask.cpp
@@ -0,0 +1,104 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: BodyTask.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "TaskSpaceBodyTask.h"
+
+#include
+#include
+
+using namespace OpenSim;
+using namespace SimTK;
+using namespace std;
+
+BodyTask::BodyTask(){
+ constructProperties();
+ setNull();
+}
+
+void BodyTask::constructProperties() {
+ constructProperty_wrt_body("");
+ constructProperty_express_body("ground");
+ constructProperty_direction_vectors();
+ // Set default direction vectors
+ set_direction_vectors(0, SimTK::Vec3(1, 0, 0));
+ set_direction_vectors(1, SimTK::Vec3(0, 1, 0));
+ set_direction_vectors(2, SimTK::Vec3(0, 0, 1));
+
+ set_kp(Array(100, 3));
+ set_kv(Array(20, 3));
+ set_ka(Array(1, 3));
+ set_weight(Array(1, 3));
+}
+
+void BodyTask::copyData(const BodyTask& aTask) {
+
+ copyProperty_wrt_body(aTask);
+ copyProperty_express_body(aTask);
+ copyProperty_direction_vectors(aTask);
+}
+
+BodyTask& BodyTask::operator=(const BodyTask& aTask) {
+ // BASE CLASS
+ Object::operator=(aTask);
+
+ // DATA
+ copyData(aTask);
+
+ return (*this);
+}
+
+void BodyTask::setNull() {
+ setName(DEFAULT_NAME);
+
+ //_model = NULL;
+ _nTrk = 0;
+ _pErrLast = SimTK::Vector(Vec3(0.0));
+ _pErr = SimTK::Vector(Vec3(0.0));
+ _vErrLast = SimTK::Vector(Vec3(0.0));
+ _vErr = SimTK::Vector(Vec3(0.0));
+ _aDes = SimTK::Vector(Vec3(0.0));
+ _p = SimTK::Vector(Vec3(0.0));
+ _v = SimTK::Vector(Vec3(0.0));
+ _inertialPTrk = SimTK::Vector(Vec3(0.0));
+ _inertialVTrk = SimTK::Vector(Vec3(0.0));
+ _a = SimTK::Vector(Vec3(0.0));
+ _j = SimTK::Vector(Vec3(0.0));
+}
+
+void BodyTask::extendFinalizeFromProperties()
+{
+ Super::extendFinalizeFromProperties();
+}
+
+void BodyTask::extendConnectToModel(Model& aModel)
+{
+ Super::extendConnectToModel(aModel);
+}
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceBodyTask.h b/OpenSim/Tools/TaskSpaceBodyTask.h
new file mode 100644
index 0000000000..cad1dbf3a2
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceBodyTask.h
@@ -0,0 +1,100 @@
+#ifndef OPENSIM_TASK_SPACE_BODY_TASK_H_
+#define OPENSIM_TASK_SPACE_BODY_TASK_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: BodyTask.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "osimToolsDLL.h"
+#include "TaskSpaceTask.h"
+
+namespace OpenSim {
+
+/**
+ * \brief Tracking task associated with a body (e.g., position or orientation).
+ */
+class OSIMTOOLS_API BodyTask : public TaskSpaceTask {
+ OpenSim_DECLARE_ABSTRACT_OBJECT(BodyTask, TaskSpaceTask);
+
+public:
+ //=============================================================================
+ // PROPERTIES
+ //=============================================================================
+ OpenSim_DECLARE_PROPERTY(wrt_body, std::string,
+ "Name of body frame with respect to which a tracking objective is "
+ "specified. "
+ "The special name 'center_of_mass' refers to the system center of "
+ "mass. "
+ "This property is not used for tracking joint angles.");
+
+ OpenSim_DECLARE_PROPERTY(express_body, std::string,
+ "Name of body frame in which the tracking "
+ "objectives are expressed. This property is not used for tracking "
+ "joint angles.");
+
+ OpenSim_DECLARE_LIST_PROPERTY(direction_vectors, SimTK::Vec3,
+ "Direction vector[3] for each component of a task. "
+ "Joint tasks do not use this property.");
+
+ //=============================================================================
+ // PUBLIC METHODS
+ //=============================================================================
+
+ BodyTask();
+ virtual ~BodyTask() {}
+#ifndef SWIG
+ BodyTask& operator=(const BodyTask& aTaskObject);
+#endif
+
+ // virtual void computeErrors(const SimTK::State& s, double aT) = 0;
+ // virtual void computeDesiredAccelerations(
+ // const SimTK::State& s, double aT) = 0;
+ // virtual void computeDesiredAccelerations(
+ // const SimTK::State& s, double aTI, double aTF) = 0;
+ // virtual void computeAccelerations(const SimTK::State& s) = 0;
+ // virtual void computeJacobian(const SimTK::State& s);
+ // virtual void computeBias(const SimTK::State& s);
+ // virtual void update(const SimTK::State& s);
+
+protected:
+ // Model component interface.
+ void extendFinalizeFromProperties() override;
+ void extendConnectToModel(Model& model) override;
+
+private:
+ void constructProperties();
+ void setNull();
+ void copyData(const BodyTask& aTaskObject);
+
+//=============================================================================
+}; // end of class TaskSpaceBodyTask
+//=============================================================================
+} // end of namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_BODY_TASK_H_
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceComputeControlsEventHandler.h b/OpenSim/Tools/TaskSpaceComputeControlsEventHandler.h
new file mode 100644
index 0000000000..f62b3511bc
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceComputeControlsEventHandler.h
@@ -0,0 +1,66 @@
+
+#ifndef OPENSIM_TASK_SPACE_COMPUTE_CONTROLS_EVENT_HANDLER_H_
+#define OPENSIM_TASK_SPACE_COMPUTE_CONTROLS_EVENT_HANDLER_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceComputeControlsEventHandler.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "TaskSpaceTorqueController.h"
+
+#include "SimTKcommon.h"
+
+namespace OpenSim {
+
+class ComputeControlsEventHandler : public SimTK::PeriodicEventHandler
+ {
+ public:
+ ComputeControlsEventHandler( TaskSpaceTorqueController *controller) :
+ SimTK::PeriodicEventHandler(SimTK::Stage::Time),
+ _controller( controller ) {
+ }
+
+ void handleEvent (SimTK::State& s, SimTK::Real accuracy, bool& terminate) const override {
+ terminate = false;
+ _controller->computeControls( s, _controller->_tau);
+ _controller->setTargetTime(s.getTime() + _controller->getTargetDT());
+ }
+
+ SimTK::Real getNextEventTime( const SimTK::State& s, bool includeCurrent) const override {
+ if( _controller->getCheckTargetTime() ) {
+ return( _controller->getTargetTime() );
+ } else {
+ return( std::numeric_limits::infinity() );
+ }
+ }
+ TaskSpaceTorqueController* _controller;
+ };
+}
+
+#endif
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceConstraintModel.cpp b/OpenSim/Tools/TaskSpaceConstraintModel.cpp
new file mode 100644
index 0000000000..8946e0dc1f
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceConstraintModel.cpp
@@ -0,0 +1,341 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceConstraintModel.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer, and Dimitar *
+ * Stanev *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "TaskSpaceConstraintModel.h"
+
+#include "TaskSpaceUtilities.h"
+
+#include "OpenSim/Simulation/Model/SmoothSphereHalfSpaceForce.h"
+
+using namespace OpenSim;
+using namespace SimTK;
+
+namespace {
+ //TODO: convert to a test instead of running every time
+ static void validateConstraintData(const ConstraintData& data) {
+ if(data.M.nelt()==0) {
+ throw OpenSim::Exception("Error: ConstraintData field M is empty."); }
+ if(data.MInv.nelt()==0) {
+ throw OpenSim::Exception("Error: ConstraintData field MInv is empty."); }
+ if(data.McInv.nelt()==0) {
+ throw OpenSim::Exception("Error: ConstraintData field McInv is empty."); }
+ if(data.NcT.nelt()==0) {
+ throw OpenSim::Exception("Error: ConstraintData field NcT is empty."); }
+ if(data.bc.nelt()==0) {
+ throw OpenSim::Exception("Error: ConstraintData field bc is empty."); }
+ if(data.Jc.nelt()==0) {
+ throw OpenSim::Exception("Error: ConstraintData field Jc is empty."); }
+ }
+
+ /**
+ * @brief wraps SimbodyMatterSubsystem's calcG (constraint matrix)
+ *
+ * @param s
+ * @param model
+ * @return Matrix
+ */
+ Matrix calcConstraintJacobian(const State& s, const Model& model) {
+ Matrix Jc;
+ model.getMatterSubsystem().calcG(s, Jc);
+ return Jc;
+ }
+
+ /**
+ * @brief wraps SimbodyMatterSubsystem's calcBiasForAccelerationConstraints()
+ *
+ * @param s
+ * @param model
+ * @return Vector
+ */
+ Vector calcConstraintBias(const State& s, const Model& model) {
+ // calcBiasForAccelerationConstraints assumes P *udot - bias = 0 we must
+ // invert the results so that P * udot = bias
+ Vector b;
+ model.getMatterSubsystem().calcBiasForAccelerationConstraints(s, b);
+ return -1.0 * b;
+ }
+
+ /**
+ * @brief calculates the support data for the constraint model, iterates over
+ * all the forces in the model and computes the center of pressure and the bias
+ * acceleration for each force.
+ *
+ * @param s
+ * @param model
+ * @return supportData
+ */
+ supportData calcSupportData(const State& s, const Model& model) {
+ supportData out;
+ out.bias_agg = Vector(s.getNU(), 0.0);
+
+ auto G = calcConstraintJacobian(s, model);
+ if (G.nelt() > 0) { // check constraints and break out early
+ log_debug("Constraints found in model. Contact forces will "
+ "NOT be used for support calculation.");
+ out.Js_agg = G;
+ out.M = calcM(s, model);
+ out.McInv = calcMInv(s, model);
+ Matrix LambdaInv = out.Js_agg * out.McInv * out.Js_agg.transpose();
+ Matrix Lambdac = FactorSVDPseudoinverse(LambdaInv);
+ auto PhiBarT = Lambdac * out.Js_agg * out.McInv;
+ out.bias_agg = calcConstraintBias(s, model);
+ out.NsT = 1 - out.Js_agg.transpose() * PhiBarT;
+ return out;
+ }
+
+ for (const auto& f : model.getComponentList()) {
+ if (f.getConcreteClassName() == "SmoothSphereHalfSpaceForce") {
+ auto& fc =
+ dynamic_cast(f);
+ auto b = fc.getConnectee("sphere")
+ .getFrame()
+ .getMobilizedBodyIndex();
+ OpenSim::Array f_ext = f.getRecordValues(s);
+ SimTK::Vec3 position =
+ fc.getConnectee("sphere").get_location();
+ SimTK::Vec3 location = fc.getConnectee("sphere")
+ .getFrame()
+ .getPositionInGround(s);
+ auto position_in_ground =
+ fc.getConnectee("sphere")
+ .getFrame()
+ .findStationLocationInGround(s, position);
+ if (out.cop.find(b) ==
+ out.cop.end()) { // init struct values to 0 at mat and
+ // compute frame jacobian
+ out.force[b] = SpatialVec(2);
+ out.force[b][0] = 0;
+ out.force[b][1] = 0;
+ out.cop[b] = Vec3(0.0);
+ out.Fs[b] = Matrix(6, 1, 0.0); // spatial
+ out.bias[b] =
+ Vector(out.Js[b].nrow(), 0.0); // task bias acceleration
+ out.bodies[b] = fc.getConnectee("sphere")
+ .getFrame()
+ .getMobilizedBody();
+ }
+
+ // Forces
+ out.force[b][1][0] += f_ext[6];
+ out.force[b][1][1] += f_ext[7];
+ out.force[b][1][2] += f_ext[8];
+
+ // Moments
+ out.force[b][0][0] += out.force[b][1][1] * position_in_ground[0]; // supposed to ignore the Y since the cop is on the floor
+ out.force[b][0][1] += 0;
+ out.force[b][0][2] +=
+ out.force[b][1][1] *
+ position_in_ground[2]; // supposed to ignore the Y since the
+ // cop is on the floor
+ }
+ }
+
+ double total_mass = 0.0;
+ for (auto it = out.cop.begin(); it != out.cop.end(); ++it)
+ { // loop over keys i map and update center of pressure
+ auto k = it->first; // keys are MobilizedBodyIndex
+ auto bod = out.bodies[k];
+ if (FlattenSpatialVec(out.force[k]).norm() > std::numeric_limits::epsilon()) {
+ out.cop[k][0] = out.force[k][0][0] / out.force[k][1][1]; // Mx / Fy
+ out.cop[k][1] = 0.0;
+ out.cop[k][2] = out.force[k][0][2] / out.force[k][1][1]; // Mz / Fy
+ out.cop[k] = out.cop[k] - bod.findStationLocationInGround(s, Vec3(0, 0, 0));
+ auto temp = FlattenSpatialVec(out.force[k]);
+ out.Fs[k] = temp;
+
+ out.Js[k] = calcFrameJacobian(s, model, k, out.cop[k]); // bod.getBodyOriginLocation(s)
+ out.Js[k] = out.Js[k].block(3, 0, 3, s.getNU());
+
+ auto bias = model.getMatterSubsystem().calcBiasForFrameJacobian(s, bod, out.cop[k]); // bod.getBodyOriginLocation(s)
+
+ out.bias[k] = -1.0 * FlattenSpatialVec(bias).getAsVector();
+
+ total_mass += bod.getBodyMass(s);
+
+ if (out.Js_agg.nelt() ==0) {
+ out.Js_agg = out.Js[k];
+ out.bias_agg = out.bias[k];
+ out.Fs_agg = out.Fs[k];
+ } else {
+ out.Js_agg = out.Js_agg + (bod.getBodyMass(s)) * out.Js[k];
+
+ out.Js_agg = concatenate(out.Js_agg, out.Js[k], 0);
+ out.bias_agg = concatenate(out.bias_agg, out.bias[k], 0).getAsVector();
+ out.Fs_agg = concatenate(out.Fs_agg, out.Fs[k], 0);
+ }
+ }
+ }
+
+ if (out.Js_agg.nelt() == 0) {
+ auto M = calcM(s, model);
+ out.M = M;
+ out.MInv = M.invert();
+ out.NsT = Matrix(s.getNU(), s.getNU());
+ out.NsT = 1.0;
+ out.Js_agg = Matrix(s.getNU(), s.getNU(), 0.0);
+ out.Js_agg = 0.0;
+ Matrix Mc = (out.NsT * M) + (1 - out.NsT);
+ out.Mc = Mc;
+ out.McInv = Mc.invert();
+ out.bias_agg = Vector(out.Js_agg.nrow(), 0.0);
+ out.Fs_agg = Vector(out.Js_agg.nrow(), 0.0);
+ return out;
+ }
+
+ out.MInv = calcMInv(s, model);
+ Matrix LambdaInv = out.Js_agg * out.MInv * out.Js_agg.transpose();
+ Matrix Lambdac = FactorSVDPseudoinverse(LambdaInv);
+ auto PhiBarT = Lambdac * out.Js_agg * out.MInv;
+ out.NsT = 1.0 - out.Js_agg.transpose() * PhiBarT;
+ auto M = calcM(s, model);
+ out.M = M;
+ Matrix Mc = (out.NsT * M) + 1.0 - out.NsT;
+ out.McInv = DampedSVDPseudoinverse(Mc);
+
+ return out;
+ }
+}
+
+/******************************************************************************/
+
+Matrix ConstraintModel::calcLambda(
+ const Matrix& Phi, const Matrix& MInv) const {
+ auto LambdaInv = Phi * MInv * ~Phi;
+ Matrix Lambda;
+ FactorSVD svd(LambdaInv);
+ svd.inverse(Lambda);
+ return Lambda;
+}
+
+/******************************************************************************/
+
+ConstraintData NoConstraintModel::calcConstraintData(const Model& model, const SimTK::State& s) const {
+
+ ConstraintData data;
+ data.Jc = Matrix(s.getNU(), s.getNU(), 0.0);
+ data.Jc = 1;
+ data.M = calcM(s, model);
+ data.MInv = calcMInv(s, model);
+ data.Mc = data.M;
+ data.McInv = data.MInv;
+ data.bc = Vector(s.getNU(), 0.0);
+ data.NcT = Matrix(s.getNU(), s.getNU());
+ data.NcT = 1;
+ validateConstraintData(data);
+ return data;
+}
+/******************************************************************************/
+
+ConstraintData DeSapioModel::calcConstraintData(const Model& model, const SimTK::State& s) const {
+
+ ConstraintData data;
+ data.M = calcM(s, model);
+ data.MInv = calcMInv(s, model);
+ // McInv
+ data.McInv = data.MInv;
+ // bc
+ data.Jc = calcConstraintJacobian(s, model);
+ auto JcT = ~data.Jc;
+ auto Lambdac = this->calcLambda(data.Jc, data.McInv);
+ auto b = calcConstraintBias(s, model);
+ // Stanev and Moustakas 2018, Eq 16
+ data.bc = -1.0 * JcT * Lambdac * b;
+ // NcT
+ auto JcBarT = Lambdac * data.Jc * data.McInv;
+ data.NcT = 1 - JcT * JcBarT;
+ validateConstraintData(data);
+ return data;
+}
+/******************************************************************************/
+
+ConstraintData AghiliModel::calcConstraintData(const Model& model, const SimTK::State& s) const {
+
+ ConstraintData data;
+ // NcT
+ data.Jc = calcConstraintJacobian(s, model);
+ Matrix JcInv;
+ FactorSVD JcSVD(data.Jc);
+ JcSVD.inverse(JcInv);
+ data.NcT = 1 - JcInv * data.Jc; // Nc^T = Nc due to MPP properties
+ // McInv
+ data.M = calcM(s, model);
+ data.MInv = calcMInv(s, model);
+ auto Ms = data.M + data.NcT * data.M - ~(data.NcT * data.M);
+ FactorSVD MsSVD(Ms);
+ MsSVD.inverse(data.McInv);
+ // bc
+ auto b = calcConstraintBias(s, model);
+ data.bc = -1.0 * data.M * JcInv * b;
+ validateConstraintData(data);
+ return data;
+}
+
+/******************************************************************************/
+
+ConstraintData MistryModel::calcConstraintData(const Model& model, const SimTK::State& s) const {
+
+ ConstraintData data;
+ Matrix Jc = calcConstraintJacobian(s, model);
+ Matrix Jcstar = FactorSVDPseudoinverse(Jc);
+ data.NcT = 1 - (Jcstar * Jc);
+ data.Jc = Jc;
+ data.M = calcM(s, model);
+ data.MInv = calcMInv(s, model);
+ Matrix Mc = (data.NcT * data.M) + (1 - data.NcT);
+ data.McInv = FactorSVDPseudoinverse(Mc);
+ data.bc = calcConstraintBias(s, model);
+ validateConstraintData(data);
+ return data;
+}
+
+/******************************************************************************/
+
+ConstraintData SupportModel::calcConstraintData(const Model& model, const SimTK::State& s) const {
+
+ ConstraintData data;
+ supportData out = calcSupportData(s, model);
+ data.Jc = out.Js_agg;
+ data.NcT = out.NsT;
+ data.M = out.M;
+ data.Mc = out.Mc;
+ data.MInv = out.MInv;
+ //TODO: This should be out.McInv (constraint consistent), but doing so conflicts with
+ // gait simulations since ground contact is treated as a constraint and given
+ // priority -1. This causes foot position tasks to be ineffective. Need to
+ // develop a workaround.
+ data.McInv = out.MInv;
+ Matrix JcPinv = FactorSVDPseudoinverse(data.Jc);
+ data.bc = JcPinv * out.bias_agg;
+ data.Fext = out.Fs_agg;
+ validateConstraintData(data);
+ return data;
+}
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceConstraintModel.h b/OpenSim/Tools/TaskSpaceConstraintModel.h
new file mode 100644
index 0000000000..821d8316cd
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceConstraintModel.h
@@ -0,0 +1,256 @@
+#ifndef OPENSIM_TASK_SPACE_CONSTRAINT_MODEL_H_
+#define OPENSIM_TASK_SPACE_CONSTRAINT_MODEL_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceConstraintModel.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer, and Dimitar *
+ * Stanev *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "osimToolsDLL.h"
+#include "OpenSim/Common/Object.h"
+#include "OpenSim/Simulation/Model/Model.h"
+
+namespace OpenSim {
+
+//================================================================================
+// DATA STRUCTURES
+//================================================================================
+
+/** \brief Calculated by calcConstraintData(). */
+struct ConstraintData {
+ /** System mass matrix.*/
+ SimTK::Matrix M;
+ /** Inverse of system mass matrix.*/
+ SimTK::Matrix MInv;
+ /** Constraint-consistent inertia mass matrix.*/
+ SimTK::Matrix Mc;
+ /** Inverse of constraint-consistent inertia mass matrix.*/
+ SimTK::Matrix McInv;
+ /** Transpose of the constraint nullspace matrix. */
+ SimTK::Matrix NcT;
+ /** Constraint bias term. */
+ SimTK::Vector bc;
+ /** Constraint Jacobian. */
+ SimTK::Matrix Jc;
+ /** External forces. */
+ SimTK::Matrix Fext;
+};
+
+struct supportData {
+ SimTK::Matrix Js_agg; //!<@brief aggregate support jacobian
+ SimTK::Matrix Vb_agg; //!<@brief aggregate transformation Matrix
+ SimTK::Matrix M; //!<@brief mass matrix
+ SimTK::Matrix MInv; //!<@brief inverse mass matrix
+ SimTK::Matrix Mc; //!<@brief support consistent mass matrix
+ SimTK::Matrix McInv; //!<@brief support consistent inverse mass matrix
+ SimTK::Matrix
+ NsT; //!<@brief support consistent Nullspace for support tasks
+ SimTK::Matrix Fs_agg; //!<@brief Aggregate support force (applied to
+ //!< centers of pressure)
+ SimTK::Vector bias_agg; //!<@brief aggregate bias force (mapping external
+ //!< loads task to bias accel)
+ std::map
+ Js; //!<@brief support jacobian (6xnt)
+ std::map
+ Vb; //!<@brief Support Transformation Matrix
+ std::map
+ Fs; //!<@brief support force (spatial (6x1))
+ std::map
+ cop; //!<@brief center of pressure (3x1)
+ std::map
+ force; //!<@brief linear summed cop force and resultant moment
+ //!<(3x2)
+ std::map
+ bias; //!<@brief task bias accel (6x1)
+ std::map
+ bodies; //!<@brief task bias accel (6x1)
+};
+
+//================================================================================
+// CONSTRAINT MODELS
+//================================================================================
+//_____________________________________________________________________________
+/**
+ * \brief An abstract class for defining constraint models.
+ */
+class ConstraintModel : public ModelComponent {
+ OpenSim_DECLARE_ABSTRACT_OBJECT(ConstraintModel, ModelComponent);
+
+public:
+ /**
+ * Calculates the constraint data. Note that in the future additional
+ * ConstraintData may be provided.
+ */
+ virtual ConstraintData calcConstraintData(const Model& model, const SimTK::State& s) const = 0;
+protected:
+ SimTK::Matrix calcLambda(
+ const SimTK::Matrix& Phi, const SimTK::Matrix& MInv) const;
+};
+
+//_____________________________________________________________________________
+/**
+ * \brief This model assumes that there are no constraints.
+ *
+ * \f$ M \ddot{q} + f = \tau \f$
+ *
+ * \f$ M_c^{-1} = M^{-1}, \; b_c = 0, \; N_c^T = 1 \f$
+ */
+class OSIMTOOLS_API NoConstraintModel : public ConstraintModel {
+ OpenSim_DECLARE_CONCRETE_OBJECT(NoConstraintModel, ConstraintModel);
+
+public:
+ ConstraintData calcConstraintData(const Model& model, const SimTK::State& s) const override;
+};
+
+//_____________________________________________________________________________
+/**
+ * \brief This model uses the inertia weighted generalized inverse of the
+ * constraint Jacobian as adopted by De Sapio et al. [1] to derive the
+ * constrained representation of the equations of motion.
+ *
+ * \f$ M \ddot{q} + f + \Phi^T \lambda = \tau \f$ (1)
+ *
+ * \f$ \Phi \ddot{q} = b \f$ (2)
+ *
+ * @see Utilities.h
+ *
+ * The goal is to decouple constraint and applied forces through coordinate
+ * projection. Multiply Eq. (1) from the left by \f$ \Phi M^{-1} \f$,
+ * making use of Eq. (2) and solve for \f$ \lambda \f$
+ *
+ * \f$ b + \Phi M^{-1} f + \Phi M^{-1} \Phi^T \lambda = \Phi M^{-1} \tau
+ * \f$
+ *
+ * \f$ \lambda = \bar{\Phi}^T (\tau - f) - \Lambda_c b, ;\ \Lambda_c = (\Phi
+ * M^{-1} \Phi^T)^{-1}, \; \bar{\Phi}^T = \Lambda_c \Phi M^{-1} \f$ (3)
+ *
+ * Then combine Eqs. (1) and (3)
+ *
+ * \f$ M \ddot{q} + f^{\perp} + bc = \tau^{\perp} \f$
+ *
+ * \f$ b_c = - \Phi^T \Lambda_c b \f$
+ *
+ * \f$ f^{\perp} = N_c^T f, \; \tau^{\perp} = N_c^T \tau, \; N_c^T = 1 -
+ * \Phi^T \bar{\Phi}^T \f$
+ *
+ * [1] De Sapio, V., & Park, J. (2010). Multitask Constrained Motion
+ * Control Using a Mass-Weighted Orthogonal Decomposition. Journal of
+ * Applied Mechanics, 77(4), 1–9. https://doi.org/10.1115/1.4000907
+ */
+class OSIMTOOLS_API DeSapioModel : public ConstraintModel {
+ OpenSim_DECLARE_CONCRETE_OBJECT(DeSapioModel, ConstraintModel);
+
+public:
+ ConstraintData calcConstraintData(const Model& model, const SimTK::State& s) const override;
+};
+
+//_____________________________________________________________________________
+/**
+ * \brief This model make uses of the Moore - Penrose pseudoinverse (MPP)
+ * and the theory of linear projection operators to decouple the constraint
+ * and applied forces based on Aghili [1].
+ *
+ * \f$ M \ddot{q} + f + \Phi^T \lambda = \tau \f$ (1)
+ *
+ * \f$ \Phi \ddot{q} = b \f$ (2)
+ *
+ * \f$ N_c = N_c^T = I - \Phi^+ \Phi \f$ (3)
+ *
+ * Reexpress Eqs. (1) and (2) using (3)
+ *
+ * \f$ N_c M \ddot{q} + N_c f = N_c \tau, \; N_c \Phi^T = 0 \f$
+ * (4)
+ * \f$ \ddot{q}_{\parallel} = M (I - N_c) \ddot{q} = \Phi^+ b \f$
+ *
+ * Combining Eqs. (4) together we can derive the model
+ *
+ * \f$ M^{'} \ddot{q} + f_{perp} + b_c = \tau_{\perp} \f$
+ *
+ * \f$ M^{'} = M + N_c M - (N_c M)^T \f$
+ *
+ * \f$ f^{\perp} = N_c f, \; \tau^{\perp} = N_c \tau \f$
+ *
+ * \f$ b_c = -M \Phi^+ b \f$
+ *
+ * [1] Aghili, F. (2005). A unified approach for inverse and direct
+ * dynamics of constrained multibody systems based on linear projection
+ * operator: Applications to control and simulation. IEEE Transactions on
+ * Robotics, 21(5), 834–849. https://doi.org/10.1109/TRO.2005.851380
+ */
+class OSIMTOOLS_API AghiliModel : public ConstraintModel {
+ OpenSim_DECLARE_CONCRETE_OBJECT(AghiliModel, ConstraintModel);
+
+public:
+ ConstraintData calcConstraintData(const Model& model, const SimTK::State& s) const override;
+};
+
+//_____________________________________________________________________________
+/**
+ * \brief This model make use of the augmented Jacobian methods for task
+ * prioritization based on Mistry [4]. Requires external contact with the
+ * environment to be modeled using kinematic constraints.
+ *
+ * [4] Mistry, Michael & Nakanishi, Jun & Schaal, Stefan. (2007). Task space
+ * control with prioritization for balance and locomotion.
+ * 331-338. 10.1109/IROS.2007.4399595.
+ */
+class OSIMTOOLS_API MistryModel : public ConstraintModel {
+ OpenSim_DECLARE_CONCRETE_OBJECT(MistryModel, ConstraintModel);
+
+public:
+ ConstraintData calcConstraintData(const Model& model, const SimTK::State& s) const override;
+};
+
+//_____________________________________________________________________________
+/**
+ * \brief Computes support-consistent constraint data for models which use
+ * contact objects to model interaction with the environment. The center of
+ * pressure is calculated for each body in contact with the environment, then
+ * constraint data is calculated as if there were a weld constraint at the
+ * location of the center of pressure. This model utilizes this the support
+ * consistent formulation from Sentis 2007 [1].
+ *
+ * [1] Sentis, L. (2007). Synthesis and Control of Whole-Body
+ * Behaviors in Humanoid Systems. Stanford University. Retrieved from
+ * http://dl.acm.org/citation.cfm?id=1354211
+ *
+ * * @see Utilities.h
+ *
+ * * @see ConstraintModel.h
+ *
+ * */
+class OSIMTOOLS_API SupportModel : public ConstraintModel {
+ OpenSim_DECLARE_CONCRETE_OBJECT(SupportModel, ConstraintModel);
+
+public:
+ ConstraintData calcConstraintData(const Model& model, const SimTK::State& s) const override;
+};
+} // END namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_CONSTRAINT_MODEL_H_
diff --git a/OpenSim/Tools/TaskSpaceCoordinateTask.cpp b/OpenSim/Tools/TaskSpaceCoordinateTask.cpp
new file mode 100644
index 0000000000..cb95d18ec9
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceCoordinateTask.cpp
@@ -0,0 +1,423 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceCoordinateTask.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//=============================================================================
+// INCLUDES
+//=============================================================================
+#include "OpenSim/Simulation/Model/Model.h"
+#include "TaskSpaceCoordinateTask.h"
+
+using namespace std;
+using namespace SimTK;
+using namespace OpenSim;
+
+//=============================================================================
+// STATICS
+//=============================================================================
+
+//=============================================================================
+// CONSTRUCTOR(S) AND DESTRUCTOR
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Destructor.
+ */
+CoordinateTask::~CoordinateTask() {}
+
+//_____________________________________________________________________________
+/**
+ * Construct a task for a specified generalized coordinate.
+ *
+ * @param aQID ID of the generalized coordinate to be tracked.
+ * @todo Instead of an integer id, the name of the coordinate
+ * should be used.
+ */
+CoordinateTask::CoordinateTask(
+ const std::string& aCoordinateName, bool limit_avoidance)
+ : TaskSpaceTask() {
+ setupProperties();
+ setNull();
+ set_coordinate(aCoordinateName);
+ setName(aCoordinateName + "Task");
+ set_limit_avoidance(limit_avoidance);
+
+}
+
+//_____________________________________________________________________________
+/**
+ * Copy constructor.
+ *
+ * @param aTask Joint task to be copied.
+ */
+CoordinateTask::CoordinateTask(const CoordinateTask& aTask)
+ : TaskSpaceTask(aTask) {
+ setNull();
+ copyData(aTask);
+}
+
+//=============================================================================
+// CONSTRUCTION
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Set NULL values for all member variables.
+ */
+void CoordinateTask::setNull() {
+ _nTrk = 1;
+ _q = NULL;
+ _p = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _v = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _inertialPTrk = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _inertialVTrk = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _pErrLast = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _pErr = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _vErrLast = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _vErr = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _aDes = SimTK::Vector(SimTK::Vector(1, 0.0));
+ _a = SimTK::Vector(SimTK::Vector(1, 0.0));
+}
+//_____________________________________________________________________________
+/**
+ * @brief Set up serialized member variables.
+ *
+ * @param aCoordinateName Name of the coordinate to be tracked.
+ */
+void CoordinateTask::setupProperties() {
+ //Construct properties unique to CoordinateTask
+ constructProperty_limit_avoidance(false);
+ constructProperty_coordinate("");
+
+ //Set inherited properties
+ setName("CoordTask");
+ // Set default gains and weight
+ set_kp(Array(100, 1));
+ set_kv(Array(20, 1));
+ set_ka(Array(1, 1));
+ set_weight(Array(1, 1));
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Copy data members from one CoordinateTask to another.
+ *
+ * @param aTask CoordinateTask to be copied.
+ */
+void CoordinateTask::copyData(const CoordinateTask& aTask)
+{
+ copyProperty_coordinate(aTask);
+ copyProperty_limit_avoidance(aTask);
+
+ updateWorkVariables();
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Update the work variables based on the current model.
+ * This method is called by setModel() and setCoordinateName().
+ *
+ *
+ */
+void CoordinateTask::updateWorkVariables() {
+ _q = NULL;
+ if (hasModel()) {
+ try {
+ int nv = getModel().getWorkingState().getNU();
+ _q = &getModel().getCoordinateSet().get(get_coordinate());
+ //Set the Jacobian entry corresponding to this coordinate to 1.0
+ int _mbti = getModel()
+ .getMatterSubsystem()
+ .getMobilizedBody(_q->getBodyIndex())
+ .getFirstUIndex(getModel().getWorkingState()) +
+ _q->getMobilizerQIndex();
+ _j = SimTK::Matrix(1, nv, 0.0);
+ _j(0, _mbti) = 1.0;
+ _b = SimTK::Vector(1, 0.0);
+ } catch (...) {
+ OPENSIM_THROW(OpenSim::Exception,
+ "CoordinateTask.updateWorkVariables: ERROR- joint task references invalid coordinate");
+ }
+ }
+}
+
+//=============================================================================
+// OPERATORS
+//=============================================================================
+//-----------------------------------------------------------------------------
+// ASSIGNMENT
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Assignment operator.
+ *
+ * @param aTask Object to be copied.
+ * @return Reference to the altered object.
+ */
+CoordinateTask& CoordinateTask::operator=(const CoordinateTask& aTask) {
+ // BASE CLASS
+ TaskSpaceTask::operator=(aTask);
+
+ // DATA
+ copyData(aTask);
+
+ return (*this);
+}
+
+//=============================================================================
+// COMPUTATIONS
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Compute the position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void CoordinateTask::computeErrors(const SimTK::State& s, double aT) {
+ if (get_limit_avoidance() == true) {
+ _pErr[0] =
+ (0.5 * (_q->getRangeMax() - _q->getRangeMin()) -
+ _q->getValue(s));
+ } else {
+ _pErr[0] = (get_position_functions(0).calcValue(SimTK::Vector(1, aT)) -
+ _q->getValue(s));
+ }
+
+ if (getProperty_velocity_functions().size() == 0) {
+ std::vector derivComponents(1);
+ derivComponents[0] = 0;
+ if (get_limit_avoidance() == true) {
+ _vErr[0] = (0.0 - _q->getSpeedValue(s));
+ } else {
+ _vErr[0] = (get_position_functions(0).calcDerivative(
+ derivComponents, SimTK::Vector(1, aT)) -
+ _q->getSpeedValue(s));
+ }
+ } else {
+ if (get_limit_avoidance() == true) {
+ _vErr[0] = (0.0 - _q->getSpeedValue(s));
+ } else {
+ _vErr[0] = (get_velocity_functions(0).calcValue(
+ SimTK::Vector(1, aT)) -
+ _q->getSpeedValue(s));
+ }
+ }
+}
+
+//_____________________________________________________________________________
+/**
+ * Compute the desired accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aT Time at which the desired accelerations are to be computed in
+ * real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void CoordinateTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aT) {
+ computeDesiredAccelerations(s, aT, aT);
+}
+//_____________________________________________________________________________
+/**
+ * Compute the desired accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void CoordinateTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) {
+ double a;
+ // CHECK
+ if (!hasModel()) {
+ log_warn("CoordinateTask model not set.");
+ return;
+ }
+ if (getProperty_position_functions().size() == 0) {
+ log_warn("CoordinateTask position tracking function not set.");
+ return;
+ }
+ if (_q == NULL) {
+ updateWorkVariables();
+ return;
+ }
+ _a = SimTK::Vector(1, 0.0);
+ _aDes = SimTK::Vector(1, 0.0);
+ checkFunctions();
+
+ // COMPUTE ERRORS
+ computeErrors(s, aTI);
+
+ // DESIRED ACCELERATION
+ double p = get_kp(0) * _pErr[0];
+ double v = get_kv(0) * _vErr[0];
+ if (getProperty_acceleration_functions().size() == 0) {
+ std::vector derivComponents(2);
+ derivComponents[0] = 0;
+ derivComponents[1] = 0;
+ a = get_ka(0) * get_position_functions(0).calcDerivative(
+ derivComponents, SimTK::Vector(1, aTF));
+ } else {
+ a = get_ka(0) *
+ get_acceleration_functions(0).calcValue(SimTK::Vector(1, aTF));
+ }
+ _aDes[0] = get_weight(0) * (a + v + p);
+}
+//_____________________________________________________________________________
+/**
+ * Compute the acceleration of the appropriate generalized coordinate.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * For joints (i.e., generalized coordinates), the acceleration is
+ * not computed. It has already been computed and is simply retrieved
+ * from the model.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+void CoordinateTask::computeAccelerations(const SimTK::State& s) {
+ _a = SimTK::NaN;
+ // CHECK
+ if (!hasModel()) return;
+
+ _a = SimTK::Vector(1, 1.0);
+ // ACCELERATION
+ _a[0] = _q->getAccelerationValue(s);
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Compute the Jacobian, since the task is already in coordinate space,
+ * the jacobian is nu x 1 identity with 1 in the column of the specified
+ * coordinate. When considering joint limit avoidance, the expression for J is
+ * based on the potential field expression.
+ * @param s current state
+ * @return SimTK::Matrix Jacobian
+ * @see CoordinateTask::computeJointLimitMatrix(const SimTK::State& s)
+ *
+ */
+void CoordinateTask::computeJacobian(const SimTK::State& s) {
+ SimTK::Matrix J(1, s.getNU(), 0.0);
+ auto& matter = getModel().getMatterSubsystem();
+ int _mbti = matter.getMobilizedBody(_q->getBodyIndex()).getFirstUIndex(s) +
+ _q->getMobilizerQIndex();
+ if (get_limit_avoidance() == true) { // use the potential field expression
+ // if we care about limit avoidance.
+ double max = _q->getRangeMax();
+ double min = _q->getRangeMin();
+ double buffer = (max - min) * .10;
+ double minbuf = min + buffer;
+ double maxbuf = max - buffer;
+ double val = _q->getValue(s);
+ if (val <= minbuf) {
+ J(0, _mbti) = 1.0 * (1.0 - computeJointLimitMatrix(s));
+ } else if (val >= maxbuf) {
+ J(0, _mbti) = 1.0 * (1.0 - computeJointLimitMatrix(s));
+ }
+ } else {
+ J(0, _mbti) = 1.0;
+ }
+ _j = J;
+}
+
+//_____________________________________________________________________________
+/**
+ * Compute the joint limit matrix, which is used in the potential field
+ * expression for the Jacobian.
+ *
+ * @see CoordinateTask::computeJointLimitMatrix(const SimTK::State& s)
+ */
+double CoordinateTask::computeJointLimitMatrix(const SimTK::State& s) {
+ double JL = 0.0;
+ double max, min, buffer, minbuf, maxbuf, val, deltaH = 0.0;
+ max = _q->getRangeMax();
+ min = _q->getRangeMin();
+ buffer = (max - min) * .10;
+ minbuf = min + buffer;
+ maxbuf = max - buffer;
+ val = _q->getValue(s);
+ if (val <= min) {
+ JL = 1.0;
+ } else if ((val > min) && (val < minbuf)) {
+ JL = 0.5 + 0.5 * sin((Pi / buffer) * (val - minbuf) + Pi / 2);
+ } else if ((val <= maxbuf) && (val >= minbuf)) {
+ JL = 0.0;
+ } else if ((val > maxbuf) && (val < max)) {
+ JL = 0.5 + 0.5 * sin((Pi / buffer) * (val - maxbuf) - Pi / 2);
+ } else if (val >= max) {
+ JL = 1.0;
+ }
+ return JL;
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Compute the Jacobian bias term for the tracked point given the current
+ * state of the model.
+ *
+ * @param s current state
+ * @return SimTK::Vector bias term
+ * @see CoordinateTask::computeJointLimitBias(const SimTK::State& s)
+ */
+void CoordinateTask::computeBias(const SimTK::State& s) {
+ if (_q == NULL) { updateWorkVariables(); }
+
+ SimTK::SpatialVec jdu =
+ getModel().getMatterSubsystem().calcBiasForFrameJacobian(s,
+ _q->getJoint().getParentFrame().getMobilizedBodyIndex(),
+ SimTK::Vec3(0));
+ // Jdot*u is 0, because Jdot is zero. [0 ... 1 .. 0] * u = 0
+ _b = SimTK::Vector(1,0.0 * jdu[0][_q->getMobilizerQIndex()]);
+}
+
+//=============================================================================
+// XML
+//=============================================================================
+//-----------------------------------------------------------------------------
+// UPDATE FROM XML NODE
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Update this object based on its XML node.
+ *
+ * @param aDeep If true, update this object and all its child objects
+ * (that is, member variables that are Object's); if false, update only
+ * the member variables that are not Object's.
+ */
+void CoordinateTask::updateFromXMLNode(
+ SimTK::Xml::Element& aNode, int versionNumber) {
+ Super::updateFromXMLNode(aNode, versionNumber);
+}
diff --git a/OpenSim/Tools/TaskSpaceCoordinateTask.h b/OpenSim/Tools/TaskSpaceCoordinateTask.h
new file mode 100644
index 0000000000..173eee2385
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceCoordinateTask.h
@@ -0,0 +1,254 @@
+#ifndef OPENSIM_TASK_SPACE_COORDINATE_TASK_H_
+#define OPENSIM_TASK_SPACE_COORDINATE_TASK_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceCoordinateTask.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//============================================================================
+// INCLUDE
+//============================================================================
+#include "osimToolsDLL.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Common/PropertyDbl.h"
+#include "TaskSpaceTask.h"
+
+namespace OpenSim {
+
+class Coordinate;
+
+//=============================================================================
+//=============================================================================
+/**
+ * A class for specifying the tracking task for a joint.
+ */
+class OSIMTOOLS_API CoordinateTask : public TaskSpaceTask {
+ OpenSim_DECLARE_CONCRETE_OBJECT(CoordinateTask, TaskSpaceTask);
+//==========================================================================
+// DATA
+//==========================================================================
+public:
+
+ OpenSim_DECLARE_PROPERTY(coordinate, std::string,
+ "Name of coordinate with respect to which a tracking objective is "
+ "specified. ");
+
+ OpenSim_DECLARE_PROPERTY(limit_avoidance, bool,
+ "Boolean to indicate whether this coordinate should be used for "
+ "limit avoidance (true) or coordinate space control (false).");
+
+protected:
+ // Work Variables
+ const OpenSim::Coordinate* _q;
+ mutable int _mbti;
+
+ //==========================================================================
+ // METHODS
+ //==========================================================================
+ //--------------------------------------------------------------------------
+ // CONSTRUCTION
+ //--------------------------------------------------------------------------
+public:
+ /**
+ * Construct a task for a specified generalized coordinate.
+ *
+ * @param aQID ID of the generalized coordinate to be tracked.
+ * @todo Instead of an integer id, the name of the coordinate
+ * should be used.
+ */
+ CoordinateTask(const std::string& aCoordinateName = "",
+ bool limit_avoidance = false);
+
+ /**
+ * Copy constructor.
+ *
+ * @param aTask Joint task to be copied.
+ */
+ CoordinateTask(const CoordinateTask& aTask);
+
+ /**
+ * Destructor.
+ */
+ virtual ~CoordinateTask();
+
+ //--------------------------------------------------------------------------
+ // GET AND SET
+ //--------------------------------------------------------------------------
+ /**
+ * @brief Set the limit avoidance flag
+ *
+ * @param b flag to set
+ */
+ void setLimitAvoidance(const bool b) { set_limit_avoidance(b); }
+
+ //--------------------------------------------------------------------------
+ // COMPUTATIONS
+ //--------------------------------------------------------------------------
+ /**
+ * Compute the position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeErrors(const SimTK::State& s, double aT) override;
+
+ /**
+ * Compute the desired accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aT Time at which the desired accelerations are to be computed in
+ * real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeDesiredAccelerations(const SimTK::State& s, double aT) override;
+
+ /**
+ * Compute the desired accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) override;
+
+ /**
+ * Compute the acceleration of the appropriate generalized coordinate.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * For joints (i.e., generalized coordinates), the acceleration is
+ * not computed. It has already been computed and is simply retrieved
+ * from the model.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+ void computeAccelerations(const SimTK::State& s) override;
+
+ /**
+ * @brief Compute the Jacobian, since the task is already in coordinate
+ * space, the jacobian is nu x 1 identity with 1 in the column of the
+ * specified coordinate. When considering joint limit avoidance, the
+ * expression for J is based on the potential field expression.
+ * @param s current state
+ * @return SimTK::Matrix Jacobian
+ * @see CoordinateTask::computeJointLimitMatrix(const SimTK::State& s)
+ *
+ */
+ void computeJacobian(const SimTK::State& s) override;
+
+ /**
+ * @brief Compute the Jacobian bias term for the tracked point given the
+ * current state of the model.
+ *
+ * @param s current state
+ * @return SimTK::Vector bias term
+ * @see CoordinateTask::computeJointLimitBias(const SimTK::State& s)
+ */
+ void computeBias(const SimTK::State& s) override;
+
+ /**
+ * @brief Update internal storage of task dynamics.
+ *
+ * @param s current state
+ */
+ // void update(const SimTK::State& s) override;
+
+ /**
+ * Compute the joint limit matrix, which is used in the potential field
+ * expression for the Jacobian.
+ *
+ * @see CoordinateTask::computeJointLimitMatrix(const SimTK::State& s)
+ */
+ double computeJointLimitMatrix(const SimTK::State& s);
+
+ //--------------------------------------------------------------------------
+ // XML
+ //--------------------------------------------------------------------------
+ /**
+ * Update this object based on its XML node.
+ *
+ * @param aDeep If true, update this object and all its child objects
+ * (that is, member variables that are Object's); if false, update only
+ * the member variables that are not Object's.
+ */
+ void updateFromXMLNode(
+ SimTK::Xml::Element& aNode, int versionNumber = -1) override;
+#ifndef SWIG
+ /**
+ * Assignment operator.
+ *
+ * @param aTask Object to be copied.
+ * @return Reference to the altered object.
+ */
+ CoordinateTask& operator=(const CoordinateTask& aTask);
+#endif
+
+private:
+ /**
+ * Set NULL values for all member variables.
+ */
+ void setNull();
+
+ /**
+ * @brief Set up serialized member variables.
+ *
+ * @param aCoordinateName Name of the coordinate to be tracked.
+ */
+ void setupProperties();
+
+ /**
+ * @brief Copy data members from one CoordinateTask to another.
+ *
+ * @param aTask CoordinateTask to be copied.
+ */
+ void copyData(const CoordinateTask& aTask);
+
+ /**
+ * @brief Update the work variables based on the current model.
+ * This method is called by setModel() and setCoordinateName().
+ */
+ void updateWorkVariables();
+
+ //--------------------------------------------------------------------------
+ // OPERATORS
+ //--------------------------------------------------------------------------
+
+//==========================================================================
+}; // END of class CoordinateTask
+//==========================================================================
+}; // namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_COORDINATE_TASK_H_
diff --git a/OpenSim/Tools/TaskSpaceInertiaTask.cpp b/OpenSim/Tools/TaskSpaceInertiaTask.cpp
new file mode 100644
index 0000000000..c2f5d9ca3e
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceInertiaTask.cpp
@@ -0,0 +1,373 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceInertiaTask.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//=============================================================================
+// INCLUDES
+//=============================================================================
+#include "OpenSim/Simulation/Model/Model.h"
+#include "TaskSpaceInertiaTask.h"
+
+using namespace OpenSim;
+using SimTK::Vec3;
+using SimTK::Vector;
+
+//=============================================================================
+// STATICS
+//=============================================================================
+
+//=============================================================================
+// CONSTRUCTOR(S) AND DESTRUCTOR
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Destructor.
+ */
+InertiaTask::~InertiaTask() {}
+//_____________________________________________________________________________
+/**
+ * Default constructor.
+ */
+InertiaTask::InertiaTask() {
+ setupProperties();
+ setNull();
+}
+
+//_____________________________________________________________________________
+/**
+ * Copy constructor.
+ */
+InertiaTask::InertiaTask(const InertiaTask& aTask) : BodyTask(aTask) {
+ setNull();
+}
+
+//=============================================================================
+// CONSTRUCTION
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Set NULL values for all member variables.
+ */
+void InertiaTask::setNull() {
+ _nTrk = 3;
+ _p = SimTK::Vector(Vec3(0.0));
+ _v = SimTK::Vector(Vec3(0.0));
+ _inertialPTrk = SimTK::Vector(Vec3(0.0));
+ _inertialVTrk = SimTK::Vector(Vec3(0.0));
+ _pErrLast = Vector(Vec3(0.0));
+ _pErr = Vector(Vec3(0.0));
+ _vErrLast = Vector(Vec3(0.0));
+ _vErr = Vector(Vec3(0.0));
+ _aDes = Vector(Vec3(0.0));
+ _a = Vector(Vec3(0.0));
+}
+
+void InertiaTask::setupProperties() {
+ // Set default direction vectors
+ set_direction_vectors(0, SimTK::Vec3(1, 0, 0));
+ set_direction_vectors(1, SimTK::Vec3(0, 1, 0));
+ set_direction_vectors(2, SimTK::Vec3(0, 0, 1));
+ setName("InertiaTask");
+ // Set default gains
+ set_kp(Array(100, 3));
+ set_kv(Array(20, 3));
+ set_ka(Array(1, 3));
+}
+// void InertiaTask::setTaskFunctions(int i, Function* aF0) {
+// if (aF0 != NULL) set_position_functions(i, *aF0);
+// }
+
+//_____________________________________________________________________________
+/**
+ * Update work variables
+ */
+void InertiaTask::updateWorkVariables(const SimTK::State& s) {
+ _p = 0;
+ _v = 0;
+ if (hasModel()) {
+ const BodySet& bs = getModel().getBodySet();
+
+ if (s.getSystemStage() < SimTK::Stage::Velocity) {
+ getModel().getMultibodySystem().realize(s, SimTK::Stage::Velocity);
+ }
+
+ SimTK::Vec3 pVec, vVec;
+ double Mass = 0.0;
+ _p = Vector(getModel()
+ .getMatterSubsystem()
+ .calcSystemCentralMomentum(s)
+ .get(0));
+ _v = Vector(getModel()
+ .getMatterSubsystem()
+ .calcSystemCentralMomentum(s)
+ .get(0));
+ // COMPUTE COM OF WHOLE BODY
+ if (_v[0] != _v[0]){
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.computeAccelerations - references invalid velocity components");
+ }
+
+ if (_p[0] != _p[0]){
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.computeAccelerations - references invalid position components");
+ }
+
+ }
+}
+
+//=============================================================================
+// COMPUTATIONS
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Compute the angular position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void InertiaTask::computeErrors(const SimTK::State& s, double aT) {
+ updateWorkVariables(s);
+
+ const BodySet& bs = getModel().getBodySet();
+
+ _inertialPTrk = 0;
+ _inertialVTrk = 0;
+
+ if (get_express_body() == "ground") {
+ for (int i = 0; i < 3; ++i) {
+ _inertialPTrk[i] =
+ get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ if (getProperty_velocity_functions().size() == 0) {
+ std::vector derivComponents(1);
+ derivComponents[0] = 0;
+ _inertialVTrk[i] = get_position_functions(i).calcDerivative(
+ derivComponents, SimTK::Vector(1, aT));
+ } else {
+ _inertialVTrk[i] = get_velocity_functions(i).calcValue(
+ SimTK::Vector(1, aT));
+ }
+ }
+ } else {
+ _expressBody = &bs.get(get_express_body());
+
+ SimTK::Vec3 oVec, wVec;
+ // Retrieve the desired Euler angles (relative to _expressBody)
+ for (int i = 0; i < 3; ++i) {
+ oVec(i) = get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ }
+ // Construct a transform using the desired relative angles
+ SimTK::Rotation rotation;
+ rotation.setRotationToBodyFixedXYZ(oVec);
+ SimTK::Transform Tdes(rotation);
+ // Express desired rotations in ground
+ _inertialPTrk = Vector((_expressBody->getTransformInGround(s) * Tdes)
+ .R()
+ .convertRotationToBodyFixedXYZ());
+
+ for (int i = 0; i < 3; ++i) {
+ if (getProperty_velocity_functions().size() == 0) {
+ wVec[i] = get_position_functions(i).calcDerivative(
+ {0}, SimTK::Vector(1, aT));
+ } else {
+ wVec[i] = get_velocity_functions(i).calcValue(
+ SimTK::Vector(1, aT));
+ }
+ }
+ SimTK::Vec3 wVecInertial = _expressBody->expressVectorInGround(s, wVec);
+ _inertialVTrk =
+ Vector((SimTK::Pi / 180) *
+ _expressBody->getAngularVelocityInGround(s) +
+ wVecInertial);
+ }
+
+ for (int k = 0; k < 3; ++k) {
+ _pErr[k] = 0.0;
+ _vErr[k] = 0.0;
+ for (int j = 0; j < 3; ++j) {
+ _pErr[k] += (_inertialPTrk[j] * get_direction_vectors(k)[j] -
+ _p[j] * get_direction_vectors(k)[j]);
+ _vErr[k] += (_inertialVTrk[j] * get_direction_vectors(k)[j] -
+ _v[j] * get_direction_vectors(k)[j]);
+ }
+ }
+
+ // DEBUGGING
+ log_debug("t: {}", s.getTime());
+ log_debug("InertiaTask {}", this->get_wrt_body());
+ log_debug("_inertialPTrk = {}", _inertialPTrk);
+ log_debug("_inertialVTrk = {}", _inertialVTrk);
+ log_debug("_p = {}", _p);
+ log_debug("_v = {}", _v);
+ log_debug("_pErr = {}", _pErr);
+ log_debug("_vErr = {}", _vErr);
+}
+//_____________________________________________________________________________
+/**
+ * Compute the desired accelerations.
+ */
+void InertiaTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aT) {
+ computeDesiredAccelerations(s, aT, aT);
+}
+//_____________________________________________________________________________
+/**
+ * Compute the desired angular accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void InertiaTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) {
+ _aDes = SimTK::NaN;
+
+ // CHECK
+ checkFunctions();
+
+ // COMPUTE ERRORS
+ computeErrors(s, aTI);
+
+ // DESIRED ACCELERATION
+ double p;
+ double v;
+ double a;
+
+ for (int i = 0; i < 3; ++i) {
+ p = get_kp(i) * _pErr[i];
+ v = get_kv(i) * _vErr[i];
+ if (getProperty_acceleration_functions().size() == 0) {
+ std::vector derivComponents(2, 0);
+ // derivComponents[0]=0;
+ // derivComponents[1]=0;
+ a = get_ka(i) * get_position_functions(i).calcDerivative(
+ derivComponents, SimTK::Vector(1, aTF));
+ } else {
+ a = get_ka(i) *
+ get_acceleration_functions(i).calcValue(SimTK::Vector(1, aTF));
+ }
+ _aDes[i] = get_weight(i) * (a + v + p);
+
+ // PRINT
+ // printf("%s: t=%lf aDes=%lf a=%lf vErr=%lf
+ // pErr=%lf\n",getWRTBodyName().c_str(),aTF,_aDes[i],
+ // a,_vErr[i],_pErr[i]);
+ // if (i==2) std::cout << std::endl;
+ }
+}
+//_____________________________________________________________________________
+/**
+ * Compute the angular acceleration of the specified frame.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+void InertiaTask::computeAccelerations(const SimTK::State& s) {
+ // CHECK
+ if (!hasModel()) return;
+
+ // ACCELERATION
+ _a = 0;
+ const BodySet& bs = getModel().getBodySet();
+
+ _a = SimTK::Vector(
+ getModel().getMatterSubsystem().calcSystemCentralMomentum(s).get(
+ 0));
+ if (_a[0] != _a[0])
+ throw Exception(
+ "InertiaTask.computeAccelerations: ERROR- orientation task '" +
+ getName() +
+ "' references invalid acceleration components",
+ __FILE__, __LINE__);
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Compute the Jacobian.
+ *
+ * @param s SimTK::State
+ */
+void InertiaTask::computeJacobian(const SimTK::State& s) {
+ double M = getModel().getTotalMass(s);
+ SimTK::Matrix J(3, s.getNU(), 0.0);
+ for (int i = 0; i < getModel().getBodySet().getSize(); ++i) {
+ auto m = getModel().getBodySet()[i].get_mass();
+ if (m == 0) {
+ // std::cout << "Warning: body "
+ // << getModel().getBodySet()[i].getName()
+ // << " has zero mass" << std::endl;
+ continue;
+ }
+ auto com = getModel().getBodySet()[i].get_mass_center();
+ SimTK::Matrix temp;
+ getModel().getMatterSubsystem().calcStationJacobian(s,
+ getModel().getBodySet()[i].getMobilizedBodyIndex(), com, temp);
+ J += m * temp;
+ }
+ _j = J / M;
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Compute the Jacobian bias
+ *
+ * @param s SimTK::State
+ */
+void InertiaTask::computeBias(const SimTK::State& s) {
+ double M = getModel().getTotalMass(s);
+ SimTK::Vec3 JdotQdot(0);
+ for (int i = 0; i < getModel().getBodySet().getSize(); ++i) {
+ auto m = getModel().getBodySet()[i].get_mass();
+ if (m == 0) {
+ // std::cout << "Warning: body "
+ // << getModel().getBodySet()[i].getName()
+ // << " has zero mass" << std::endl;
+ continue;
+ }
+ auto com = getModel().getBodySet()[i].get_mass_center();
+ SimTK::Vec3 temp =
+ getModel().getMatterSubsystem().calcBiasForStationJacobian(s,
+ getModel().getBodySet()[i].getMobilizedBodyIndex(),
+ com);
+ JdotQdot += m * temp;
+ }
+ _b = Vector(-1.0 * JdotQdot / M);
+}
+
+// void InertiaTask::update(const SimTK::State& s) {
+// computeBias(s);
+// computeDesiredAccelerations(s, s.getTime());
+// computeJacobian(s);
+// }
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceInertiaTask.h b/OpenSim/Tools/TaskSpaceInertiaTask.h
new file mode 100644
index 0000000000..a301a9ca5d
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceInertiaTask.h
@@ -0,0 +1,160 @@
+#ifndef OPENSIM_TASK_SPACE_INERTIA_TASK_H_
+#define OPENSIM_TASK_SPACE_INERTIA_TASK_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceInertiaTask.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//============================================================================
+// INCLUDE
+//============================================================================
+#include "osimToolsDLL.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Common/PropertyDbl.h"
+#include "TaskSpaceBodyTask.h"
+
+namespace OpenSim {
+
+class Body;
+
+//=============================================================================
+//=============================================================================
+/**
+ * A class for tracking the orientation of a body.
+ */
+class OSIMTOOLS_API InertiaTask : public BodyTask {
+ OpenSim_DECLARE_CONCRETE_OBJECT(InertiaTask, BodyTask);
+
+ //=============================================================================
+ // DATA
+ //=============================================================================
+protected:
+ // Work Variables
+ const Body *_wrtBody, *_expressBody;
+
+ //=============================================================================
+ // METHODS
+ //=============================================================================
+ //--------------------------------------------------------------------------
+ // CONSTRUCTION
+ //--------------------------------------------------------------------------
+public:
+
+ /**
+ * Default constructor.
+ */
+ InertiaTask();
+
+ /**
+ * Copy constructor.
+ */
+ InertiaTask(const InertiaTask& aTask);
+
+ /**
+ * Destructor.
+ */
+ virtual ~InertiaTask();
+
+private:
+ /**
+ * Set NULL values for all member variables.
+ */
+
+ void setNull();
+ void setupProperties();
+
+ /**
+ * Update work variables
+ */
+ void updateWorkVariables(const SimTK::State& s);
+
+ //--------------------------------------------------------------------------
+ // COMPUTATIONS
+ //--------------------------------------------------------------------------
+public:
+ /**
+ * Compute the angular position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeErrors(const SimTK::State& s, double aT) override;
+
+ /**
+ * Compute the desired accelerations.
+ */
+ void computeDesiredAccelerations(const SimTK::State& s, double aT) override;
+
+ /**
+ * Compute the desired angular accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) override;
+
+ /**
+ * Compute the angular acceleration of the specified frame.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+ void computeAccelerations(const SimTK::State& s) override;
+
+ /**
+ * @brief Compute the Jacobian.
+ *
+ * @param s SimTK::State
+ */
+ void computeJacobian(const SimTK::State& s) override;
+
+ /**
+ * @brief Compute the Jacobian bias
+ *
+ * @param s SimTK::State
+ */
+ void computeBias(const SimTK::State& s) override;
+ // void update(const SimTK::State& s) override;
+ // void setTaskFunctions(int i, Function* aF0);
+
+//=============================================================================
+}; // END of class InertiaTask
+//=============================================================================
+//=============================================================================
+}; // namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_INERTIA_TASK_H_
diff --git a/OpenSim/Tools/TaskSpaceOrientationTask.cpp b/OpenSim/Tools/TaskSpaceOrientationTask.cpp
new file mode 100644
index 0000000000..45ecd771c8
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceOrientationTask.cpp
@@ -0,0 +1,328 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceOrientationTask.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer and Frank C. *
+ * Anderson *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//=============================================================================
+// INCLUDES
+//=============================================================================
+#include "OpenSim/Simulation/Model/Model.h"
+#include "TaskSpaceOrientationTask.h"
+
+using namespace OpenSim;
+using SimTK::Vec3;
+using SimTK::Vector;
+
+//=============================================================================
+// STATICS
+//=============================================================================
+
+//=============================================================================
+// CONSTRUCTOR(S) AND DESTRUCTOR
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Destructor.
+ */
+OrientationTask::~OrientationTask() {}
+//_____________________________________________________________________________
+/**
+ * Default constructor.
+ */
+OrientationTask::OrientationTask() {
+ setupProperties();
+ setNull();
+}
+
+//_____________________________________________________________________________
+/**
+ * Copy constructor.
+ */
+OrientationTask::OrientationTask(const OrientationTask& aTask)
+ : BodyTask(aTask) {
+ setNull();
+}
+
+//=============================================================================
+// CONSTRUCTION
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * @brief Set the Null object
+ *
+ */
+void OrientationTask::setNull() {
+ _nTrk = 3;
+ _p = SimTK::Vector(Vec3(0.0));
+ _v = SimTK::Vector(Vec3(0.0));
+ _inertialPTrk = SimTK::Vector(Vec3(0.0));
+ _inertialVTrk = SimTK::Vector(Vec3(0.0));
+ _pErrLast = Vector(Vec3(0.0));
+ _pErr = Vector(Vec3(0.0));
+ _vErrLast = Vector(Vec3(0.0));
+ _vErr = Vector(Vec3(0.0));
+ _aDes = Vector(Vec3(0.0));
+ _a = Vector(Vec3(0.0));
+}
+/**
+ * @brief Set the properties of the task
+ *
+ */
+void OrientationTask::setupProperties() {
+ // Set default direction vectors
+ set_direction_vectors(0, SimTK::Vec3(1, 0, 0));
+ set_direction_vectors(1, SimTK::Vec3(0, 1, 0));
+ set_direction_vectors(2, SimTK::Vec3(0, 0, 1));
+ setName("OrientationTask");
+ // Set default gains and weights
+ set_kp(Array(100, 3));
+ set_kv(Array(20, 3));
+ set_ka(Array(1, 3));
+ set_weight(Array(1, 3));
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief update work variables
+ *
+ * @param s current workingSimTK::State
+ */
+void OrientationTask::updateWorkVariables(const SimTK::State& s) {
+ _p = 0;
+ _v = 0;
+ if (hasModel()) {
+ const BodySet& bs = getModel().getBodySet();
+
+ if (s.getSystemStage() < SimTK::Stage::Velocity) {
+ getModel().getMultibodySystem().realize(s, SimTK::Stage::Velocity);
+ }
+
+ _wrtBody = &bs.get(get_wrt_body());
+
+ double dirCos[3][3];
+ _model->getSimbodyEngine()
+ .getDirectionCosines(s, _model->getBodySet().get(get_wrt_body()), dirCos);
+ _model->getSimbodyEngine()
+ .convertDirectionCosinesToAngles(dirCos, &_p[0], &_p[1], &_p[2]);
+ if (_p[0] != _p[0]) {
+ OPENSIM_THROW(OpenSim::Exception,"OrientationTask.updateWorkVariables: references invalid orientation components");
+ }
+
+ _v = Vector(_wrtBody->getVelocityInGround(s)[0]);
+ if (_v[0] != _v[0]) {
+ OPENSIM_THROW(OpenSim::Exception,"OrientationTask.updateWorkVariables: ERROR- orientation task reference invalid orientation velocity components");
+ }
+ }
+}
+
+//=============================================================================
+// COMPUTATIONS
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Compute the angular position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void OrientationTask::computeErrors(const SimTK::State& s, double aT) {
+ updateWorkVariables(s);
+
+ const BodySet& bs = getModel().getBodySet();
+
+ _inertialPTrk = 0;
+ _inertialVTrk = 0;
+
+ if (get_express_body() == "ground") {
+ for (int i = 0; i < 3; ++i) {
+ _inertialPTrk[i] =
+ get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ if (getProperty_velocity_functions().size() == 0) {
+ std::vector derivComponents(1);
+ derivComponents[0] = 0;
+ _inertialVTrk[i] = get_position_functions(i).calcDerivative(
+ derivComponents, SimTK::Vector(1, aT));
+ } else {
+ _inertialVTrk[i] = get_velocity_functions(i).calcValue(
+ SimTK::Vector(1, aT));
+ }
+ }
+ } else {
+ _expressBody = &bs.get(get_express_body());
+
+ SimTK::Vec3 oVec, wVec;
+ // Retrieve the desired Euler angles (relative to _expressBody)
+ for (int i = 0; i < 3; ++i) {
+ oVec(i) = get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ }
+ // Construct a transform using the desired relative angles
+ SimTK::Rotation rotation;
+ rotation.setRotationToBodyFixedXYZ(oVec);
+ SimTK::Transform Tdes(rotation);
+ // Express desired rotations in ground
+ _inertialPTrk = Vector((_expressBody->getTransformInGround(s) * Tdes)
+ .R()
+ .convertRotationToBodyFixedXYZ());
+
+ for (int i = 0; i < 3; ++i) {
+ if (getProperty_velocity_functions().size() == 0) {
+ wVec[i] = get_position_functions(i).calcDerivative(
+ {0}, SimTK::Vector(1, aT));
+ } else {
+ wVec[i] = get_velocity_functions(i).calcValue(
+ SimTK::Vector(1, aT));
+ }
+ }
+ SimTK::Vec3 wVecInertial = _expressBody->expressVectorInGround(s, wVec);
+ _inertialVTrk = Vector(_expressBody->getAngularVelocityInGround(s) +
+ wVecInertial); //(SimTK::Pi/180)*
+ }
+
+ for (int k = 0; k < 3; ++k) {
+ _pErr[k] = 0.0;
+ _vErr[k] = 0.0;
+ for (int j = 0; j < 3; ++j) {
+ _pErr[k] += (_inertialPTrk[j] * get_direction_vectors(k)[j] -
+ _p[j] * get_direction_vectors(k)[j]);
+ _vErr[k] += (_inertialVTrk[j] * get_direction_vectors(k)[j] -
+ _v[j] * get_direction_vectors(k)[j]);
+ }
+ }
+}
+//_____________________________________________________________________________
+
+/**
+ * @brief Compute the desired angular accelerations.
+ *
+ * @param s current working SimTK::State
+ * @param aT delta time
+ */
+void OrientationTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aT) {
+ computeDesiredAccelerations(s, aT, aT);
+}
+//_____________________________________________________________________________
+/**
+ * Compute the desired angular accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void OrientationTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) {
+ _aDes = SimTK::NaN;
+
+ // CHECK
+ checkFunctions();
+
+ // COMPUTE ERRORS
+ computeErrors(s, aTI);
+
+ // DESIRED ACCELERATION
+ double p;
+ double v;
+ double a;
+
+ for (int i = 0; i < 3; ++i) {
+ p = get_kp(i) * _pErr[i];
+ v = get_kv(i) * _vErr[i];
+ if (getProperty_acceleration_functions().size() == 0) {
+ std::vector derivComponents(2, 0);
+ a = get_ka(i) * get_position_functions(i).calcDerivative(
+ derivComponents, SimTK::Vector(1, aTF));
+ } else {
+ a = get_ka(i) *
+ get_acceleration_functions(i).calcValue(SimTK::Vector(1, aTF));
+ }
+ _aDes[i] = get_weight(i) * (a + v + p);
+ }
+}
+
+//_____________________________________________________________________________
+/**
+ * Compute the angular acceleration of the specified frame.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+void OrientationTask::computeAccelerations(const SimTK::State& s) {
+ // CHECK
+ if (!hasModel()) return;
+
+ // ACCELERATION
+ _a = 0;
+ const BodySet& bs = getModel().getBodySet();
+
+ _wrtBody = &bs.get(get_wrt_body());
+ _a = SimTK::Vector(_wrtBody->getAngularAccelerationInGround(s));
+ if (_a[0] != _a[0])
+ OPENSIM_THROW(OpenSim::Exception,"OrientationTask.computeAccelerations: ERROR- orientation task reference invalid orientation acceleration components");
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Compute the Jacobian for the frame given the current state
+ *
+ * @param s current working SimTK::State
+ */
+void OrientationTask::computeJacobian(const SimTK::State& s) {
+ SimTK::Matrix j_temp;
+ getModel().getMatterSubsystem().calcFrameJacobian(s,
+ getModel()
+ .getBodySet()
+ .get(get_wrt_body())
+ .getMobilizedBodyIndex(),
+ SimTK::Vec3(0), j_temp);
+ _j = j_temp(0, 0, 3, j_temp.ncol());
+}
+
+//_____________________________________________________________________________
+/**
+ * @brief Compute the bias for the task
+ *
+ * @param s current working SimTK::State
+ */
+void OrientationTask::computeBias(const SimTK::State& s) {
+ SimTK::SpatialVec jdu =
+ getModel().getMatterSubsystem().calcBiasForFrameJacobian(s,
+ getModel()
+ .getBodySet()
+ .get(get_wrt_body())
+ .getMobilizedBodyIndex(),
+ SimTK::Vec3(0));
+ _b = SimTK::Vector(-1.0 * jdu[0]);
+}
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceOrientationTask.h b/OpenSim/Tools/TaskSpaceOrientationTask.h
new file mode 100644
index 0000000000..48a49f899e
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceOrientationTask.h
@@ -0,0 +1,176 @@
+#ifndef OPENSIM_TASK_SPACE_ORIENTATION_TASK_H_
+#define OPENSIM_TASK_SPACE_ORIENTATION_TASK_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceOrientationTask.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer and Frank C. *
+ * Anderson *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//============================================================================
+// INCLUDE
+//============================================================================
+#include "osimToolsDLL.h"
+#include "TaskSpaceBodyTask.h"
+
+namespace OpenSim {
+
+class Body;
+
+//=============================================================================
+//=============================================================================
+/**
+ * A class for tracking the orientation of a body.
+ */
+class OSIMTOOLS_API OrientationTask : public BodyTask {
+ OpenSim_DECLARE_CONCRETE_OBJECT(OrientationTask, BodyTask);
+
+ //=============================================================================
+ // DATA
+ //=============================================================================
+protected:
+ // Work Variables
+ const Body *_wrtBody, *_expressBody;
+
+ //=============================================================================
+ // METHODS
+ //=============================================================================
+ //--------------------------------------------------------------------------
+ // CONSTRUCTION
+ //--------------------------------------------------------------------------
+public:
+ /**
+ * Default constructor.
+ */
+ OrientationTask();
+
+ /**
+ * Copy constructor.
+ */
+ OrientationTask(const OrientationTask& aTask);
+ /**
+ * Destructor.
+ */
+ virtual ~OrientationTask();
+
+private:
+ /**
+ * @brief Set the Null object
+ *
+ */
+ void setNull();
+
+ /**
+ * @brief Set the properties of the task
+ *
+ */
+ void setupProperties();
+
+ /**
+ * @brief update work variables
+ *
+ * @param s current workingSimTK::State
+ */
+ void updateWorkVariables(const SimTK::State& s);
+
+ //--------------------------------------------------------------------------
+ // COMPUTATIONS
+ //--------------------------------------------------------------------------
+public:
+ /**
+ * Compute the angular position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeErrors(const SimTK::State& s, double aT) override;
+
+ /**
+ * @brief Compute the desired angular accelerations.
+ *
+ * @param s current working SimTK::State
+ * @param aT delta time
+ */
+ void computeDesiredAccelerations(const SimTK::State& s, double aT) override;
+
+ /**
+ * Compute the desired angular accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) override;
+
+ /**
+ * Compute the angular acceleration of the specified frame.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+ void computeAccelerations(const SimTK::State& s) override;
+
+ /**
+ * @brief Compute the Jacobian for the frame given the current state
+ *
+ * @param s current working SimTK::State
+ */
+ void computeJacobian(const SimTK::State& s) override;
+
+ /**
+ * @brief Compute the bias for the task
+ *
+ * @param s current working SimTK::State
+ */
+ void computeBias(const SimTK::State& s) override;
+
+ //void update(const SimTK::State& s) override;
+
+ /**
+ * @brief Set the model for the task
+ *
+ * @param i task function index
+ * @param aF0 task function pointer
+ */
+ //void setTaskFunctions(int i, Function* aF0);
+
+
+//=============================================================================
+}; // END of class OrientationTask
+//=============================================================================
+//=============================================================================
+}; // namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_ORIENTATION_TASK_H_
diff --git a/OpenSim/Tools/TaskSpaceStationTask.cpp b/OpenSim/Tools/TaskSpaceStationTask.cpp
new file mode 100644
index 0000000000..9a2cd73b89
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceStationTask.cpp
@@ -0,0 +1,493 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceStationTask.cpp *
+ * -------------------------------------------------------------------------- *
+* Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer and Frank C. *
+ * Anderson *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//=============================================================================
+// INCLUDES
+//=============================================================================
+#include "OpenSim/Simulation/Model/Model.h"
+#include "TaskSpaceStationTask.h"
+
+using namespace std;
+using namespace OpenSim;
+using SimTK::Vec3;
+using SimTK::Vector;
+
+//=============================================================================
+// STATICS
+//=============================================================================
+
+//=============================================================================
+// CONSTRUCTOR(S) AND DESTRUCTOR
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Destructor.
+ */
+StationTask::~StationTask() {}
+//_____________________________________________________________________________
+/**
+ * Construct a task for a specified point.
+ *
+ */
+StationTask::StationTask() : BodyTask()
+{
+ setNull();
+ constructProperties();
+}
+
+//_____________________________________________________________________________
+/**
+ * Copy constructor.
+ *
+ * @param aTask Point task to be copied.
+ */
+StationTask::StationTask(const StationTask& aTask)
+ : BodyTask(aTask) {
+ setNull();
+ copyData(aTask);
+ set_point(aTask.get_point());
+}
+
+//=============================================================================
+// CONSTRUCTION
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Set NULL values for all member variables.
+ */
+void StationTask::setNull()
+{
+ _nTrk = 3;
+ _p = SimTK::Vector(Vec3(0.0));
+ _v = SimTK::Vector(Vec3(0.0));
+ _inertialPTrk = SimTK::Vector(Vec3(0.0));
+ _inertialVTrk = SimTK::Vector(Vec3(0.0));
+ _pErrLast = Vector(Vec3(0.0));
+ _pErr = Vector(Vec3(0.0));
+ _vErrLast = Vector(Vec3(0.0));
+ _vErr = Vector(Vec3(0.0));
+ _aDes = Vector(Vec3(0.0));
+ _a = Vector(Vec3(0.0));
+}
+
+/**
+ * @brief Construct properties for the task.
+ *
+ */
+void StationTask::constructProperties()
+{
+ setName("StationTask");
+ constructProperty_point(SimTK::Vec3(0.0));
+
+ constructProperty_left_foot();
+ constructProperty_right_foot();
+}
+
+//_____________________________________________________________________________
+/**
+ * Copy only the member data of specified object.
+ */
+void StationTask::copyData(const StationTask& aTask)
+{
+ //_model = aTask.getModel();
+ copyProperty_point(aTask);
+ copyProperty_left_foot(aTask);
+ copyProperty_right_foot(aTask);
+}
+
+//_____________________________________________________________________________
+/**
+ * Update work variables
+ */
+void StationTask::updateWorkVariables(const SimTK::State& s)
+{
+ int j = 0;
+ _p = 0;
+ _v = 0;
+ if (hasModel()) {
+ const BodySet& bs = getModel().getBodySet();
+ if (s.getSystemStage() < SimTK::Stage::Velocity){
+ getModel().getMultibodySystem().realize(s, SimTK::Stage::Velocity);
+ }
+
+ if (get_wrt_body() == "center_of_mass") {
+ // COMPUTE COM OF WHOLE BODY
+ _p = Vector(getModel().calcMassCenterPosition(s));
+ _v = Vector(getModel().calcMassCenterVelocity(s));
+ if (_v[0] != _v[0]){
+ std::cout << "name " << getName() << std::endl;
+ std::cout << "time " << s.getTime() << std::endl;
+ std::cout << "v0 0 " << _v[0] << std::endl;
+ std::cout << "v0 1 " << _v[0] << std::endl;
+ std::cout << "v0 2 " << _v[0] << std::endl;
+ std::cout << "p0 0 " << _p[0] << std::endl;
+ std::cout << "p0 1 " << _p[0] << std::endl;
+ std::cout << "p0 2 " << _p[0] << std::endl;
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.computeAccelerations - references invalid velocitycomponents");
+ }
+
+ if (_p[0] != _p[0]){
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.computeAccelerations - references invalid position components");
+ }
+
+ } else {
+ _wrtBody = &bs.get(get_wrt_body());
+ SimTK::Vec3 _point = get_point();
+ _p = Vector(_wrtBody->findStationLocationInGround(s, _point));
+ if (_p[0] != _p[0]){
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.updateWorkVariables - references invalid position components");
+ }
+
+ _v = Vector(_wrtBody->findStationVelocityInGround(s, _point));
+ if (_v[0] != _v[0]){
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.updateWorkVariables - references invalid velocity components");
+ }
+ }
+ }
+}
+
+//=============================================================================
+// OPERATORS
+//=============================================================================
+//-----------------------------------------------------------------------------
+// ASSIGNMENT
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Assignment operator.
+ *
+ * @param aTask Object to be copied.
+ * @return Reference to the altered object.
+ */
+StationTask& StationTask::operator=(const StationTask& aTask)
+{
+ // BASE CLASS
+ TaskSpaceTask::operator=(aTask);
+
+ // DATA
+ copyData(aTask);
+ return (*this);
+}
+
+//=============================================================================
+// COMPUTATIONS
+//=============================================================================
+//_____________________________________________________________________________
+/**
+ * Compute the position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void StationTask::computeErrors(const SimTK::State& s, double aT)
+{
+ updateWorkVariables(s);
+
+ // COMPUTE ERRORS
+ const BodySet& bs = getModel().getBodySet();
+ _inertialPTrk = 0;
+ _inertialVTrk = 0;
+ if (get_express_body() == "ground") {
+ for (int i = 0; i < 3; ++i) {
+ _inertialPTrk[i] =
+ get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ if (getProperty_velocity_functions().size() == 0) {
+ std::vector derivComponents(1);
+ derivComponents[0] = 0;
+ _inertialVTrk[i] = get_position_functions(i).calcDerivative(
+ derivComponents, SimTK::Vector(1, aT));
+ } else {
+ _inertialVTrk[i] = get_velocity_functions(i).calcValue(
+ SimTK::Vector(1, aT));
+ }
+ }
+
+ } else if (get_express_body() == "base_of_support") {
+ SimTK::Vec3 pVec, vVec, origin;
+ for (int i = 0; i < 3; ++i) {
+ pVec(i) = get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ }
+ for (int i = 0; i < 3; ++i) {
+ _inertialPTrk[i] =
+ get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ if (getProperty_velocity_functions().size() == 0) {
+ std::vector derivComponents(1);
+ derivComponents[0] = 0;
+ _inertialVTrk[i] = get_position_functions(i).calcDerivative(
+ derivComponents, SimTK::Vector(1, aT));
+ } else {
+ _inertialVTrk[i] = get_velocity_functions(i).calcValue(
+ SimTK::Vector(1, aT));
+ }
+ }
+ auto& left_foot_name = get_left_foot();
+ auto& right_foot_name = get_right_foot();
+ auto& foot_r = bs.get(right_foot_name);
+ auto& foot_l = bs.get(left_foot_name);
+ SimTK::Vec3 foot_r_p = foot_r.findStationLocationInGround(
+ s, foot_r.getMassCenter());
+ SimTK::Vec3 foot_l_p = foot_l.findStationLocationInGround(
+ s, foot_l.getMassCenter());
+ auto& _point = get_point();
+ SimTK::Vec3 bosp = 0.5 * (foot_r_p + foot_l_p) + _point;
+ SimTK::Vec3 bosv =
+ getModel().getGround().findStationVelocityInGround(s, bosp);
+ for (int i = 0; i < 3; ++i) {
+ _inertialPTrk[i] += bosp[i];
+ _inertialVTrk[i] += bosv[i];
+ }
+
+ } else {
+ _expressBody = &bs.get(get_express_body());
+
+ SimTK::Vec3 pVec, vVec, origin;
+
+ for (int i = 0; i < 3; ++i) {
+ pVec(i) = get_position_functions(i).calcValue(SimTK::Vector(1, aT));
+ }
+ _inertialPTrk =
+ Vector(_expressBody->findStationLocationInGround(s, pVec));
+ if (getProperty_velocity_functions().size() == 0) {
+ // FOR REVIEW: Is this correct? Shouldn't it use the derivative of
+ // the position function?
+ _inertialVTrk =
+ Vector(_expressBody->findStationVelocityInGround(s, pVec));
+ } else {
+ for (int i = 0; i < 3; ++i) {
+ vVec(i) = get_velocity_functions(i).calcValue(
+ SimTK::Vector(1, aT));
+ }
+ // FOR REVIEW: Should origin be get_point() instead?
+ auto& _point = get_point();
+ _inertialVTrk = Vector(
+ _expressBody->findStationVelocityInGround(s, _point));
+ _inertialVTrk +=
+ Vector(vVec); // _vTrk is velocity in _expressBody, so it is
+ // simply added to velocity of _expressBody
+ // origin in inertial frame
+ }
+ }
+
+ for (int k = 0; k < 3; ++k) {
+ _pErr[k] = 0.0;
+ _vErr[k] = 0.0;
+ for (int j = 0; j < 3; ++j) {
+ _pErr[k] += (_inertialPTrk[j] * get_direction_vectors(k)[j] -
+ _p[j] * get_direction_vectors(k)[j]);
+ _vErr[k] += (_inertialVTrk[j] * get_direction_vectors(k)[j] -
+ _v[j] * get_direction_vectors(k)[j]);
+ }
+ }
+}
+//_____________________________________________________________________________
+/**
+ * Compute the desired accelerations.
+ */
+void StationTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aT) {
+ computeDesiredAccelerations(s, aT, aT);
+}
+//_____________________________________________________________________________
+/**
+ * Compute the desired accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+void StationTask::computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) {
+ _aDes = SimTK::NaN;
+
+ checkFunctions();
+
+ computeErrors(s, aTI);
+
+ // DESIRED ACCELERATION
+ double p;
+ double v;
+ double a;
+ for (int i = 0; i < 3; ++i) {
+ p = get_kp(i) * _pErr[i];
+ v = get_kv(i) * _vErr[i];
+ if (getProperty_acceleration_functions().size() == 0) {
+ std::vector derivComponents(2);
+ derivComponents[0] = 0;
+ derivComponents[1] = 0;
+ a = get_ka(i) * get_position_functions(i).calcDerivative(
+ derivComponents, SimTK::Vector(1, aTF));
+ } else {
+ a = get_ka(i) *
+ get_acceleration_functions(i).calcValue(SimTK::Vector(1, aTF));
+ }
+ _aDes[i] = get_weight(i) * (a + v + p);
+ }
+}
+
+//_____________________________________________________________________________
+/**
+ * Compute the acceleration of the appropriate point.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * For joints (i.e., generalized coordinates), the acceleration is
+ * not computed. It has already been computed and is simply retrieved
+ * from the model.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+void StationTask::computeAccelerations(const SimTK::State& s) {
+ // CHECK
+ if (!hasModel()) return;
+
+ // ACCELERATION
+ _a = 0;
+ const BodySet& bs = getModel().getBodySet();
+ if (get_wrt_body() == "center_of_mass") {
+ SimTK::Vec3 pVec, vVec, aVec, com;
+ double Mass = 0.0;
+ for (int i = 0; i < bs.getSize(); ++i) {
+ Body& body = bs.get(i);
+ com = body.get_mass_center();
+ aVec = body.findStationAccelerationInGround(s, com);
+ if (aVec[0] != aVec[0]){
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.computeAccelerations - references invalid body acceleration components");
+ }
+
+ // ADD TO WHOLE BODY MASS
+ Mass += body.get_mass();
+ _a += SimTK::Vector(body.get_mass() * aVec);
+ }
+ _a /= Mass;
+
+ } else {
+ _wrtBody = &bs.get(get_wrt_body());
+ auto& _point = get_point();
+ _a = SimTK::Vector(
+ _wrtBody->findStationAccelerationInGround(s, _point));
+ }
+ if (_a[0] != _a[0]){
+ OPENSIM_THROW(OpenSim::Exception,
+ "StationTask.computeAccelerations - references invalid station acceleration components");
+ }
+}
+
+//_____________________________________________________________________________
+/**
+ * Compute the Jacobian for the tracked point given the current state
+ * of the model.
+ */
+void StationTask::computeJacobian(const SimTK::State& s) {
+ if (get_wrt_body() == "center_of_mass") {
+ double M = getModel().getTotalMass(s);
+ SimTK::Matrix J(3, s.getNU(), 0.0);
+ for (int i = 0; i < getModel().getBodySet().getSize(); ++i) {
+ auto m = getModel().getBodySet()[i].get_mass();
+ if (m == 0) {
+ cout << "Warning: body "
+ << getModel().getBodySet()[i].getName()
+ << " has zero mass" << endl;
+ continue;
+ }
+ auto com = getModel().getBodySet()[i].get_mass_center();
+ SimTK::Matrix temp;
+ getModel().getMatterSubsystem().calcStationJacobian(s,
+ getModel().getBodySet()[i].getMobilizedBodyIndex(), com,
+ temp);
+ J += m * temp;
+ }
+ _j = J / M;
+ } else {
+ auto& _point = get_point();
+ getModel().getMatterSubsystem().calcStationJacobian(s,
+ getModel()
+ .getBodySet()
+ .get(get_wrt_body())
+ .getMobilizedBodyIndex(),
+ _point, _j);
+ }
+}
+
+//_____________________________________________________________________________
+/**
+ * Compute the Jacobian bias term for the tracked point given the current state
+ * of the model.
+ */
+void StationTask::computeBias(const SimTK::State& s) {
+ if (get_wrt_body() == "center_of_mass") {
+ double M = getModel().getTotalMass(s);
+ SimTK::Vec3 JdotQdot(0);
+ for (int i = 0; i < getModel().getBodySet().getSize(); ++i) {
+ auto m = getModel().getBodySet()[i].get_mass();
+ if (m == 0) {
+ cout << "Warning: body "
+ << getModel().getBodySet()[i].getName()
+ << " has zero mass" << endl;
+ continue;
+ }
+ auto com = getModel().getBodySet()[i].get_mass_center();
+ SimTK::Vec3 temp =
+ getModel().getMatterSubsystem().calcBiasForStationJacobian(
+ s,
+ getModel().getBodySet()[i].getMobilizedBodyIndex(),
+ com);
+ JdotQdot += m * temp;
+ }
+ _b = Vector(-1.0 * JdotQdot / M);
+ } else {
+ auto& _point = get_point();
+ SimTK::Vec3 JdotQdot =
+ getModel().getMatterSubsystem().calcBiasForStationJacobian(s,
+ getModel()
+ .getBodySet()
+ .get(get_wrt_body())
+ .getMobilizedBodyIndex(),
+ _point);
+ _b = Vector(-1.0 * JdotQdot);
+ }
+}
+
+//=============================================================================
+// XML
+//=============================================================================
+//-----------------------------------------------------------------------------
+// UPDATE FROM XML NODE
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Update this object based on its XML node.
+ *
+ * @param aDeep If true, update this object and all its child objects
+ * (that is, member variables that are Object's); if false, update only
+ * the member variables that are not Object's.
+ */
+void StationTask::updateFromXMLNode(
+ SimTK::Xml::Element& aNode, int versionNumber) {
+ Super::updateFromXMLNode(aNode, versionNumber);
+}
diff --git a/OpenSim/Tools/TaskSpaceStationTask.h b/OpenSim/Tools/TaskSpaceStationTask.h
new file mode 100644
index 0000000000..e375ce3c56
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceStationTask.h
@@ -0,0 +1,210 @@
+#ifndef OPENSIM_TASK_SPACE_STATION_TASK_H_
+#define OPENSIM_TASK_SPACE_STATION_TASK_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceStationTask.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer and Frank C. *
+ * Anderson *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+//============================================================================
+// INCLUDE
+//============================================================================
+#include "osimToolsDLL.h"
+#include "OpenSim/Simulation/osimSimulation.h"
+#include "OpenSim/Common/PropertyDbl.h"
+#include "TaskSpaceBodyTask.h"
+
+namespace OpenSim {
+
+class Body;
+
+//=============================================================================
+//=============================================================================
+/**
+ * A class for specifying and computing parameters for tracking a point.
+ *
+ * @author Frank C. Anderson
+ * @version 1.0
+ */
+class OSIMTOOLS_API StationTask : public BodyTask {
+ OpenSim_DECLARE_CONCRETE_OBJECT(StationTask, BodyTask);
+
+public:
+ OpenSim_DECLARE_PROPERTY(point, SimTK::Vec3,
+ "Point in body frame with respect to which an objective is tracked.");
+
+ OpenSim_DECLARE_OPTIONAL_PROPERTY(left_foot, std::string,
+ "Name of body representing left foot. Used to calculate base of support.");
+
+ OpenSim_DECLARE_OPTIONAL_PROPERTY(right_foot, std::string,
+ "Name of body representing right foot. Used to calculate base of support.");
+
+ //=============================================================================
+ // DATA
+ //=============================================================================
+protected:
+ // REFERENCES
+ const Body *_wrtBody, *_expressBody;
+
+ //=============================================================================
+ // METHODS
+ //=============================================================================
+public:
+ //--------------------------------------------------------------------------
+ // CONSTRUCTION
+ //--------------------------------------------------------------------------
+ /**
+ * Construct a task for a specified point.
+ *
+ */
+ StationTask();
+
+ /**
+ * Copy constructor.
+ *
+ * @param aTask Point task to be copied.
+ */
+ StationTask(const StationTask& aTask);
+
+ /**
+ * Destructor.
+ */
+ virtual ~StationTask();
+
+private:
+ /**
+ * Set NULL values for all member variables.
+ */
+ void setNull();
+
+ /**
+ * @brief Construct properties for the task.
+ *
+ */
+ void constructProperties();
+
+ /**
+ * Copy only the member data of specified object.
+ */
+ void copyData(const StationTask& aTask);
+
+ /**
+ * Update work variables
+ */
+ void updateWorkVariables(const SimTK::State& s);
+
+ //--------------------------------------------------------------------------
+ // OPERATORS
+ //--------------------------------------------------------------------------
+public:
+#ifndef SWIG
+ /**
+ * Assignment operator.
+ *
+ * @param aTask Object to be copied.
+ * @return Reference to the altered object.
+ */
+ StationTask& operator=(const StationTask& aTask);
+#endif
+
+ //--------------------------------------------------------------------------
+ // COMPUTATIONS
+ //--------------------------------------------------------------------------
+ /**
+ * Compute the position and velocity errors.
+ * This method assumes the states have been set for the model.
+ *
+ * @param aT Current time in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeErrors(const SimTK::State& s, double aT) override;
+
+ /**
+ * Compute the desired accelerations.
+ */
+ void computeDesiredAccelerations(const SimTK::State& s, double aT) override;
+
+ /**
+ * Compute the desired accelerations.
+ * This method assumes that the states have been set for the model.
+ *
+ * @param aTI Initial time of the controlled interval in real time units.
+ * @param aTF Final time of the controlled interval in real time units.
+ * @see Model::set()
+ * @see Model::setStates()
+ */
+ void computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) override;
+
+ /**
+ * Compute the acceleration of the appropriate point.
+ * For the computed accelerations to be correct,
+ * Model::computeAccelerations() must have already been called.
+ *
+ * For joints (i.e., generalized coordinates), the acceleration is
+ * not computed. It has already been computed and is simply retrieved
+ * from the model.
+ *
+ * @see Model::computeAccelerations()
+ * @see suTrackObject::getAcceleration()
+ */
+ void computeAccelerations(const SimTK::State& s) override;
+
+ /**
+ * Compute the Jacobian for the tracked point given the current state
+ * of the model.
+ */
+ void computeJacobian(const SimTK::State& s) override;
+
+ /**
+ * Compute the Jacobian bias term for the tracked point given the current state
+ * of the model.
+ */
+ void computeBias(const SimTK::State& s) override;
+ //--------------------------------------------------------------------------
+ // XML
+ //--------------------------------------------------------------------------
+ /**
+ * Update this object based on its XML node.
+ *
+ * @param aDeep If true, update this object and all its child objects
+ * (that is, member variables that are Object's); if false, update only
+ * the member variables that are not Object's.
+ */
+ void updateFromXMLNode(
+ SimTK::Xml::Element& aNode, int versionNumber = -1) override;
+
+//=============================================================================
+}; // END of class StationTask
+//=============================================================================
+//=============================================================================
+}; // namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_STATION_TASK_H_
diff --git a/OpenSim/Tools/TaskSpaceTask.cpp b/OpenSim/Tools/TaskSpaceTask.cpp
new file mode 100644
index 0000000000..b01f0db8f7
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceTask.cpp
@@ -0,0 +1,369 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim TaskSpace: TaskSpaceTask.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer and Frank C. *
+ * Anderson *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "TaskSpaceTask.h"
+
+#include "OpenSim/Common/Constant.h"
+#include "OpenSim/Simulation/Model/Model.h"
+
+using namespace OpenSim;
+using namespace SimTK;
+using namespace std;
+
+TaskSpaceTask::TaskSpaceTask(){
+ constructProperties();
+ setNull();
+}
+
+void TaskSpaceTask::constructProperties() {
+ constructProperty_priority(0);
+ constructProperty_position_functions();
+ constructProperty_velocity_functions();
+ constructProperty_acceleration_functions();
+ constructProperty_kp();
+ constructProperty_kv();
+ constructProperty_ka();
+ constructProperty_weight();
+}
+
+void TaskSpaceTask::copyData(const TaskSpaceTask& aTask) {
+ copyProperty_priority(aTask);
+ copyProperty_position_functions(aTask);
+ copyProperty_velocity_functions(aTask);
+ copyProperty_acceleration_functions(aTask);
+ copyProperty_kp(aTask);
+ copyProperty_kv(aTask);
+ copyProperty_ka(aTask);
+ copyProperty_weight(aTask);
+}
+
+TaskSpaceTask& TaskSpaceTask::operator=(const TaskSpaceTask& aTask) {
+ // BASE CLASS
+ Object::operator=(aTask);
+
+ // DATA
+ copyData(aTask);
+
+ return (*this);
+}
+
+void TaskSpaceTask::setNull() {
+ setName(DEFAULT_NAME);
+
+ _nTrk = 0;
+ _pErrLast = SimTK::Vector(Vec3(0.0));
+ _pErr = SimTK::Vector(Vec3(0.0));
+ _vErrLast = SimTK::Vector(Vec3(0.0));
+ _vErr = SimTK::Vector(Vec3(0.0));
+ _aDes = SimTK::Vector(Vec3(0.0));
+ _p = SimTK::Vector(Vec3(0.0));
+ _v = SimTK::Vector(Vec3(0.0));
+ _inertialPTrk = SimTK::Vector(Vec3(0.0));
+ _inertialVTrk = SimTK::Vector(Vec3(0.0));
+ _a = SimTK::Vector(Vec3(0.0));
+ _j = SimTK::Vector(Vec3(0.0));
+}
+
+void TaskSpaceTask::extendFinalizeFromProperties()
+{
+ Super::extendFinalizeFromProperties();
+}
+
+void TaskSpaceTask::extendConnectToModel(Model& aModel)
+{
+ Super::extendConnectToModel(aModel);
+}
+
+//-----------------------------------------------------------------------------
+// VALIDATION
+//-----------------------------------------------------------------------------
+void TaskSpaceTask::checkFunctions() const
+{
+ if (getProperty_position_functions().size() == 0) {
+ log_warn("TaskSpaceTask position tracking function not set.");
+ return;
+ }
+}
+
+//-----------------------------------------------------------------------------
+// TASK KINEMATICS
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Get the task position.
+ *
+ * @param aWhich Specifies which task goal (0, 1, or 2).
+ * @param aT Time (in real time units).
+ * @return Task position.
+ * @throws Exception for an invalid task.
+ */
+double TaskSpaceTask::getTaskPosition(int aWhich, double aT) const {
+ if ((aWhich < 0) || (aWhich >= _nTrk)) {
+ OPENSIM_THROW(OpenSim::Exception,
+ "TaskSpaceTask:Invalid Task");
+ }
+ double position =
+ get_position_functions(aWhich).calcValue(SimTK::Vector(1, aT));
+ return (position);
+}
+//_____________________________________________________________________________
+/**
+ * Get the task velocity.
+ *
+ * @param aWhich Specifies which task goal (0, 1, or 2).
+ * @param aT Time (in real time units).
+ * @return Task velocity.
+ * @throws Exception for an invalid task.
+ */
+double TaskSpaceTask::getTaskVelocity(int aWhich, double aT) const {
+ if ((aWhich < 0) || (aWhich >= _nTrk)) {
+ OPENSIM_THROW(OpenSim::Exception,
+ "TaskSpaceTask:Invalid Task");
+ }
+
+ double velocity;
+ if (getProperty_velocity_functions().size() > aWhich) {
+ velocity =
+ get_velocity_functions(aWhich).calcValue(SimTK::Vector(1, aT));
+ } else {
+ std::vector derivComponents(1);
+ derivComponents[0] = 0;
+ velocity = get_position_functions(aWhich).calcDerivative(
+ derivComponents, SimTK::Vector(1, aT));
+ }
+
+ return (velocity);
+} //_____________________________________________________________________________
+/**
+ * Get the task acceleration.
+ *
+ * @param aWhich Specifies which task goal (0, 1, or 2).
+ * @param aT Time (in real time units).
+ * @return Task acceleration.
+ * @throws Exception for an invalid task.
+ */
+double TaskSpaceTask::getTaskAcceleration(int aWhich, double aT) const {
+ if ((aWhich < 0) || (aWhich >= _nTrk)) {
+ OPENSIM_THROW(OpenSim::Exception,
+ "TaskSpaceTask:Invalid Task");
+ }
+
+ double acceleration;
+ if (getProperty_acceleration_functions().size() > aWhich) {
+ acceleration = get_acceleration_functions(aWhich).calcValue(
+ SimTK::Vector(1, aT));
+ } else {
+ std::vector derivComponents(2);
+ derivComponents[0] = 0;
+ derivComponents[1] = 0;
+ acceleration = get_position_functions(aWhich).calcDerivative(
+ derivComponents, SimTK::Vector(1, aT));
+ }
+ return (acceleration);
+}
+
+//-----------------------------------------------------------------------------
+// LAST POSITION ERRORS
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Set the last achieved position error. This information is useful for
+ * checking that error dynamics are being followed.
+ *
+ * @param aE0 Last position error for track goal 0.
+ * @param aE1 Last position error for track goal 1.
+ * @param aE2 Last position error for track goal 2.
+ */
+void TaskSpaceTask::setPositionErrorLast(double aE0, double aE1, double aE2) {
+ _pErrLast[0] = aE0;
+ _pErrLast[1] = aE1;
+ _pErrLast[2] = aE2;
+}
+//_____________________________________________________________________________
+/**
+ * Get the last achieved position error for the track goal at a given index.
+ * This information is useful for checking that error dynamics are being
+ * followed.
+ *
+ * @param aWhich Specifies which track goal (0, 1, or 2).
+ * @return Last position error.
+ */
+double TaskSpaceTask::getPositionErrorLast(int aWhich) const {
+ if (aWhich < 0) return (0.0);
+ if (aWhich >= _nTrk) return (0.0);
+ return (_pErrLast[aWhich]);
+}
+
+//-----------------------------------------------------------------------------
+// LAST VELOCITY ERRORS
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Set the last achieved velocity error. This information is useful for
+ * checking that error dynamics are being followed.
+ *
+ * @param aE0 Last velocity error for track goal 0.
+ * @param aE1 Last velocity error for track goal 1.
+ * @param aE2 Last velocity error for track goal 2.
+ */
+void TaskSpaceTask::setVelocityErrorLast(double aE0, double aE1, double aE2) {
+ _vErrLast[0] = aE0;
+ _vErrLast[1] = aE1;
+ _vErrLast[2] = aE2;
+}
+//_____________________________________________________________________________
+/**
+ * Get the last achieved velocity error. This information is useful for
+ * checking that error dynamics are being followed.
+ *
+ * @param aWhich Specifies which track goal (0, 1, or 2).
+ * @return Last velocity error.
+ */
+double TaskSpaceTask::getVelocityErrorLast(int aWhich) const {
+ if (aWhich < 0) return (0.0);
+ if (aWhich >= _nTrk) return (0.0);
+ return (_vErrLast[aWhich]);
+}
+
+//-----------------------------------------------------------------------------
+// TRACK ERRORS
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Get the position track error of a specified track goal.
+ *
+ * @param aWhich Specifies which track goal (0, 1, or 2).
+ * @return Error
+ */
+double TaskSpaceTask::getPositionError(int aWhich) const {
+ if (aWhich < 0) return (0.0);
+ if (aWhich >= _nTrk) return (0.0);
+ return (_pErr[aWhich]);
+}
+//_____________________________________________________________________________
+/**
+ * Get the velocity track error of a specified track goal.
+ *
+ * @param aWhich Specifies which track goal (0, 1, or 2).
+ * @return Error
+ */
+double TaskSpaceTask::getVelocityError(int aWhich) const {
+ if (aWhich < 0) return (0.0);
+ if (aWhich >= _nTrk) return (0.0);
+ return (_vErr[aWhich]);
+}
+
+//-----------------------------------------------------------------------------
+// DESIRED ACCELERATION
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Get the desired acceleration of a specified track goal.
+ * The method computeDesiredAccelerations() must be called first for the
+ * values returned by this method to be valid.
+ *
+ * @param aWhich Specifies which track goal (0, 1, or 2).
+ * @return Desired acceleration. SimTK::NaN is returned on an error.
+ */
+double TaskSpaceTask::getDesiredAcceleration(int aWhich) const {
+ if (aWhich < 0) return (SimTK::NaN);
+ if (aWhich >= _nTrk) return (SimTK::NaN);
+ return (_aDes[aWhich]);
+}
+
+SimTK::Vector TaskSpaceTask::getDesiredAccelerations() const { return (_aDes); }
+//-----------------------------------------------------------------------------
+// ACCELERATION
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Get the acceleration of a specified track goal. The acceleration returned
+ * is the dot product of the appropriate track-goal direction and the
+ * acceleration of the point or orientation in question. In the case of
+ * generalized coordinates, the acceleration of the generalized coordinate
+ * is returned (i.e., a direction is not appropriate).
+ *
+ * For the value returned by this method to be valid, the method
+ * computeAccelerations() must be called first.
+ *
+ * @param aWhich Specifies which track goal (0, 1, or 2).
+ * @return Acceleration. SimTK::NaN is returned on an error.
+ */
+double TaskSpaceTask::getAcceleration(int aWhich) const {
+ if (aWhich < 0) return (SimTK::NaN);
+ if (aWhich >= _nTrk) return (SimTK::NaN);
+ return (_a[aWhich]);
+}
+
+//-----------------------------------------------------------------------------
+// JACOBIAN
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Get a copy of the Jacobian matrix.
+ *
+ * For the value returned by this method to be valid, the method
+ * computeJacobian() must be called first.
+ *
+ * @return Jacobian. SimTK::NaN is returned on an error.
+ */
+SimTK::Matrix TaskSpaceTask::getJacobian() const
+{
+ return _j;
+}
+
+//_____________________________________________________________________________
+/**
+ * Get a copy of the Jacobian bias vector.
+ *
+ * For the value returned by this method to be valid, the method
+ * computeBias() must be called first.
+ *
+ * @return Bias. SimTK::NaN is returned on an error.
+ */
+SimTK::Vector TaskSpaceTask::getBias() const
+{
+ return _b;
+}
+
+//=============================================================================
+// COMPUTATIONS
+//=============================================================================
+void TaskSpaceTask::update(const SimTK::State& s) {
+ computeBias(s);
+ computeDesiredAccelerations(s, s.getTime());
+ computeJacobian(s);
+
+ log_debug("{} desired accelerations: {}", getName(), _aDes);
+ log_debug("{} position error: {}", getName(), _pErr);
+ log_debug("{} velocity error: {}", getName(), _vErr);
+}
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceTask.h b/OpenSim/Tools/TaskSpaceTask.h
new file mode 100644
index 0000000000..6aa6b19b2a
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceTask.h
@@ -0,0 +1,214 @@
+#ifndef OPENSIM_TASK_SPACE_TASK_H_
+#define OPENSIM_TASK_SPACE_TASK_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceTask.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "osimToolsDLL.h"
+
+#include "OpenSim/Simulation/Model/ModelComponent.h"
+#include "OpenSim/Common/Function.h"
+
+namespace OpenSim {
+
+/**
+ * \brief TaskSpace analog for CMC_Task or TrackingTask
+ */
+class OSIMTOOLS_API TaskSpaceTask : public ModelComponent {
+ OpenSim_DECLARE_ABSTRACT_OBJECT(TaskSpaceTask, ModelComponent);
+
+public:
+ //=============================================================================
+ // PROPERTIES
+ //=============================================================================
+ // PROPERTIES
+ OpenSim_DECLARE_PROPERTY(
+ priority, int, "Priority level of the task. 0 is highest.");
+
+ OpenSim_DECLARE_LIST_PROPERTY_ATMOST(position_functions, OpenSim::Function,
+ 3, "Position task functions. Different types of tasks can "
+ "require different numbers of task functions. For example, to track"
+ "a joint angle, only one task function is needed. However, to track"
+ "a position, up to three task functions may be needed. If tracking "
+ "experimental data, do not specify these functions - splines will be "
+ "generated from the data.");
+
+ OpenSim_DECLARE_LIST_PROPERTY_ATMOST(velocity_functions, OpenSim::Function,
+ 3, "Velocity task functions. If velocity task functions are not "
+ "specified, derivatives of the position task function are used. If "
+ "tracking experimental data, do not specify these functions - splines "
+ "will be generated from the data.");
+
+ OpenSim_DECLARE_LIST_PROPERTY_ATMOST(acceleration_functions,
+ OpenSim::Function, 3,
+ "Velocity task functions. If acceleration task functions are not "
+ "specified, derivatives of the position task function are used. If "
+ "tracking experimental data, do not specify these functions - splines "
+ "will be generated from the data.");
+
+ OpenSim_DECLARE_LIST_PROPERTY_ATMOST(weight, double, 3, "Weight with which a "
+ "task is tracked relative to other tasks. To track a task more "
+ "tightly, make the weight larger.");
+
+ OpenSim_DECLARE_LIST_PROPERTY_ATMOST(kp, double, 3,
+ "Position error feedback gain (stiffness). "
+ "To achieve critical damping of errors, choose kv = 2*sqrt(kp).");
+
+ OpenSim_DECLARE_LIST_PROPERTY_ATMOST(kv, double, 3,
+ "Velocity error feedback gain (damping). "
+ "To achieve critical damping of errors, choose kv = 2*sqrt(kp).");
+
+ OpenSim_DECLARE_LIST_PROPERTY_ATMOST(ka, double, 3,
+ "Feedforward acceleration gain. "
+ "This is normally set to 1.0, so no gain.");
+
+ //=============================================================================
+ // PUBLIC METHODS
+ //=============================================================================
+
+ TaskSpaceTask();
+ virtual ~TaskSpaceTask() {}
+#ifndef SWIG
+ TaskSpaceTask& operator=(const TaskSpaceTask& aTaskObject);
+#endif
+ virtual void update(const SimTK::State& s);
+ virtual void computeErrors(const SimTK::State& s, double aT) = 0;
+ virtual void computeDesiredAccelerations(
+ const SimTK::State& s, double aT) = 0;
+ virtual void computeDesiredAccelerations(
+ const SimTK::State& s, double aTI, double aTF) = 0;
+ virtual void computeAccelerations(const SimTK::State& s) = 0;
+ virtual void computeJacobian(const SimTK::State& s) = 0;
+ virtual void computeBias(const SimTK::State& s) = 0;
+
+ /**
+ * Get the task position.
+ *
+ * @param aWhich Specifies which task goal (0, 1, or 2).
+ * @param aT Time (in real time units).
+ * @return Task position.
+ * @throws Exception for an invalid task.
+ */
+ double getTaskPosition(int aWhich, double aT) const;
+
+ /**
+ * Get the task velocity.
+ *
+ * @param aWhich Specifies which task goal (0, 1, or 2).
+ * @param aT Time (in real time units).
+ * @return Task velocity.
+ * @throws Exception for an invalid task.
+ */
+ double getTaskVelocity(int aWhich, double aT) const;
+
+ /**
+ * Get the task acceleration.
+ *
+ * @param aWhich Specifies which task goal (0, 1, or 2).
+ * @param aT Time (in real time units).
+ * @return Task acceleration.
+ * @throws Exception for an invalid task.
+ */
+ double getTaskAcceleration(int aWhich, double aT) const;
+
+ /**
+ * Set the last achieved position error. This information is useful for
+ * checking that error dynamics are being followed.
+ *
+ * @param aE0 Last position error for track goal 0.
+ * @param aE1 Last position error for track goal 1.
+ * @param aE2 Last position error for track goal 2.
+ */
+ void setPositionErrorLast(double aE0, double aE1 = 0.0, double aE2 = 0.0);
+
+ /**
+ * Get the last achieved position error for the track goal at a given index.
+ * This information is useful for checking that error dynamics are being
+ * followed.
+ *
+ * @param aWhich Specifies which track goal (0, 1, or 2).
+ * @return Last position error.
+ */
+ double getPositionErrorLast(int aWhich) const;
+ void setVelocityErrorLast(double aE0, double aE1 = 0.0, double aE2 = 0.0);
+ double getVelocityErrorLast(int aWhich) const;
+ // ERRORS
+ double getPositionError(int aWhich) const;
+ double getVelocityError(int aWhich) const;
+ // DESIRED ACCELERATIONS
+ double getDesiredAcceleration(int aWhich) const;
+ SimTK::Vector getDesiredAccelerations() const;
+ // ACCELERATIONS
+ double getAcceleration(int aWhich) const;
+ // JACOBIAN
+ SimTK::Matrix getJacobian() const;
+ SimTK::Vector getBias() const;
+
+protected:
+ // Model component interface.
+ void extendFinalizeFromProperties() override;
+ void extendConnectToModel(Model& model) override;
+
+ // const Model* _model;
+ int _nTrk;
+ void checkFunctions() const;
+
+ /** Last position error. */
+ SimTK::Vector _pErrLast;
+ /** Position error. */
+ SimTK::Vector _pErr;
+ /** Last velocity error. */
+ SimTK::Vector _vErrLast;
+ /** Velocity error. */
+ SimTK::Vector _vErr;
+ /** Desired accelerations. */
+ SimTK::Vector _aDes;
+ /** Positions. */
+ SimTK::Vector _p, _inertialPTrk;
+ /** Velocities. */
+ SimTK::Vector _v, _inertialVTrk;
+ /** Accelerations. */
+ SimTK::Vector _a;
+ /** Jacobian. */
+ SimTK::Matrix _j;
+ /** Jacobian bias. */
+ SimTK::Vector _b;
+
+private:
+ void constructProperties();
+ void setNull();
+ void copyData(const TaskSpaceTask& aTaskObject);
+
+//=============================================================================
+}; // end of class TaskSpaceTask
+//=============================================================================
+} // end of namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_TASK_H_
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceTaskSet.h b/OpenSim/Tools/TaskSpaceTaskSet.h
new file mode 100644
index 0000000000..7e3cc7e991
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceTaskSet.h
@@ -0,0 +1,59 @@
+#ifndef OPENSIM_TASK_SPACE_TASK_SET_H_
+#define OPENSIM_TASK_SPACE_TASK_SET_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceTaskSet.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "OpenSim/Simulation/Model/ModelComponentSet.h"
+#include "TaskSpaceTask.h"
+
+namespace OpenSim {
+//=============================================================================
+//=============================================================================
+/**
+ * A class for holding a set of tasks.
+ */
+class OSIMTOOLS_API TaskSpaceTaskSet : public ModelComponentSet {
+OpenSim_DECLARE_CONCRETE_OBJECT(TaskSpaceTaskSet, ModelComponentSet);
+
+public:
+ /** Use Super's constructors. @see ModelComponentSet */
+ using Super::Super;
+
+ // default copy, assignment operator, and destructor
+
+//=============================================================================
+}; // END of class TaskSpaceTaskSet
+//=============================================================================
+//=============================================================================
+
+} // end of namespace OpenSim
+
+#endif // OPENSIM_TASK_SPACE_TASK_SET_H_
diff --git a/OpenSim/Tools/TaskSpaceTorqueController.cpp b/OpenSim/Tools/TaskSpaceTorqueController.cpp
new file mode 100644
index 0000000000..28dd4a1712
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceTorqueController.cpp
@@ -0,0 +1,501 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim TaskSpace: TaskSpaceTorqueController.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * and Dimitar Stanev *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include
+
+#include "OpenSim/Actuators/CoordinateActuator.h"
+
+#include "TaskSpaceComputeControlsEventHandler.h"
+#include "TaskSpaceUtilities.h"
+#include "TaskSpaceTorqueController.h"
+
+using namespace OpenSim;
+using namespace SimTK;
+using namespace std;
+
+TaskSpaceTorqueController::TaskSpaceTorqueController()
+{
+ constructProperties();
+ setNull();
+}
+
+TaskSpaceTorqueController::TaskSpaceTorqueController(const TaskSpaceTorqueController& aController)
+ : Super(aController)
+{
+ copyData(aController);
+}
+
+void TaskSpaceTorqueController::constructProperties()
+{
+ constructProperty_ConstraintModel(NoConstraintModel());
+ constructProperty_excluded_coords();
+ constructProperty_control_strategy("default");
+ constructProperty_use_constraint_nullspace(true);
+
+ TaskSpaceTaskSet tasks;
+ tasks.setName(IO::Lowercase(tasks.getConcreteClassName()));
+ constructProperty_TaskSpaceTaskSet(tasks);
+}
+
+void TaskSpaceTorqueController::setNull()
+{
+ _dt = 0.001;
+ _lastDT = 0.0;
+ _restoreDT = false;
+ _tf = 0;
+ _targetDT = 1.0e-2;
+ _checkTargetTime = true;
+}
+
+void TaskSpaceTorqueController::copyData(const TaskSpaceTorqueController& aController)
+{
+ copyProperty_ConstraintModel(aController);
+ copyProperty_excluded_coords(aController);
+ copyProperty_TaskSpaceTaskSet(aController);
+ copyProperty_control_strategy(aController);
+ copyProperty_use_constraint_nullspace(aController);
+
+ _dt = aController._dt;
+ _tf = aController._tf;
+ _lastDT = aController._lastDT;
+ _restoreDT = aController._restoreDT;
+ _checkTargetTime = aController._checkTargetTime;
+}
+
+void TaskSpaceTorqueController::extendFinalizeFromProperties()
+{
+ Super::extendFinalizeFromProperties();
+
+ //validate priority levels
+ std::set priority_levels;
+ for (int i = 0; i < get_TaskSpaceTaskSet().getSize(); ++i) {
+ auto& task = get_TaskSpaceTaskSet().get(i);
+ priority_levels.insert(task.get_priority());
+ }
+ int i=0;
+ for (auto p : priority_levels) {
+ if (p!=i) {
+ throw runtime_error(
+ "Task priority levels must be consecutive starting at zero.");
+ }
+ i += 1;
+ max_priority = i;
+ }
+ log_debug("priority_levels: {}", max_priority);
+}
+
+Matrix TaskSpaceTorqueController::createSelectionMatrix() const {
+ Matrix B;
+ if (hasModel()) {
+ int ncoords = getModel().getNumCoordinates();
+ B.resize(ncoords, ncoords);
+ // All coordinates are actuated by default
+ B = 1;
+ auto state = _model->getWorkingState();
+ auto& matter = _model->getMatterSubsystem();
+ const Property& excluded_coords = getProperty_excluded_coords();
+
+ const auto& cs = _model->getCoordinateSet();
+
+ for (int c = 0; c < excluded_coords.size(); ++c) {
+ auto& coord = cs.get(get_excluded_coords(c));
+ int mbti = matter.getMobilizedBody(coord.getBodyIndex())
+ .getFirstUIndex(state) +
+ coord.getMobilizerQIndex();
+ B.updDiag()[mbti] = 0.0;
+ }
+ }
+ return B;
+}
+
+void TaskSpaceTorqueController::printResults(const string &aPrefix, const string &aDir) {
+ appliedForces.print(aDir + "/" + aPrefix + "_TaskSpaceTorqueController.sto");
+}
+
+// Controller Interface.
+// compute the control value for all actuators this Controller is responsible for
+void TaskSpaceTorqueController::computeControls(const SimTK::State& s, SimTK::Vector& controls) const
+{
+ // Make sure to use the order consistent with Simbody's representation
+ const auto& cs = getModel().getCoordinatesInMultibodyTreeOrder();
+ log_debug("integrator time: {}", s.getTime());
+ auto tau = calcTau(s);
+ for (int i = 0; i < cs.size(); ++i) {
+ string name = cs[i]->getName() + "_control";
+
+ getActuatorSet().get(name).addInControls(Vector(1, tau[i]), controls);
+ }
+}
+
+SimTK::Vector TaskSpaceTorqueController::calcTau(const SimTK::State& s) const
+{
+ //Start a clock
+ using namespace std::chrono;
+ auto start = high_resolution_clock::now();
+
+ Matrix B = createSelectionMatrix();
+
+ //Allocate variable for torque data for the n coordinate actuators
+ auto tau = Vector(n, 0.0); //total task torque
+ Matrix taua(n, 1, 0.0); //aggregate torque during iterative calculations
+
+ //Evaluate the constraint data
+ auto constraint_data = get_ConstraintModel().calcConstraintData(getModel(), s);
+ //Constraint Jacobian
+ Matrix Jc = constraint_data.Jc;
+ //Transpose of the constraint null space matrix
+ Matrix NcT = constraint_data.NcT;
+ //Constraint bias
+ Matrix bc = constraint_data.bc;
+ //Mass matrix M
+ Matrix M = constraint_data.M;
+ //Constraint consistent inverse of the mass matrix
+ Matrix McInv = constraint_data.McInv;
+ //External (contact) forces
+ Matrix Fext = constraint_data.Fext;
+ //Total applied forces (gravity, coriolis, passive muscle/tendon, etc)
+ Vector Fapplied = calcTotalGeneralizedForces(s, getModel());
+
+ //--------------------------------------------------------------------------
+ // Construct augmented Jacobian matrices and desired acceleration vectors,
+ // sorted by priority level.
+ //--------------------------------------------------------------------------
+ Matrix Ja; // aggregate Jacobian for all tasks
+
+ /* Priority-sorted augmented Jacobian matrix. */
+ std::vector Jt_p;
+
+ // Priority-sorted desired accelerations
+ std::vector xtddot_p;
+
+ // Priority-sorted task bias
+ std::vector bt_p;
+
+ Jt_p.resize(max_priority+1);
+ xtddot_p.resize(max_priority+1);
+ bt_p.resize(max_priority+1);
+
+ //Pre-assemble the stacked Jacobian, desired acceleration, and task bias
+ //matrices for use in future calculations.
+ for (int i = 0; i < get_TaskSpaceTaskSet().getSize(); ++i) {
+ auto& task = get_TaskSpaceTaskSet().get(i);
+ const int& priority = task.get_priority();
+ task.update(s);
+ xtddot_p[priority] = concatenate(
+ xtddot_p[priority],
+ task.getDesiredAccelerations(),
+ 0)
+ .getAsVector();
+ Jt_p[priority] = concatenate(Jt_p[priority], task.getJacobian(), 0);
+ bt_p[priority] =
+ concatenate(bt_p[priority], task.getBias(), 0).getAsVector();
+ }
+
+ //Aggregate task null space
+ Matrix N_ai(NcT.nrow(), NcT.ncol(), 0.0);
+ if (get_use_constraint_nullspace()) {
+ //By default, constraints get priority -1. However, this may conflict
+ //with movement controllers that utilize the SupportModel, as ground
+ //contact is treated as a constraint.
+ N_ai = NcT;
+ }
+ else {
+ N_ai = 1.0;
+ }
+
+ //If no external forces, set contributions to zero
+ if (Fext.nelt() == 0) {
+ Fext = Vector(Jc.nrow(), 0.0);
+ }
+
+ //Iterate over priority levels and calculate task torques for each set of
+ //tasks
+ for (int i = 0; i < max_priority; ++i) {
+ //Append task Jacobians for current priority level to existing augmented
+ //Jacobian matrix Ja
+ Ja = concatenate(Ja, Jt_p[i], 0);
+
+ //Task Jacobian at priority level i
+ Matrix J_ai = Jt_p[i];
+ //Dynamically consistent effective mass matrix
+ Matrix Lambda_ai = DampedSVDPseudoinverse(J_ai * McInv * N_ai * ~J_ai);
+
+ //Task space force contribution terms
+ Matrix tf_xtddot = Lambda_ai * xtddot_p[i]; //task accelerations
+ Matrix tf_gc = Lambda_ai * J_ai * McInv * NcT * Fapplied; //gravity and coriolis
+ Matrix tf_bt = Lambda_ai * bt_p[i]; //task bias
+ Matrix tf_bc = Lambda_ai * J_ai * McInv * bc; //constraint bias
+
+ // compute total task space force
+ auto F = tf_xtddot + tf_gc + tf_bt + tf_bc;
+
+ //Project task forces into null space of higher priority tasks
+ taua += N_ai * ~J_ai * F;
+
+ //Update the aggregate
+ N_ai = N_ai * (1 - ~J_ai * Lambda_ai * J_ai * McInv * N_ai);
+ }
+
+ //Filter aggregate task torques through constraint null space to make
+ //dynamically consistent, and account for floating base (underactuation)
+ if (Ja.nelt() > 0) {
+ Matrix Lambda_a_bar = DampedSVDPseudoinverse(Ja * McInv * NcT * ~Ja);
+ Matrix Ja_bar = Lambda_a_bar * Ja * McInv * NcT;
+
+ //Constraint consistent aggregate null space projection
+ Matrix Na_bar = 1.0 - (~Ja * Ja_bar);
+
+ //Account for "virtual dofs" in a floating base model.
+ Matrix Beta;
+ if ((1.0-B).norm() <= 1e-8) {
+ //B == identity
+ Beta = B;
+ } else {
+ Beta = 1.0 - (Na_bar * DampedSVDPseudoinverse((1.0 - B) * Na_bar) * (1.0 - B));
+ }
+
+ //Apply the filter to the computed task torques. The selection matrix B is included
+ //to ensure the constraint tau=B*tau is not violated. In general, Beta*taua will result
+ //in zero forces/torques at excluded coordinates. However, in certain infeasible scenarios
+ //the constraint will be violated and nonzero forces/torques may be computed for excluded
+ //coordinates. Explicitly enforcing tau=B*tau means that the simulation will fail rather
+ //than succeeding with fictitious forces/torques applied.
+ tau = (B * Beta * taua).getAsVector();
+ } else {
+ tau = Vector(n, 0.0);
+ }
+
+ //FOR REVIEW: Dimitar Stanev's original code utilized these additional
+ // calculations for the control torques. There may be a better
+ // way to incorporate them. Also need to check whether N_ai or
+ // Na_bar should be used.
+ if (get_control_strategy() == "default") {
+ //Just use tau
+ } else if (get_control_strategy() == "force") {
+ tau = tau + N_ai*(Fapplied + constraint_data.bc);
+ } else if (get_control_strategy() == "velocity") {
+ tau = tau - 20*N_ai*s.getU();
+ } else {
+ log_error("Control strategy not recognized.");
+ }
+
+ //Print timing info
+ auto stop = high_resolution_clock::now();
+ auto duration = duration_cast(stop - start);
+ log_debug("calcTaskDynamics: {}s (last time step {}ms)", s.getTime(), duration.count());
+
+ //Print calculated task torques
+ log_debug("tau= {}", tau);
+
+ return tau;
+}
+
+void TaskSpaceTorqueController::extendConnectToModel(Model& model) {
+ Super::extendConnectToModel(model);
+ // construct labels for the applied forces
+ Array storageLabels;
+ storageLabels.append("time");
+
+ // create an actuator for each generalized coordinate in the model
+ // add these actuators to the model and set their indexes
+ auto& cs = model.getCoordinateSet();
+ for (int i = 0; i < cs.getSize(); ++i) {
+ string name = cs.get(i).getName() + "_control";
+ CoordinateActuator* actuator = NULL;
+ if (model.getForceSet().contains(name)) {
+ actuator = (CoordinateActuator*)&model.getForceSet().get(name);
+ } else {
+ actuator = new CoordinateActuator();
+ actuator->setCoordinate(&cs.get(i));
+ actuator->setName(name);
+ // since this object is creating these actuators for its own
+ // devices, it should take ownership of them, so that when the
+ // controller is removed, so are all the actuators it added
+ adoptSubcomponent(actuator);
+ }
+
+ actuator->setOptimalForce(1.0);
+ updActuators().adoptAndAppend(actuator);
+ log_debug("added actuator: {}", actuator->getName());
+ // append labels
+ storageLabels.append(cs[i].getName());
+ }
+ // configure Storage
+ appliedForces.setColumnLabels(storageLabels);
+ appliedForces.reset(0);
+
+ _tau.resize(cs.getSize());
+ _tau.setTo(0.0);
+
+ n = getModel().getNumCoordinates();
+}
+
+void TaskSpaceTorqueController::extendAddToSystem( SimTK::MultibodySystem& system) const
+{
+ Super::extendAddToSystem(system);
+
+ // add event handler for updating controls for next window
+ TaskSpaceTorqueController* mutableThis = const_cast(this);
+ ComputeControlsEventHandler* computeControlsHandler =
+ new ComputeControlsEventHandler(mutableThis);
+
+ computeControlsHandler->setEventInterval(0.01);
+
+ system.updDefaultSubsystem().addEventHandler(computeControlsHandler );
+}
+
+/**
+ * Set the requested integrator time step size.
+ *
+ * @param aDT Step size (0.0 <= aDT).
+ */
+void TaskSpaceTorqueController::
+setDT(double aDT)
+{
+ _dt = aDT;
+ if(_dt<0) _dt=0.0;
+}
+//_____________________________________________________________________________
+/**
+ * Get the requested integrator time step size.
+ *
+ * @return Step size.
+ */
+double TaskSpaceTorqueController::
+getDT() const
+{
+ return(_dt);
+}
+
+//-----------------------------------------------------------------------------
+// TARGET TIME
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Set the target time (or final time) for the controller.
+ *
+ * The function of the controller is to compute a set of controls that
+ * are appropriate from the current time in a simulation to the
+ * target time of the controller. If an integrator is taking time steps
+ * prior to the target time, the controls should not have to be computed again.
+ *
+ * @param aTargetTime Time in the future for which the controls have been
+ * computed.
+ * @see getCheckTargetTime()
+ */
+void TaskSpaceTorqueController::
+setTargetTime(double aTargetTime)
+{
+ _tf = aTargetTime;
+}
+//_____________________________________________________________________________
+/**
+ * Get the target time.
+ *
+ * The target time is the time in the future for which the controls have been
+ * calculated. If an integrator is taking time steps prior to the target
+ * time, the controls should not have to be computed again.
+ *
+ * @return Time in the future for which the controls have been
+ * computed.
+ * @see getCheckTargetTime()
+ */
+double TaskSpaceTorqueController::
+getTargetTime() const
+{
+ return(_tf);
+}
+
+//-----------------------------------------------------------------------------
+// TARGET DT
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Set the target time step size.
+ *
+ * The target time step size is the step size used to compute a new target
+ * time, once the former target time has been reached by the integrator.
+ *
+ * @param aDT Target time step size. Must be greater than 1.0e-8.
+ * @see setTargetTime()
+ */
+void TaskSpaceTorqueController::
+setTargetDT(double aDT)
+{
+ _targetDT = aDT;
+ if(_targetDT<1.0e-8) _targetDT = 1.0e-8;
+}
+//_____________________________________________________________________________
+/**
+ * Get the target time step size.
+ *
+ * The target time step size is the step size used to compute a new target
+ * time, once the former target time has been reached by the integrator.
+ *
+ * @return Target time step size.
+ * @see setTargetTime()
+ */
+double TaskSpaceTorqueController::
+getTargetDT() const
+{
+ return(_targetDT);
+}
+
+//-----------------------------------------------------------------------------
+// CHECK TARGET TIME
+//-----------------------------------------------------------------------------
+//_____________________________________________________________________________
+/**
+ * Set whether or not to check the target time.
+ *
+ * @param aTrueFalse If true, the target time will be checked. If false, the
+ * target time will not be checked.
+ * @see setTargetTime()
+ */
+void TaskSpaceTorqueController::
+setCheckTargetTime(bool aTrueFalse)
+{
+ _checkTargetTime = aTrueFalse;
+}
+//_____________________________________________________________________________
+/**
+ * Get whether or not to check the target time.
+ *
+ * @return True if the target time will be checked. False if the target
+ * time will not be checked.
+ * @see setTargetTime()
+ */
+bool TaskSpaceTorqueController::
+getCheckTargetTime() const
+{
+ return(_checkTargetTime);
+}
diff --git a/OpenSim/Tools/TaskSpaceTorqueController.h b/OpenSim/Tools/TaskSpaceTorqueController.h
new file mode 100644
index 0000000000..4d25add7b0
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceTorqueController.h
@@ -0,0 +1,191 @@
+#ifndef OPENSIM_TASK_SPACE_TORQUE_CONTROLLER_H_
+#define OPENSIM_TASK_SPACE_TORQUE_CONTROLLER_H_
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceTorqueController.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * and Dimitar Stanev *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "OpenSim/Simulation/Control/Controller.h"
+
+#include "TaskSpaceTaskSet.h"
+#include "TaskSpaceConstraintModel.h"
+
+namespace OpenSim {
+/**
+ * \brief Computes and applies the generalized forces that track the task
+ * goals provided a function for evaluating the control strategy.
+ *
+ * As this is a generalized force controller that evaluates the control
+ * strategy and applies the forces to the model. As this is a Controller
+ * and not a Force, CoordinateActuators are appended to the model and
+ * actuated according to the control strategy.
+ */
+
+class ConstraintProjection;
+
+class OSIMTOOLS_API TaskSpaceTorqueController : public Controller {
+ OpenSim_DECLARE_CONCRETE_OBJECT(TaskSpaceTorqueController, Controller);
+
+public:
+//==============================================================================
+// PROPERTIES
+//==============================================================================
+ OpenSim_DECLARE_UNNAMED_PROPERTY(TaskSpaceTaskSet,
+ "Set of tracking goals in task space.");
+
+ OpenSim_DECLARE_UNNAMED_PROPERTY(ConstraintModel,
+ "Name of the constraint model to use.");
+
+ OpenSim_DECLARE_LIST_PROPERTY(excluded_coords, std::string,
+ "List of coordinates that are not actuated.");
+
+ OpenSim_DECLARE_PROPERTY(control_strategy, std::string,
+ "Type of feedback control strategy to implement.");
+
+ OpenSim_DECLARE_PROPERTY(use_constraint_nullspace, bool,
+ "If true, constraints are given priority -1.");
+
+//=============================================================================
+// METHODS
+//=============================================================================
+public:
+ //CONSTRUCTION
+ TaskSpaceTorqueController();
+ TaskSpaceTorqueController(const TaskSpaceTorqueController& aController);
+
+ /**
+ * Prints the applied forces to a .sto file format.
+ *
+ * @param aPrefix is added to the file (useful for batch simulations).
+ * @param aDir is the directory where the results will be stored.
+ */
+ void printResults(const std::string &aPrefix, const std::string &aDir);
+
+ /** Controller. */
+ void computeControls(
+ const SimTK::State& s, SimTK::Vector& controls) const override;
+
+ SimTK::Vector _tau;
+
+ void setDT(double aDT);
+ double getDT() const;
+ void setTargetTime(double aTime);
+ double getTargetTime() const;
+ void setTargetDT(double aDT);
+ double getTargetDT() const;
+ void setCheckTargetTime(bool aTrueFalse);
+ bool getCheckTargetTime() const;
+
+protected:
+
+ /** Compute the generalized forces tau needed to control the model. */
+ SimTK::Vector calcTau(const SimTK::State& s) const;
+
+ void extendFinalizeFromProperties() override;
+
+ //TODO: not needed?
+ // for adding any components to the underlying system
+ void extendAddToSystem( SimTK::MultibodySystem& system) const override;
+
+ void extendConnectToModel(Model& model) override;
+
+ /** Selection matrix \f$ \tau^{'} = B \tau \f$ for under-actuation. */
+ mutable SimTK::Matrix B;
+
+ /* Current priority level being evaluated. */
+ int max_priority = 0;
+
+ /* Number of generalized coordinates. */
+ int n = 0;
+
+ /* Selected constraint projection method. */
+ //ConstraintProjection* m_constraint_projection;
+
+ /* Priority-sorted augmented Jacobian matrix. */
+ std::vector Jt_p;
+
+ // Priority-sorted desired accelerations
+ std::vector xtddot_p;
+
+ // Priority-sorted task bias
+ std::vector bt_p;
+
+ /** Stores the applied generalized forces. */
+ mutable Storage appliedForces;
+
+ /** Next integration step size that is to be taken by the integrator. */
+ double _dt;
+ /** Last integration step size that was taken before a new integration
+ step size was set in order to step exactly to the target time. */
+ double _lastDT;
+ /** Flag indicating when the last integration step size should be restored.
+ Normally it is restored only following a change to the integration
+ step size that was made to step exactly to the end of a target interval. */
+ bool _restoreDT;
+ /** The target time is the time in the future (in normalized units) for
+ which the controls have been calculated. If an integrator is taking
+ steps prior to the target time, the controls should not have to be
+ computed again. */
+ double _tf;
+
+ /** The step size used to generate a new target time, once the
+ old target time has been reached. */
+ double _targetDT;
+
+ /** Whether or not to check the target time. */
+ bool _checkTargetTime;
+
+private:
+
+ void constructProperties();
+ void setNull();
+ void copyData(const TaskSpaceTorqueController& aController);
+
+ /**
+ * @brief Create the selection matrix \f$ \tau^{'} = S \tau \f$ for
+ * under-actuation. Generates the matrix from the acuated_dofs property.
+ * This method is called automatically when the model is set using
+ * setModel(), but should be called again if the actuated_dofs are altered.
+ * Must be called during initialization.
+ *
+ * @param model
+ *
+ * \throws Exception if user-specified actuated DoFs do not match number of
+ * DoFs in model.
+ */
+ SimTK::Matrix createSelectionMatrix() const;
+
+//=============================================================================
+}; // END of class TaskSpaceTorqueController
+//=============================================================================
+//=============================================================================
+} // namespace OpenSim
+
+#endif
diff --git a/OpenSim/Tools/TaskSpaceUtilities.cpp b/OpenSim/Tools/TaskSpaceUtilities.cpp
new file mode 100644
index 0000000000..315a24bdf2
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceUtilities.cpp
@@ -0,0 +1,296 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceUtilities.cpp *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+
+#include "TaskSpaceUtilities.h"
+
+using namespace std;
+using namespace SimTK;
+
+namespace OpenSim {
+
+//================================================================================
+// CONVENIENCE FUNCTIONS
+//================================================================================
+
+/**
+ * @brief wraps SimbodyMatterSubsystems's calcM()
+ *
+ * @param s
+ * @param model
+ * @return Matrix
+ */
+Matrix calcM(const State& s, const Model& model) {
+ Matrix M;
+ model.getMatterSubsystem().calcM(s, M);
+ return M;
+}
+
+/**
+ * @brief return SVD inverse of M.
+ *
+ * @param s
+ * @param model
+ * @return Matrix
+ */
+Matrix calcMInv(const State& s, const Model& model) {
+ Matrix MInv, M;
+ model.getMatterSubsystem().calcM(s, M);
+ MInv = FactorSVDPseudoinverse(M);
+ return MInv;
+}
+
+/**
+ * @brief wraps SimbodyMatterSubsystem's calcFrameJacobian()
+ *
+ * @param s
+ * @param model
+ * @param b
+ * @param loc_in_B
+ * @return Matrix
+ */
+Matrix calcFrameJacobian(const State& s, const Model& model,
+ const SimTK::MobilizedBodyIndex& b, const Vec3& loc_in_B) {
+ SimTK::Matrix J;
+ model.getMultibodySystem().getMatterSubsystem().calcFrameJacobian(
+ s, b, loc_in_B, J);
+ return J;
+}
+
+/**
+ * This function calculates the total applied forces. In order to calculate them
+ * the model must be realized to Stage::Dynamics. This method is typically
+ * called in mixed dynamics scheme thus while the model is numerically
+ * integrated (forward dynamics) we may be interested in the acting forces so
+ * that a controller (e.g. inverse dynamics torque controller) can calculate the
+ * controls correctly. If however the original model is realized to
+ * Stage::Dynamics the controller's computeControls will be called again and
+ * this will cause an infinite loop. To avoid this problem upon first entrance
+ * to this function a working copy of the model is created without the
+ * controller and this working model is realized to Stage::Dynamics. Each time
+ * the working state is updated from the current state of the simulating model
+ * and the variables of the working model's working state.
+ */
+Vector calcTotalForces(const State& s, const Model& model) {
+ // create a working instance of the model, upon first entrance to this
+ // function
+ static Model* workingModel = NULL;
+ if (workingModel == NULL) {
+ workingModel = model.clone();
+ workingModel->setUseVisualizer(false);
+ // remove controllers to avoid infinite loop
+ workingModel->updControllerSet().setSize(0);
+ // disable any actuators when computing the total force
+ auto& fs = workingModel->updForceSet();
+ for (int i = 0; i < fs.getSize(); i++) {
+ auto pathActuator = dynamic_cast(&fs[i]);
+ if (pathActuator) {
+ pathActuator->set_appliesForce(false);
+ }
+ }
+ workingModel->finalizeFromProperties();
+ workingModel->initSystem();
+ }
+ // initialize working state from s
+ auto workingState = workingModel->updWorkingState();
+ workingState.setTime(s.getTime());
+ workingState.setQ(s.getQ());
+ workingState.setU(s.getU());
+ workingState.setZ(s.getZ());
+ workingState.setY(s.getY());
+ // generalized forces and torques should be accessed at a Dynamics stage
+ workingModel->realizeDynamics(workingState);
+ // get acting torques and body forces
+ auto bodyForces = workingModel->getMultibodySystem()
+ .getRigidBodyForces(workingState, Stage::Dynamics);
+ auto generalizedForces = workingModel->getMultibodySystem()
+ .getMobilityForces(workingState, Stage::Dynamics);
+ // map body forces to joint forces
+ Vector jointForces;
+ workingModel->getMatterSubsystem()
+ .multiplyBySystemJacobianTranspose(workingState, bodyForces, jointForces);
+ // in our convention we subtract their contribution
+ return -1.0 * generalizedForces - jointForces;
+}
+
+/**
+ * Calculates the Coriolis contribution \f$ \tau_c \f$. We assume that
+ * \f$ \tau_c \f$ is on the same side with the joint space accelerations
+ * (i.e. \f$ M \ddot{q} + \tau_c = \tau \f$).
+ */
+Vector calcCoriolis(const State& s, const Model& model) {
+ Vector c;
+ model.getMatterSubsystem().calcResidualForceIgnoringConstraints(
+ s, Vector(0), Vector_(0), Vector(0), c);
+ return c;
+}
+
+Vector calcTotalGeneralizedForces(const State& s, const Model& model) {
+ // compute all acting forces add Coriolis since they are not accounted
+ return calcCoriolis(s, model) + calcTotalForces(s, model);
+ // compute only Coriolis and gravity (works always)
+ // return calcCoriolis(s, model) + calcGravity(s, model);
+}
+
+//================================================================================
+// MATH UTILITIES
+//================================================================================
+
+Matrix concatenate(const Matrix &A, const Matrix &B, const int dim) {
+ if (A.nelt() == 0) { return B; }
+ if (B.nelt() == 0) { return A; }
+
+ Matrix C;
+ if (dim == 0) {
+ // Concatenate vertically
+ if (A.ncol() != B.ncol()) {
+ OPENSIM_THROW(
+ OpenSim::Exception,
+ "Matrices being concatenated must have same number of columns.")
+ }
+ C.resize(A.nrow() + B.nrow(), A.ncol());
+ C.updBlock(0, 0, A.nrow(), A.ncol()) = A;
+ C.updBlock(A.nrow(), 0, B.nrow(), B.ncol()) = B;
+ } else if (dim == 1) {
+ // Concatenate horizontally
+ if (A.nrow() != B.nrow()) {
+ OPENSIM_THROW(
+ OpenSim::Exception,
+ "Matrices being concatenated must have same number of rows.")
+ }
+ C.resize(A.nrow(), A.ncol() + B.ncol());
+ C.updBlock(0, 0, A.nrow(), A.ncol()) = A;
+ C.updBlock(0, A.ncol(), B.nrow(), B.ncol()) = B;
+ } else {
+ OPENSIM_THROW(OpenSim::Exception, "Dimension must be 0 or 1.")
+ }
+ return C;
+}
+
+/**
+ * \brief Convenience method for turning a spatial vec into a matrix
+ */
+Matrix FlattenSpatialVec(const SpatialVec& S) {
+ // turn a spatialvec into a 6x1 matrix.
+ Matrix spatialVecFlat(6, 1, 0.0);
+ spatialVecFlat[0] = S[0][0];
+ spatialVecFlat[1] = S[0][1];
+ spatialVecFlat[2] = S[0][2];
+ spatialVecFlat[3] = S[1][0];
+ spatialVecFlat[4] = S[1][1];
+ spatialVecFlat[5] = S[1][2];
+ return spatialVecFlat;
+}
+
+/**
+ * @brief SVD Pseudoinverse wrapped from Simbody FactorSVD.inverse()
+ *
+ * @param A
+ * @return Matrix
+ */
+Matrix FactorSVDPseudoinverse(const Matrix& A) {
+ Matrix Ainv;
+ FactorSVD AInvSVD(A);
+ try {
+ AInvSVD.inverse(Ainv);
+ } catch (...) {
+ OPENSIM_THROW(OpenSim::Exception,
+ "SVD inverse failed because the matrix is rank deficient or "
+ "ill-conditioned, try with a different technique or check the "
+ "joint configuration if you are near a singular configuration "
+ "of the system.");
+ }
+ return Ainv;
+}
+
+/**
+ * @brief Selectively damped least-squares inverse with SVD based on the
+ * threshold tolerance defined in InverseDynamicsModel.cpp
+ *
+ * @param A
+ * @return Matrix
+ */
+Matrix DampedSVDPseudoinverse(const Matrix& A, const double& tolerance) {
+ Matrix Ainv;
+ Matrix U = Matrix();
+ Matrix VT = Matrix();
+ Vector S = Vector();
+ FactorSVD AInvSVD(A);
+ try {
+ AInvSVD.getSingularValuesAndVectors(S, U, VT);
+
+ auto dInv = S;
+ for (int k = 0; k < dInv.nrow(); ++k) {
+ if (S(k) < tolerance) {
+ dInv(k) = std::pow(tolerance, 2.0); // 0.0;
+ } else {
+ dInv(k) = 1 / S(k);
+ }
+ }
+ Matrix SInv = diagonalize(dInv);
+ Ainv = VT.transpose() * SInv * U.transpose();
+ } catch (...) {
+ OPENSIM_THROW(OpenSim::Exception,
+ "SVD inverse failed because the matrix is rank deficient or "
+ "ill-conditioned,",
+ " try with a different technique or check the joint "
+ "configuration if you are near a singular configuration of the "
+ "system.");
+ }
+ return Ainv;
+}
+
+/**
+ * @brief Construct a diagonal matrix from a vector
+ *
+ * @param A
+ * @return Matrix
+ */
+Matrix diagonalize(const Vector& A) {
+ Matrix B = Matrix(A.nrow(), A.nrow(), 0.0);
+ for (int i = 0; i < A.nelt(); ++i) { B(i, i) = A(i); }
+ return B;
+}
+
+/**
+ * @brief Create a block diagonal matrix.
+ *
+ * @param A
+ * @param B
+ * @return Matrix
+ */
+Matrix diagonalize(const Matrix& A, const Matrix& B) {
+ Matrix C(A.nrow() + B.nrow(), A.ncol() + B.ncol(), 0.0);
+ C.updBlock(0, 0, A.nrow(), A.ncol()) = A;
+ C.updBlock(A.nrow(), A.ncol(), B.nrow(), B.ncol()) = B;
+
+ return C;
+}
+} // namespace OpenSim
\ No newline at end of file
diff --git a/OpenSim/Tools/TaskSpaceUtilities.h b/OpenSim/Tools/TaskSpaceUtilities.h
new file mode 100644
index 0000000000..2c9c6dcf69
--- /dev/null
+++ b/OpenSim/Tools/TaskSpaceUtilities.h
@@ -0,0 +1,169 @@
+/* -------------------------------------------------------------------------- *
+ * OpenSim: TaskSpaceUtilities.h *
+ * -------------------------------------------------------------------------- *
+ * Developed by CFD Research Corporation for a project sponsored by the US *
+ * Army Medical Research and Materiel Command under Contract No. *
+ * W81XWH-22-C-0020. Any views, opinions and/or findings expressed in this *
+ * material are those of the author(s) and should not be construed as an *
+ * official Department of the Army position, policy or decision unless so *
+ * designated by other documentation. *
+ * *
+ * Please refer to the following publication for mathematical details, and *
+ * cite this paper if you use this code in your own work: *
+ * *
+ * Pickle and Sundararajan. "Predictive simulation of human movement in *
+ * OpenSim using floating-base task space control". *
+ * *
+ * Copyright (c) 2023 CFD Research Corporation and the Authors *
+ * *
+ * Author(s): Aravind Sundararajan, Nathan Pickle, Garrett Tuer *
+ * *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may *
+ * not use this file except in compliance with the License. You may obtain a *
+ * copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
+ * *
+ * Unless required by applicable law or agreed to in writing, software *
+ * distributed under the License is distributed on an "AS IS" BASIS, *
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
+ * See the License for the specific language governing permissions and *
+ * limitations under the License. *
+ * -------------------------------------------------------------------------- */
+#ifndef OPENSIM_TASK_SPACE_UTILITIES_H_
+#define OPENSIM_TASK_SPACE_UTILITIES_H_
+
+#include "simbody/internal/MobilizedBody.h"
+#include "OpenSim/Simulation/Model/Model.h"
+
+/**
+ * \brief Struct that holds matrices relevant to support consistent modeling
+ * such that each map value is keyed with the MobilizedBodyIndex of the
+ * supporting link.
+ *
+ */
+namespace OpenSim {
+
+//================================================================================
+// CONVENIENCE FUNCTIONS
+//================================================================================
+
+/**
+ * @brief wraps SimbodyMatterSubsystems's calcM()
+ *
+ * @param s
+ * @param model
+ * @return Matrix
+ */
+SimTK::Matrix calcM(
+ const SimTK::State& s, const OpenSim::Model& model);
+
+/**
+ * @brief return SVD inverse of M.
+ *
+ * @param s
+ * @param model
+ * @return Matrix
+ */
+SimTK::Matrix calcMInv(
+ const SimTK::State& s, const OpenSim::Model& model);
+
+/**
+ * @brief wraps SimbodyMatterSubsystem's calcFrameJacobian(). Used to compute
+ * components of Support Consistent Jacobian. For use with Support Model.
+ *
+ * @param s
+ * @param model
+ * @param b
+ * @param loc_in_B
+ * @return Matrix
+ */
+
+/**
+ * @brief wraps SimbodyMatterSubsystem's calcFrameJacobian(). Used to compute
+ * components of Support Consistent Jacobian. For use with Support Model.
+ *
+ * @param s
+ * @param model
+ * @param b
+ * @param loc_in_B
+ * @return Matrix
+ */
+SimTK::Matrix calcFrameJacobian(const SimTK::State& s,
+ const OpenSim::Model& model, const SimTK::MobilizedBodyIndex& b,
+ const SimTK::Vec3& loc_in_B);
+
+/**
+ * Calculates the total force that act on the model (\f$ f \f$). This requires
+ * that the model is realized to Stage::Dynamics. A working model is used as
+ * this method may be called by a controller during numerical integration and
+ * all controllers of the working model are removed to avoid infinite loops.
+ * The actuators of the working model are disabled since they are the actuation
+ * (i.e. muscles \f$ \tau = R f_m \f$ and not \f$ f \f$). Call this method only
+ * from objects that are derived from OpenSim::Controller and never from
+ * objects that are derived from OpenSim::Force.
+ */
+SimTK::Vector calcTotalGeneralizedForces(const SimTK::State& s,
+ const OpenSim::Model& model);
+
+
+//================================================================================
+// MATH UTILITIES
+//================================================================================
+
+/**
+ * SVD Pseudoinverse wrapped from Simbody FactorSVD.inverse()
+ *
+ * @param A
+ * @return Matrix
+ */
+SimTK::Matrix FactorSVDPseudoinverse(const SimTK::Matrix& A);
+
+/**
+ * @brief Selectively damped least-squares inverse with SVD based on the
+ * specified threshold tolerance.
+ *
+ * @param A
+ * @param tolerance
+ * @return Matrix
+ */
+SimTK::Matrix DampedSVDPseudoinverse(
+ const SimTK::Matrix& A,
+ const double& tolerance=std::numeric_limits::epsilon());
+
+/**
+ * \brief Convenience method for turning a 3x2 spatial vec into a 6x1 Matrix
+ */
+SimTK::Matrix FlattenSpatialVec(const SimTK::SpatialVec& S);
+
+/**
+ * @brief Concatenate 2 Matrices along the specified dimension dim.
+ *
+ * @param A
+ * @param B
+ * @param dim
+ * @return Matrix
+ */
+SimTK::Matrix concatenate(
+ const SimTK::Matrix& A, const SimTK::Matrix& B, const int dim);
+
+/**
+ * @brief Construct a diagonal matrix from a vector
+ *
+ * @param A
+ * @return Matrix
+ */
+SimTK::Matrix diagonalize(const SimTK::Vector& A);
+
+/**
+ * @brief Create a block diagonal matrix.
+ *
+ * @param A
+ * @param B
+ * @return Matrix
+ */
+SimTK::Matrix diagonalize(
+ const SimTK::Matrix& A, const SimTK::Matrix& B);
+
+
+
+} // namespace OpenSim
+#endif
diff --git a/OpenSim/Tools/TrackingTask.cpp b/OpenSim/Tools/TrackingTask.cpp
index 388cccd75f..7ae966a054 100644
--- a/OpenSim/Tools/TrackingTask.cpp
+++ b/OpenSim/Tools/TrackingTask.cpp
@@ -165,7 +165,7 @@ operator=(const TrackingTask &aTask)
* @param aModel Model.
*/
void TrackingTask::
-setModel(Model& aModel)
+setModel(const Model& aModel)
{
_model = &aModel;
}
@@ -176,7 +176,7 @@ setModel(Model& aModel)
*
* @return Pointer to the model.
*/
-Model* TrackingTask::
+const Model* TrackingTask::
getModel() const
{
return(_model);
diff --git a/OpenSim/Tools/TrackingTask.h b/OpenSim/Tools/TrackingTask.h
index 226d42f684..dda7872748 100644
--- a/OpenSim/Tools/TrackingTask.h
+++ b/OpenSim/Tools/TrackingTask.h
@@ -62,7 +62,7 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(TrackingTask, Object);
Array &_w;
/** Model. */
- Model *_model;
+ const Model *_model;
/** Number of functions for this target. */
int _nTrk;
@@ -108,8 +108,8 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(TrackingTask, Object);
// GET AND SET
//--------------------------------------------------------------------------
// MODEL
- virtual void setModel(OpenSim::Model& aModel);
- Model* getModel() const;
+ virtual void setModel(const OpenSim::Model& aModel);
+ const Model* getModel() const;
// ON,OFF
void setOn(bool aTrueFalse);
diff --git a/OpenSim/Tools/osimTools.h b/OpenSim/Tools/osimTools.h
index 66b7c3b889..9bb27bac29 100644
--- a/OpenSim/Tools/osimTools.h
+++ b/OpenSim/Tools/osimTools.h
@@ -49,6 +49,17 @@
#include "SMC_Joint.h"
#include "CMC_TaskSet.h"
#include "CorrectionController.h"
+
+#include "TaskSpaceTorqueController.h"
+#include "TaskSpaceComputeControlsEventHandler.h"
+#include "TaskSpaceConstraintModel.h"
+#include "TaskSpaceTask.h"
+#include "TaskSpaceBodyTask.h"
+#include "TaskSpaceOrientationTask.h"
+#include "TaskSpaceStationTask.h"
+#include "TaskSpaceCoordinateTask.h"
+#include "TaskSpaceInertiaTask.h"
+
#include "RegisterTypes_osimTools.h" // to expose RegisterTypes_osimTools
#endif // OPENSIM_OSIMTOOLS_H_