├── .clang-format ├── .dockerignore ├── .gitattributes ├── .github ├── PULL_REQUEST_TEMPLATE.md └── workflows │ └── continuous_integration.yml ├── .gitignore ├── Applications ├── Analyze │ ├── CMakeLists.txt │ ├── analyze.cpp │ └── test │ │ ├── BothLegs.osim │ │ ├── CMakeLists.txt │ │ ├── ConePendulum.vtp │ │ ├── DoublePendulum3D.osim │ │ ├── DoublePendulum3D_InitialStates.sto │ │ ├── DoublePendulum3D_Setup_Forward.xml │ │ ├── DoublePendulum3D_Setup_JointReaction.xml │ │ ├── DoublePendulum3D_Setup_JointReaction_FrameKeyword.xml │ │ ├── DoublePendulum3D_controls.sto │ │ ├── DoublePendulum3D_states.sto │ │ ├── DoublePendulum3D_states_degrees.mot │ │ ├── DoublePendulum_controls.sto │ │ ├── DoublePendulum_controls.xml │ │ ├── PlotterTool.xml │ │ ├── SinglePin.osim │ │ ├── SinglePin_InitialStates.sto │ │ ├── SinglePin_Setup_Forward.xml │ │ ├── SinglePin_Setup_JointReaction.xml │ │ ├── SinglePin_Setup_JointReaction_FrameKeyword.xml │ │ ├── SinglePin_controls.sto │ │ ├── SinglePin_states.sto │ │ ├── SinglePin_states_degrees.mot │ │ ├── Tug_of_War_ConstantVelocity.sto │ │ ├── Tug_of_War_ConstantVelocity_RampActivation.sto │ │ ├── Tug_of_War_Millard_Iso.osim │ │ ├── Tug_of_War_Setup_Analyze.xml │ │ ├── UsingRelativePaths │ │ ├── Setup_SO.xml │ │ ├── data │ │ │ └── subject01_walk_grf.mot │ │ ├── extloads │ │ │ └── subject01_walk_grf.xml │ │ ├── subject01.osim │ │ └── subject01_walk_IK.mot │ │ ├── arm26.osim │ │ ├── arm26_InverseKinematics.mot │ │ ├── arm26_Setup_InverseDynamics.xml │ │ ├── arm26_Setup_StaticOptimization.xml │ │ ├── arm26_bounds.osim │ │ ├── arm26_bounds_Setup_StaticOptimization.xml │ │ ├── double_pendulum.osim │ │ ├── double_pendulum_Setup_IAA.xml │ │ ├── double_pendulum_states.sto │ │ ├── double_pendum1sec.sto │ │ ├── externalForces.xml │ │ ├── gait10dof_Actuators_weak.xml │ │ ├── gait2392_CMC_Actuators_232.xml │ │ ├── pendulum.vtp │ │ ├── pendulum_controls.xml │ │ ├── plotterGeneratedStates.sto │ │ ├── plotterGeneratedStatesHip45.sto │ │ ├── singlePendulum_controls.sto │ │ ├── singlePin_controls.xml │ │ ├── staticoptimization_spring_Setup.xml │ │ ├── std_BothLegsHip45__FiberLength.sto │ │ ├── std_BothLegs_fiberLength.sto │ │ ├── std_DoublePendulum3D_JointReaction_ReactionLoads.sto │ │ ├── std_DoublePendulum3D_JointReaction_ReactionLoads_FrameKeyword.sto │ │ ├── std_Millard2012AccelerationMuscle_arm26_StaticOptimization_activation.sto │ │ ├── std_Millard2012AccelerationMuscle_arm26_StaticOptimization_force.sto │ │ ├── std_Millard2012AccelerationMuscle_arm26_bounds_StaticOptimization_activation.sto │ │ ├── std_Millard2012AccelerationMuscle_arm26_bounds_StaticOptimization_force.sto │ │ ├── std_Millard2012EquilibriumMuscle_arm26_StaticOptimization_activation.sto │ │ ├── std_Millard2012EquilibriumMuscle_arm26_StaticOptimization_force.sto │ │ ├── std_Millard2012EquilibriumMuscle_arm26_bounds_StaticOptimization_activation.sto │ │ ├── std_Millard2012EquilibriumMuscle_arm26_bounds_StaticOptimization_force.sto │ │ ├── std_SinglePin_JointReaction_ReactionLoads.sto │ │ ├── std_SinglePin_JointReaction_ReactionLoads_FrameKeyword.sto │ │ ├── std_Thelen2003Muscle_Deprecated_arm26_StaticOptimization_activation.sto │ │ ├── std_Thelen2003Muscle_Deprecated_arm26_StaticOptimization_force.sto │ │ ├── std_Thelen2003Muscle_Deprecated_arm26_bounds_StaticOptimization_activation.sto │ │ ├── std_Thelen2003Muscle_Deprecated_arm26_bounds_StaticOptimization_force.sto │ │ ├── std_Thelen2003Muscle_arm26_StaticOptimization_activation.sto │ │ ├── std_Thelen2003Muscle_arm26_StaticOptimization_force.sto │ │ ├── std_Thelen2003Muscle_arm26_bounds_StaticOptimization_activation.sto │ │ ├── std_Thelen2003Muscle_arm26_bounds_StaticOptimization_force.sto │ │ ├── std_arm26_InverseDynamics.sto │ │ ├── std_arm26_StaticOptimization_activation.sto │ │ ├── std_arm26_StaticOptimization_force.sto │ │ ├── std_arm26_bounds_StaticOptimization_activation.sto │ │ ├── std_arm26_bounds_StaticOptimization_force.sto │ │ ├── std_subject02_running_arms_InducedAccelerations_CENTER_OF_MASS.sto │ │ ├── std_subject_InverseDynamics.sto │ │ ├── std_walk_subject01_ankle_spring_StaticOptimization_activation.sto │ │ ├── std_walk_subject01_ankle_spring_StaticOptimization_force.sto │ │ ├── subject01.osim │ │ ├── subject01_Setup_InverseDynamics.xml │ │ ├── subject01_Setup_StaticOptimization.xml │ │ ├── subject01_adjusted_spring.osim │ │ ├── subject01_simbody.osim │ │ ├── subject01_walk1_InverseDynamics.sto │ │ ├── subject01_walk1_grf.mot │ │ ├── subject01_walk1_ik.mot │ │ ├── subject02_Setup_IAA_02_232.xml │ │ ├── subject02_grf_HiFreq.mot │ │ ├── subject02_grf_HiFreq.xml │ │ ├── subject02_running_CMC_controls.xml │ │ ├── subject02_running_CMC_states.sto │ │ ├── subject02_running_RRA_cycle02_sim02_07_v232.osim │ │ ├── subject02_running_arms_ik.mot │ │ ├── subject_Setup_InverseDynamics.xml │ │ ├── testAnalyzeTool.cpp │ │ ├── testInducedAccelerations.cpp │ │ ├── testJointReactions.cpp │ │ ├── testPointKinematics.cpp │ │ ├── testStaticOptimization.cpp │ │ └── walk_subject01_Kinematics_q.sto ├── CMC │ ├── CMakeLists.txt │ ├── cmc.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── Leg6Dof9MuscSwing_std_leg6dof9musc_states.sto │ │ ├── anchor1.vtp │ │ ├── anchor2.vtp │ │ ├── arm26.osim │ │ ├── arm26_ComputedMuscleControl_Tasks.xml │ │ ├── arm26_ComputedMuscleControl_Tasks_EMG.xml │ │ ├── arm26_InverseKinematics.mot │ │ ├── arm26_Reserve_Actuators.xml │ │ ├── arm26_Setup_CMC.xml │ │ ├── arm26_Setup_ComputedMuscleControl_EMG.xml │ │ ├── block.vtp │ │ ├── block_hanging_RigidTendonMuscle.osim │ │ ├── block_hanging_from_muscle.osim │ │ ├── block_hanging_from_muscle_CMC_Tasks.xml │ │ ├── block_hanging_from_muscle_Setup_CMC.xml │ │ ├── block_hanging_from_muscle_Setup_Forward.xml │ │ ├── block_hanging_from_muscle_controls.sto │ │ ├── gait10dof18musc_Setup_CMC.xml │ │ ├── gait10dof18musc_std_walk_subject_states_unix.sto │ │ ├── gait10dof18musc_std_walk_subject_states_win.sto │ │ ├── gait10dof18musc_subject01.osim │ │ ├── gait10dof18musc_subject01_walk_grf.mot │ │ ├── gait10dof18musc_subject01_walk_grf.xml │ │ ├── gait10dof18musc_subject_adjusted_Kinematics_q.sto │ │ ├── gait10dof_Kinematics_Tracking_Tasks.xml │ │ ├── gait10dof_Reserve_Actuators.xml │ │ ├── gait2354_CMC_Actuators.xml │ │ ├── gait2354_CMC_ControlConstraints.xml │ │ ├── gait2354_CMC_Tasks.xml │ │ ├── leg69_CMC_Swing_Tracking_Tasks.xml │ │ ├── leg69_CMC_residuals_motors.xml │ │ ├── leg69_IK_stance.mot │ │ ├── leg69_IK_swing.mot │ │ ├── leg69_RRA_residuals_motors.xml │ │ ├── leg69_Setup_CMC_Stance.xml │ │ ├── leg69_Tracking_Tasks.xml │ │ ├── leg69_muscles_control_limits.xml │ │ ├── leg69_muscles_residuals_motor_control_limits.xml │ │ ├── leg69_right_grf.xml │ │ ├── leg69_stance_grf.mot │ │ ├── leg6dof9musc.osim │ │ ├── leg6dof9musc_added_mass.osim │ │ ├── leg6dof9musc_adjusted_Kinematics_q.sto │ │ ├── leg6dof9musc_setup_Swing.xml │ │ ├── leg6dof9musc_std_RRA_adjusted_states.sto │ │ ├── muscle_emg.sto │ │ ├── runningModel_CMC_Actuators.xml │ │ ├── runningModel_CMC_Tasks.xml │ │ ├── runningModel_CMC_test.osim │ │ ├── runningModel_ControlConstraints.xml │ │ ├── runningModel_GRF.xml │ │ ├── runningModel_GRF_data.mot │ │ ├── runningModel_Kinematics_q.sto │ │ ├── runningModel_Setup_CMC_test.xml │ │ ├── std_arm26_states.sto │ │ ├── std_runningModel_CMC_Actuation_force.sto │ │ ├── std_runningModel_CMC_states.sto │ │ ├── std_subject01_walk1_states_WithControlConstraints.sto │ │ ├── subject01_Setup_CMC.xml │ │ ├── subject01_externalForces.xml │ │ ├── subject01_simbody_adjusted.osim │ │ ├── subject01_walk1_CMC_Kinematics_q_standard.sto │ │ ├── subject01_walk1_RRA_Kinematics_initial_q.sto │ │ ├── subject01_walk1_grf.mot │ │ ├── subject01_walk1_ik.mot │ │ ├── subject02_Setup_CMC_cycle02_v24.xml │ │ ├── subject02_running_RRA_cycle02_07_v18.osim │ │ ├── subject02_running_grf.xml │ │ ├── testCMCArm26_Millard.cpp │ │ ├── testCMCArm26_Thelen.cpp │ │ ├── testCMCEMGDrivenArm_Millard.cpp │ │ ├── testCMCEMGDrivenArm_Thelen.cpp │ │ ├── testCMCGait10dof18musc.cpp │ │ ├── testCMCLeg6Dof9Musc.cpp │ │ ├── testCMCSingleMuscle.cpp │ │ ├── testCMCSingleRigidTendonMuscle.cpp │ │ ├── testCMCTwoMusclesOnBlock.cpp │ │ ├── testCMCWithControlConstraintsGait2354.cpp │ │ ├── testCMCWithControlConstraintsRunningModel.cpp │ │ ├── twoMusclesOnBlock.osim │ │ ├── twoMusclesOnBlock_CMC_Tasks.xml │ │ ├── twoMusclesOnBlock_Setup_CMC.xml │ │ └── twoMusclesOnBlock_Setup_Forward.xml ├── CMakeLists.txt ├── Forward │ ├── CMakeLists.txt │ ├── forward.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── arm26.osim │ │ ├── arm26_InitialStates.sto │ │ ├── arm26_Setup_Forward.xml │ │ ├── arm26_StaticOptimization_controls.xml │ │ ├── gait2354_CMC_Actuators.xml │ │ ├── pendulum.osim │ │ ├── pendulum_Setup_Forward.xml │ │ ├── pendulum_ext_gravity_Setup_Forward.xml │ │ ├── pendulum_ext_point_in_ground_Setup_Forward.xml │ │ ├── pendulum_external_load.sto │ │ ├── pendulum_external_load.xml │ │ ├── pendulum_external_load_point_in_ground.sto │ │ ├── pendulum_external_load_point_in_ground.xml │ │ ├── pendulum_no_gravity.osim │ │ ├── std_arm26_states.sto │ │ ├── std_subject01_walk1_states.sto │ │ ├── subject01_GRFs.xml │ │ ├── subject01_Setup_Forward.xml │ │ ├── subject01_Setup_Forward_Controller.xml │ │ ├── subject01_adjusted.osim │ │ ├── subject01_walk1_controls.xml │ │ ├── subject01_walk1_grf.mot │ │ ├── subject01_walk1_ik.mot │ │ └── testForward.cpp ├── ID │ ├── CMakeLists.txt │ ├── id.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── ThorascapularShoulderModel_ID_static.xml │ │ ├── ThorascapularShoulderModel_static.mot │ │ ├── arm26.osim │ │ ├── arm26_InverseKinematics.mot │ │ ├── arm26_Setup_InverseDynamics.xml │ │ ├── std_arm26_InverseDynamics.sto │ │ ├── std_subject01_InverseDynamics.sto │ │ ├── subject01.osim │ │ ├── subject01_Setup_InverseDynamics.xml │ │ ├── subject01_walk1_grf.mot │ │ ├── subject01_walk1_grf.xml │ │ ├── subject01_walk1_ik.mot │ │ └── testID.cpp ├── IK │ ├── CMakeLists.txt │ ├── ik.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── abdbonepin.trc │ │ ├── constraintTest.trc │ │ ├── constraintTest_ikOnly.osim │ │ ├── constraintTest_setup_ik.xml │ │ ├── gait2354_IK_Tasks.xml │ │ ├── gait2354_IK_Tasks_uniform.xml │ │ ├── setup_ik_abdbonepin.xml │ │ ├── std_markers_coords_ik.sto │ │ ├── std_subject01_walk1_ik.mot │ │ ├── std_subject1_abdbonepin_IK.mot │ │ ├── subject01_Setup_InverseKinematics.xml │ │ ├── subject01_Setup_InverseKinematics_NoModel.xml │ │ ├── subject01_simbody.osim │ │ ├── subject01_synthetic_marker_data.trc │ │ ├── subject1_abdbonepin.osim │ │ ├── testIK.cpp │ │ └── testLiveIK.cpp ├── RRA │ ├── CMakeLists.txt │ ├── rra.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── desiredKinematics_padded.sto │ │ ├── desiredKinematics_splinefit_accelerations.sto │ │ ├── gait2354_RRA_Actuators.xml │ │ ├── gait2354_RRA_ControlConstraints.xml │ │ ├── gait2354_RRA_Tasks.xml │ │ ├── subject01_RRA_adjusted.osim │ │ ├── subject01_Setup_RRA.xml │ │ ├── subject01_externalForces.xml │ │ ├── subject01_simbody.osim │ │ ├── subject01_simbody_adjusted.osim │ │ ├── subject01_walk1_RRA_Kinematics_initial_q.sto │ │ ├── subject01_walk1_RRA_Kinematics_q_standard.sto │ │ ├── subject01_walk1_grf.mot │ │ ├── subject01_walk1_ik.mot │ │ └── testRRA.cpp ├── Scale │ ├── CMakeLists.txt │ ├── scale.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── gait2354_Scale_MarkerSet.xml │ │ ├── gait2354_Scale_MeasurementSet.xml │ │ ├── gait2354_Scale_Tasks.xml │ │ ├── gait2354_simbody.osim │ │ ├── init100.trc │ │ ├── markerSet.xml │ │ ├── scaleSet.xml │ │ ├── std_subject01_scaleSet_applied.xml │ │ ├── std_subject01_simbody.osim │ │ ├── std_toyLigamentModelScaled.osim │ │ ├── subject01_Scale_ScaleSet.xml │ │ ├── subject01_Setup_Scale.xml │ │ ├── subject01_Setup_Scale_GUI.xml │ │ ├── subject01_scaleSet_applied.xml │ │ ├── subject01_static.trc │ │ ├── testScale.cpp │ │ ├── toyLigamentModel.osim │ │ └── toyLigamentModel_Setup_Scale.xml ├── opensense │ ├── CMakeLists.txt │ ├── opensense.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── MT_012005D6_009-quaternions_RHJCSwinger.sto │ │ ├── MT_012005D6_009-quaternions_calibration_trial_Facing_X.sto │ │ ├── MT_012005D6_009-quaternions_calibration_trial_Facing_negX.sto │ │ ├── calibrate_rotated.xml │ │ ├── calibrated_pelvis_rot.osim │ │ ├── imuOrientations.sto │ │ ├── imuPlacer.xml │ │ ├── imuPlacerFaceNegX.xml │ │ ├── imuPlacerFaceX.xml │ │ ├── model_Rajagopal2015_posed.osim │ │ ├── myComplexTasksTrial_orientations.sto │ │ ├── myIMUMappings_complexTasks.xml │ │ ├── setup_IMUInverseKinematics_HJC_trial.xml │ │ ├── setup_IMUInverseKinematics_HJC_trial_nofeet.xml │ │ ├── std_calibrated_pelvis_rot.osim │ │ ├── std_calibrated_subject07.osim │ │ ├── subject07.osim │ │ └── testOpenSense.cpp ├── opensim-cmd │ ├── CMakeLists.txt │ ├── opensim-cmd.cpp │ ├── opensim-cmd_info.h │ ├── opensim-cmd_print-xml.h │ ├── opensim-cmd_run-tool.h │ ├── opensim-cmd_update-file.h │ ├── opensim-cmd_viz.h │ ├── parse_arguments.h │ └── test │ │ ├── CMakeLists.txt │ │ └── testCommandLineInterface.cpp ├── opensim-install-command-line.sh ├── opensim-visualize │ ├── CMakeLists.txt │ └── opensim-visualize.cpp └── versionUpdate │ ├── CMakeLists.txt │ └── versionUpdate.cpp ├── Bindings ├── CMakeLists.txt ├── Java │ ├── CMakeLists.txt │ ├── JavaLogSink.java │ ├── Matlab │ │ ├── CMakeLists.txt │ │ ├── CustomStaticOptimization │ │ │ ├── CustomStaticOptimization.m │ │ │ └── loadFilterCropArray.m │ │ ├── Dynamic_Walking_Tutorials │ │ │ ├── Dynamic_Walker_Builder │ │ │ │ ├── DynamicWalkerModel.osim │ │ │ │ ├── buildWalker.m │ │ │ │ └── buildWalker_Complete.m │ │ │ └── Dynamic_Walker_Challenge │ │ │ │ ├── Model │ │ │ │ └── WalkerModelTerrain.osim │ │ │ │ └── UserFunctions │ │ │ │ ├── AddClutchedPathSpring.m │ │ │ │ ├── AddCoordinateActuator.m │ │ │ │ ├── AddCustomFeet.m │ │ │ │ ├── AddExpressionPointToPointForceMagnets.m │ │ │ │ ├── AddMillardMuscle.m │ │ │ │ ├── AddPathActuator.m │ │ │ │ ├── AddPathSpring.m │ │ │ │ ├── AddSpringGeneralizedForce.m │ │ │ │ ├── CreateWalkingModelEnvironment.m │ │ │ │ ├── DesignMainStarter.m │ │ │ │ ├── DesignMainStarterWithControls.m │ │ │ │ ├── IntegrateOpenSimPlant.m │ │ │ │ ├── Main_WalkerForwardSim.m │ │ │ │ ├── Main_WalkerForwardSimWithControls.m │ │ │ │ ├── OpenSimPlantControlsFunction.m │ │ │ │ ├── OpenSimPlantFunction.m │ │ │ │ ├── PlotOpenSimData.m │ │ │ │ ├── Simulation_using_Matlab_Integration.m │ │ │ │ └── ThinHalfCylinder100mmby50mm.obj │ │ ├── Hopper_Device │ │ │ ├── .gitignore │ │ │ ├── BuildCustomHopper.m │ │ │ ├── BuildDevice.m │ │ │ ├── BuildHopper.m │ │ │ ├── EvaluateHopper.m │ │ │ ├── InteractiveHopper.fig │ │ │ ├── InteractiveHopper.m │ │ │ ├── InteractiveHopperParameters.m │ │ │ ├── InteractiveHopperSettings.m │ │ │ ├── OptimizeHopper.m │ │ │ ├── README.txt │ │ │ ├── RunHopperWithDevice_answers.m │ │ │ └── RunHopper_answers.m │ │ ├── OpenSenseExample │ │ │ ├── Geometry │ │ │ │ ├── capitate_lvs.vtp │ │ │ │ ├── capitate_rvs.vtp │ │ │ │ ├── femur_l.vtp │ │ │ │ ├── femur_r.vtp │ │ │ │ ├── hamate_lvs.vtp │ │ │ │ ├── hamate_rvs.vtp │ │ │ │ ├── hat_jaw.vtp │ │ │ │ ├── hat_ribs_scap.vtp │ │ │ │ ├── hat_skull.vtp │ │ │ │ ├── hat_spine.vtp │ │ │ │ ├── humerus_lv.vtp │ │ │ │ ├── humerus_rv.vtp │ │ │ │ ├── index_distal_lvs.vtp │ │ │ │ ├── index_distal_rvs.vtp │ │ │ │ ├── index_medial_lvs.vtp │ │ │ │ ├── index_medial_rvs.vtp │ │ │ │ ├── index_proximal_lvs.vtp │ │ │ │ ├── index_proximal_rvs.vtp │ │ │ │ ├── l_bofoot.vtp │ │ │ │ ├── l_femur.vtp │ │ │ │ ├── l_fibula.vtp │ │ │ │ ├── l_foot.vtp │ │ │ │ ├── l_patella.vtp │ │ │ │ ├── l_pelvis.vtp │ │ │ │ ├── l_talus.vtp │ │ │ │ ├── l_tibia.vtp │ │ │ │ ├── little_distal_lvs.vtp │ │ │ │ ├── little_distal_rvs.vtp │ │ │ │ ├── little_medial_lvs.vtp │ │ │ │ ├── little_medial_rvs.vtp │ │ │ │ ├── little_proximal_lvs.vtp │ │ │ │ ├── little_proximal_rvs.vtp │ │ │ │ ├── lunate_lvs.vtp │ │ │ │ ├── lunate_rvs.vtp │ │ │ │ ├── metacarpal1_lvs.vtp │ │ │ │ ├── metacarpal1_rvs.vtp │ │ │ │ ├── metacarpal2_lvs.vtp │ │ │ │ ├── metacarpal2_rvs.vtp │ │ │ │ ├── metacarpal3_lvs.vtp │ │ │ │ ├── metacarpal3_rvs.vtp │ │ │ │ ├── metacarpal4_lvs.vtp │ │ │ │ ├── metacarpal4_rvs.vtp │ │ │ │ ├── metacarpal5_lvs.vtp │ │ │ │ ├── metacarpal5_rvs.vtp │ │ │ │ ├── middle_distal_lvs.vtp │ │ │ │ ├── middle_distal_rvs.vtp │ │ │ │ ├── middle_medial_lvs.vtp │ │ │ │ ├── middle_medial_rvs.vtp │ │ │ │ ├── middle_proximal_lvs.vtp │ │ │ │ ├── middle_proximal_rvs.vtp │ │ │ │ ├── pisiform_lvs.vtp │ │ │ │ ├── pisiform_rvs.vtp │ │ │ │ ├── r_bofoot.vtp │ │ │ │ ├── r_femur.vtp │ │ │ │ ├── r_fibula.vtp │ │ │ │ ├── r_foot.vtp │ │ │ │ ├── r_patella.vtp │ │ │ │ ├── r_pelvis.vtp │ │ │ │ ├── r_talus.vtp │ │ │ │ ├── r_tibia.vtp │ │ │ │ ├── radius_lv.vtp │ │ │ │ ├── radius_rv.vtp │ │ │ │ ├── ring_distal_lvs.vtp │ │ │ │ ├── ring_distal_rvs.vtp │ │ │ │ ├── ring_medial_lvs.vtp │ │ │ │ ├── ring_medial_rvs.vtp │ │ │ │ ├── ring_proximal_lvs.vtp │ │ │ │ ├── ring_proximal_rvs.vtp │ │ │ │ ├── sacrum.vtp │ │ │ │ ├── scaphoid_lvs.vtp │ │ │ │ ├── scaphoid_rvs.vtp │ │ │ │ ├── thumb_distal_lvs.vtp │ │ │ │ ├── thumb_distal_rvs.vtp │ │ │ │ ├── thumb_proximal_lvs.vtp │ │ │ │ ├── thumb_proximal_rvs.vtp │ │ │ │ ├── tibia_l.vtp │ │ │ │ ├── tibia_r.vtp │ │ │ │ ├── trapezium_lvs.vtp │ │ │ │ ├── trapezium_rvs.vtp │ │ │ │ ├── trapezoid_lvs.vtp │ │ │ │ ├── trapezoid_rvs.vtp │ │ │ │ ├── triquetrum_lvs.vtp │ │ │ │ ├── triquetrum_rvs.vtp │ │ │ │ ├── ulna_lv.vtp │ │ │ │ └── ulna_rv.vtp │ │ │ ├── IMUData │ │ │ │ ├── MT_012005D6_009-001_00B421E6.txt │ │ │ │ ├── MT_012005D6_009-001_00B421ED.txt │ │ │ │ ├── MT_012005D6_009-001_00B421EE.txt │ │ │ │ ├── MT_012005D6_009-001_00B421EF.txt │ │ │ │ ├── MT_012005D6_009-001_00B42268.txt │ │ │ │ ├── MT_012005D6_009-001_00B42279.txt │ │ │ │ ├── MT_012005D6_009-001_00B4227C.txt │ │ │ │ └── MT_012005D6_009-001_00B4227D.txt │ │ │ ├── IMUDataConversion.m │ │ │ ├── OpenSense_CalibrateModel.m │ │ │ ├── OpenSense_OrientationTracking.m │ │ │ ├── Rajagopal_2015.osim │ │ │ ├── myIMUIK_Setup.xml │ │ │ ├── myIMUMappings.xml │ │ │ └── myIMUPlacer_Setup.xml │ │ ├── Utilities │ │ │ ├── osimC3D.m │ │ │ ├── osimList2MatlabCell.m │ │ │ ├── osimMocoTrajectoryReport.m │ │ │ ├── osimSimulate.m │ │ │ ├── osimTableFromStruct.m │ │ │ ├── osimTableToStruct.m │ │ │ ├── osimVec3FromArray.m │ │ │ └── osimVec3ToArray.m │ │ ├── WalkerModel.osim │ │ ├── configureOpenSim.m.in │ │ ├── examples │ │ │ ├── KneeReflex.m │ │ │ ├── KneeReflex_answers.m │ │ │ ├── Moco │ │ │ │ ├── example2DWalking │ │ │ │ │ ├── example2DWalking.m │ │ │ │ │ ├── example2DWalkingMetabolics.m │ │ │ │ │ └── example2DWalkingStepAsymmetry.m │ │ │ │ ├── example3DWalking │ │ │ │ │ ├── example3DWalking.m │ │ │ │ │ ├── exampleMocoInverse.m │ │ │ │ │ └── exampleMocoTrack.m │ │ │ │ ├── exampleEMGTracking │ │ │ │ │ ├── coordinates.mot │ │ │ │ │ ├── emg.sto │ │ │ │ │ ├── exampleEMGTracking.m │ │ │ │ │ ├── exampleEMGTracking_answers.m │ │ │ │ │ ├── external_loads.xml │ │ │ │ │ ├── grf.mot │ │ │ │ │ └── subject_walk_armless_18musc.osim │ │ │ │ ├── exampleMarkerTracking10DOF │ │ │ │ │ ├── exampleMarkerTracking10DOF.m │ │ │ │ │ ├── marker_trajectories.trc │ │ │ │ │ ├── state_reference.mot │ │ │ │ │ └── subject01.osim │ │ │ │ ├── exampleMinimizeJointReaction.m │ │ │ │ ├── exampleOptimizeMass.m │ │ │ │ ├── examplePrototypeCustomGoal.m │ │ │ │ ├── exampleSlidingMass.m │ │ │ │ └── exampleSquatToStand │ │ │ │ │ ├── exampleIMUTracking │ │ │ │ │ ├── exampleIMUTracking.m │ │ │ │ │ └── exampleIMUTracking_answers.m │ │ │ │ │ ├── exampleSquatToStand.m │ │ │ │ │ ├── exampleSquatToStand_answers.m │ │ │ │ │ ├── mocoPlotTrajectory.m │ │ │ │ │ └── squatToStand_3dof9musc.osim │ │ │ ├── OpenSimCreateTugOfWarModel.m │ │ │ ├── PolynomialPathFitter │ │ │ │ └── examplePolynomialPathFitter.m │ │ │ ├── TugOfWar_CompleteRunVisualize.m │ │ │ ├── Wrapping │ │ │ │ └── exampleScholz2015GeometryPath.m │ │ │ ├── build_and_simulate_simple_arm.m │ │ │ ├── c3dExport.m │ │ │ ├── createActuatorsFile.m │ │ │ ├── examplePointMass.m │ │ │ ├── matrixConversions.m │ │ │ ├── pendulum_marker_positions.m │ │ │ ├── plotMuscleFLCurves.m │ │ │ ├── prescribeMotionInModel.m │ │ │ ├── setupAndRunAnalyzeBatchExample.m │ │ │ ├── setupAndRunIKBatchExample.m │ │ │ ├── simpleOptimizerExample.m │ │ │ ├── simpleOptimizerObjectiveFunction.m │ │ │ ├── strengthScaler.m │ │ │ ├── testData │ │ │ │ ├── Arm26_Optimize.osim │ │ │ │ └── Subject01 │ │ │ │ │ ├── AnalyzeSetup │ │ │ │ │ └── subject01_Setup_Analyze_generic.xml │ │ │ │ │ ├── IKSetup │ │ │ │ │ └── subject01_Setup_IK_generic.xml │ │ │ │ │ ├── MarkerData │ │ │ │ │ ├── walk_free_01.trc │ │ │ │ │ ├── walk_free_02.trc │ │ │ │ │ └── walk_free_03.trc │ │ │ │ │ └── subject01_gait2392_scaled.osim │ │ │ └── wiringInputsAndOutputsWithTableReporter.m │ │ └── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── testAccessSubcomponents.m │ │ │ ├── testConnectorsInputsOutputs.m │ │ │ ├── testMocoSWIGAdditionalInterface.m │ │ │ ├── testMocoWorkflow.m │ │ │ ├── testOsimC3D.m │ │ │ ├── testOsimList2MatlabCell.m │ │ │ ├── testOsimVec3.m │ │ │ ├── testSimbody.m │ │ │ ├── testWalkerScripts.m │ │ │ └── testosimTableStruct.m │ ├── OpenSimJNI │ │ ├── About.cpp │ │ ├── CMakeLists.txt │ │ ├── Hooks │ │ │ ├── SimtkAnimationCallback.cpp │ │ │ └── SimtkAnimationCallback.h │ │ ├── OpenSimContext.cpp │ │ ├── OpenSimContext.h │ │ └── Test │ │ │ ├── CMakeLists.txt │ │ │ ├── arm26_20.osim │ │ │ ├── testContext.cpp │ │ │ └── wrist.osim │ ├── swig │ │ ├── java_actuators.i │ │ ├── java_common.i │ │ ├── java_examplecomponents.i │ │ ├── java_moco.i │ │ ├── java_preliminaries.i │ │ ├── java_simbody.i │ │ └── java_simulation.i │ └── tests │ │ ├── CMakeLists.txt │ │ ├── TestArrays.java │ │ ├── TestBasics.java │ │ ├── TestC3DFileAdapter.java │ │ ├── TestEditMarkers.java │ │ ├── TestEditProperties.java │ │ ├── TestIKInterfaces.java │ │ ├── TestIterators.java │ │ ├── TestMocoSlidingMass.java │ │ ├── TestModelBuilding.java │ │ ├── TestReporter.java │ │ ├── TestTables.java │ │ ├── TestVectors.java │ │ ├── TestVisualization.java │ │ └── TestXsensDataReader.java ├── OpenSimHeaders_actuators.h ├── OpenSimHeaders_analyses.h ├── OpenSimHeaders_common.h ├── OpenSimHeaders_examplecomponents.h ├── OpenSimHeaders_moco.h ├── OpenSimHeaders_simulation.h ├── OpenSimHeaders_tools.h ├── PropertyHelper.h ├── Python │ ├── CMakeLists.txt │ ├── OpenSenseExample │ │ ├── OpenSense_CalibrateModel.py │ │ ├── OpenSense_IMUDataConverter.py │ │ └── OpenSense_OrientationTracking.py │ ├── __init__.py │ ├── examples │ │ ├── Moco │ │ │ ├── example2DWalking │ │ │ │ ├── example2DWalking.py │ │ │ │ ├── example2DWalkingMetabolics.py │ │ │ │ └── example2DWalkingStepAsymmetry.py │ │ │ ├── example3DWalking │ │ │ │ ├── example3DWalking.py │ │ │ │ ├── exampleMocoInverse.py │ │ │ │ └── exampleMocoTrack.py │ │ │ ├── exampleEMGTracking │ │ │ │ ├── exampleEMGTracking.py │ │ │ │ ├── exampleEMGTracking_answers.py │ │ │ │ └── exampleEMGTracking_helpers.py │ │ │ ├── exampleHangingMuscle.py │ │ │ ├── exampleKinematicConstraints.py │ │ │ ├── exampleOptimizeMass.py │ │ │ ├── examplePredictAndTrack.py │ │ │ ├── exampleSlidingMass.py │ │ │ ├── exampleSquatToStand │ │ │ │ ├── exampleIMUTracking │ │ │ │ │ ├── exampleIMUTracking.py │ │ │ │ │ ├── exampleIMUTracking_answers.py │ │ │ │ │ └── exampleIMUTracking_helpers.py │ │ │ │ ├── exampleSquatToStand.py │ │ │ │ ├── exampleSquatToStand_answers.py │ │ │ │ ├── exampleSquatToStand_helpers.py │ │ │ │ └── mocoPlotTrajectory.py │ │ │ ├── plot_casadi_sparsity.py │ │ │ └── plot_trajectory.py │ │ ├── PolynomialPathFitter │ │ │ ├── examplePolynomialPathFitter.py │ │ │ └── examplePolynomialPathFitter_plotting.py │ │ ├── Wrapping │ │ │ └── exampleScholz2015GeometryPath.py │ │ ├── build_simple_arm_model.py │ │ ├── dynamic_walker_example_model.osim │ │ ├── dynamic_walker_example_optimization.py │ │ ├── extend_OpenSim_Vec3_class.py │ │ ├── numpy_conversions.py │ │ ├── posthoc_StatesTrajectory_example.py │ │ └── wiring_inputs_and_outputs_with_TableReporter.py │ ├── report.py │ ├── setup.py │ ├── swig │ │ ├── numpy.i │ │ ├── python_actuators.i │ │ ├── python_analyses.i │ │ ├── python_common.i │ │ ├── python_examplecomponents.i │ │ ├── python_moco.i │ │ ├── python_preliminaries.i │ │ ├── python_simbody.i │ │ ├── python_simulation.i │ │ ├── python_tools.i │ │ ├── std_carray.i │ │ └── std_carray.swg │ ├── tests │ │ ├── gait2392_cmc_actuators_empty_model.xml │ │ ├── gait2392_setup_forward_empty_model.xml │ │ ├── storage.sto │ │ ├── test_DataAdapter.py │ │ ├── test_DataTable.py │ │ ├── test_TableSourceReporter.py │ │ ├── test_access_subcomponents.py │ │ ├── test_basics.py │ │ ├── test_component_interface.py │ │ ├── test_consistent_with_jython.py │ │ ├── test_moco.py │ │ ├── test_opensense.py │ │ ├── test_simbody.py │ │ ├── test_simulation_utilities.py │ │ ├── test_sockets_inputs_outputs.py │ │ ├── test_states_trajectory.py │ │ └── test_swig_additional_interface.py │ ├── tutorials │ │ ├── Tutorial 1 - Introduction to OpenSim.ipynb │ │ ├── Tutorial 2 - Creating and Simulating a simple arm Model.ipynb │ │ ├── Tutorial 3 - Loading and Modifying OpenSim Models.ipynb │ │ ├── Tutorial 4 - Musculoskeletal models, Motion Files and MuscleAnalysis.ipynb │ │ ├── Tutorial 5 - Scaling, Inverse Kinematics, and Inverse Dynamics.ipynb │ │ ├── Tutorial 6 - Static Optimization.ipynb │ │ ├── Tutorial 7 - Introduction to OpenSim Moco.ipynb │ │ ├── Tutorial 8 - Creating Muscle-driven Simulations with OpenSim Moco.ipynb │ │ └── resources │ │ │ ├── Tutorial 3 │ │ │ └── double_pendulum.osim │ │ │ ├── Tutorial 4 │ │ │ ├── crouch_gait.mot │ │ │ ├── gait2392.osim │ │ │ └── normal_gait.mot │ │ │ ├── Tutorial 5 │ │ │ ├── gait2354_Scale_MarkerSet.xml │ │ │ ├── gait2354_Setup_Scale.xml │ │ │ ├── gait2354_simbody.osim │ │ │ ├── subject01_Setup_IK.xml │ │ │ ├── subject01_Setup_InverseDynamics.xml │ │ │ ├── subject01_static.trc │ │ │ ├── subject01_walk1.trc │ │ │ ├── subject01_walk1_grf.mot │ │ │ └── subject01_walk1_grf.xml │ │ │ ├── Tutorial 6 │ │ │ ├── gait10dof18musc_Strong_actuators.xml │ │ │ ├── gait10dof18musc_simbody.osim │ │ │ ├── subject01_walk_IK.mot │ │ │ ├── subject01_walk_grf.mot │ │ │ ├── subject01_walk_grf.xml │ │ │ └── subject_adjusted_Kinematics_q.sto │ │ │ ├── Tutorial 7 │ │ │ └── sliding_mass.png │ │ │ └── Tutorial 8 │ │ │ ├── images │ │ │ ├── device_optimization.png │ │ │ ├── model.png │ │ │ ├── muscle_synergies.png │ │ │ └── squat_to_stand.png │ │ │ ├── ipopt.opt │ │ │ └── squatToStand_3dof9musc.osim │ └── version.py.in ├── SWIGSimTK │ ├── Array.h │ ├── BigMatrix.h │ ├── CoordinateAxis.h │ ├── DecorativeGeometry.h │ ├── MassProperties.h │ ├── Mat.h │ ├── Quaternion.h │ ├── Readme.txt.txt │ ├── Rotation.h │ ├── SimbodyMatterSubsystem.h │ ├── SpatialAlgebra.h │ ├── Stage.h │ ├── State.h │ ├── Transform.h │ ├── UnitVec.h │ ├── Vec.h │ └── common.h ├── actuators.i ├── analyses.i ├── common.i ├── examplecomponents.i ├── moco.i ├── preliminaries.i ├── simbody.i ├── simulation.i └── tools.i ├── CHANGELOG.md ├── CHANGELOG_MOCO.md ├── CMakeLists.txt ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── DEVELOPING.md ├── LICENSE.txt ├── NOTICE ├── OpenSim ├── Actuators │ ├── About.cpp │ ├── ActivationCoordinateActuator.h │ ├── ActiveForceLengthCurve.cpp │ ├── ActiveForceLengthCurve.h │ ├── BodyActuator.cpp │ ├── BodyActuator.h │ ├── CMakeLists.txt │ ├── ClutchedPathSpring.cpp │ ├── ClutchedPathSpring.h │ ├── ConstantMuscleActivation.cpp │ ├── ConstantMuscleActivation.h │ ├── CoordinateActuator.cpp │ ├── CoordinateActuator.h │ ├── DeGrooteFregly2016Muscle.cpp │ ├── DeGrooteFregly2016Muscle.h │ ├── Delp1990Muscle_Deprecated.cpp │ ├── Delp1990Muscle_Deprecated.h │ ├── FiberCompressiveForceCosPennationCurve.cpp │ ├── FiberCompressiveForceCosPennationCurve.h │ ├── FiberCompressiveForceLengthCurve.cpp │ ├── FiberCompressiveForceLengthCurve.h │ ├── FiberForceLengthCurve.cpp │ ├── FiberForceLengthCurve.h │ ├── FirstOrderMuscleActivationDynamics.cpp │ ├── FirstOrderMuscleActivationDynamics.h │ ├── ForceVelocityCurve.cpp │ ├── ForceVelocityCurve.h │ ├── ForceVelocityInverseCurve.cpp │ ├── ForceVelocityInverseCurve.h │ ├── McKibbenActuator.cpp │ ├── McKibbenActuator.h │ ├── Millard2012AccelerationMuscle.cpp │ ├── Millard2012AccelerationMuscle.h │ ├── Millard2012EquilibriumMuscle.cpp │ ├── Millard2012EquilibriumMuscle.h │ ├── ModelFactory.cpp │ ├── ModelFactory.h │ ├── ModelOperators.h │ ├── ModelProcessor.h │ ├── MuscleActivationDynamics.cpp │ ├── MuscleActivationDynamics.h │ ├── MuscleFirstOrderActivationDynamicModel.cpp │ ├── MuscleFirstOrderActivationDynamicModel.h │ ├── MuscleFixedWidthPennationModel.cpp │ ├── MuscleFixedWidthPennationModel.h │ ├── MuscleSecondOrderActivationDynamicModel.cpp │ ├── MuscleSecondOrderActivationDynamicModel.h │ ├── PointActuator.cpp │ ├── PointActuator.h │ ├── PointToPointActuator.cpp │ ├── PointToPointActuator.h │ ├── PolynomialPathFitter.cpp │ ├── PolynomialPathFitter.h │ ├── RegisterTypes_osimActuators.cpp │ ├── RegisterTypes_osimActuators.h │ ├── RigidTendonMuscle.cpp │ ├── RigidTendonMuscle.h │ ├── Schutte1993Muscle_Deprecated.cpp │ ├── Schutte1993Muscle_Deprecated.h │ ├── SpringGeneralizedForce.cpp │ ├── SpringGeneralizedForce.h │ ├── TendonForceLengthCurve.cpp │ ├── TendonForceLengthCurve.h │ ├── Test │ │ ├── CMakeLists.txt │ │ ├── linear_move.sto │ │ ├── testActuators.cpp │ │ ├── testDeGrooteFregly2016Muscle.cpp │ │ ├── testModelProcessor.cpp │ │ ├── testMuscleFirstOrderActivationDynamicModel.cpp │ │ ├── testMuscleFixedWidthPennationModel.cpp │ │ ├── testMuscles.cpp │ │ ├── testPolynomialPathFitter.cpp │ │ └── testSerializableMuscleCurves.cpp │ ├── Thelen2003Muscle.cpp │ ├── Thelen2003Muscle.h │ ├── Thelen2003Muscle_Deprecated.cpp │ ├── Thelen2003Muscle_Deprecated.h │ ├── TorqueActuator.cpp │ ├── TorqueActuator.h │ ├── ZerothOrderMuscleActivationDynamics.cpp │ ├── ZerothOrderMuscleActivationDynamics.h │ ├── osimActuators.h │ ├── osimActuatorsDLL.cpp │ └── osimActuatorsDLL.h ├── Analyses │ ├── About.cpp │ ├── Actuation.cpp │ ├── Actuation.h │ ├── BodyKinematics.cpp │ ├── BodyKinematics.h │ ├── CMakeLists.txt │ ├── ForceReporter.cpp │ ├── ForceReporter.h │ ├── IMUDataReporter.cpp │ ├── IMUDataReporter.h │ ├── InducedAccelerations.cpp │ ├── InducedAccelerations.h │ ├── InducedAccelerationsSolver.cpp │ ├── InducedAccelerationsSolver.h │ ├── InverseDynamics.cpp │ ├── InverseDynamics.h │ ├── JointReaction.cpp │ ├── JointReaction.h │ ├── Kinematics.cpp │ ├── Kinematics.h │ ├── MuscleAnalysis.cpp │ ├── MuscleAnalysis.h │ ├── OutputReporter.cpp │ ├── OutputReporter.h │ ├── PointKinematics.cpp │ ├── PointKinematics.h │ ├── ProbeReporter.cpp │ ├── ProbeReporter.h │ ├── RegisterTypes_osimAnalyses.cpp │ ├── RegisterTypes_osimAnalyses.h │ ├── StatesReporter.cpp │ ├── StatesReporter.h │ ├── StaticOptimization.cpp │ ├── StaticOptimization.h │ ├── StaticOptimizationTarget.cpp │ ├── StaticOptimizationTarget.h │ ├── Test │ │ ├── CMakeLists.txt │ │ └── testOutputReporter.cpp │ ├── osimAnalyses.h │ ├── osimAnalysesDLL.cpp │ └── osimAnalysesDLL.h ├── Auxiliary │ ├── auxiliaryTestFunctions.h │ ├── auxiliaryTestMuscleFunctions.h │ └── getRSS.h ├── CMakeLists.txt ├── Common │ ├── APDMDataReader.cpp │ ├── APDMDataReader.h │ ├── APDMDataReaderSettings.h │ ├── About.cpp │ ├── About.h │ ├── AbstractDataTable.cpp │ ├── AbstractDataTable.h │ ├── AbstractProperty.cpp │ ├── AbstractProperty.h │ ├── Adapters.h │ ├── Array.h │ ├── ArrayPtrs.h │ ├── Assertion.cpp │ ├── Assertion.h │ ├── C3DFileAdapter.cpp │ ├── C3DFileAdapter.h │ ├── CMakeLists.txt │ ├── CSVFileAdapter.cpp │ ├── CSVFileAdapter.h │ ├── CommonUtilities.cpp │ ├── CommonUtilities.h │ ├── Component.cpp │ ├── Component.h │ ├── ComponentList.cpp │ ├── ComponentList.h │ ├── ComponentOutput.cpp │ ├── ComponentOutput.h │ ├── ComponentPath.cpp │ ├── ComponentPath.h │ ├── ComponentSocket.cpp │ ├── ComponentSocket.h │ ├── Constant.cpp │ ├── Constant.h │ ├── DataAdapter.cpp │ ├── DataAdapter.h │ ├── DataQueue.h │ ├── DataTable.h │ ├── DebugUtilities.cpp │ ├── DebugUtilities.h │ ├── DelimFileAdapter.h │ ├── Event.h │ ├── Exception.cpp │ ├── Exception.h │ ├── ExperimentalSensor.h │ ├── ExpressionBasedFunction.cpp │ ├── ExpressionBasedFunction.h │ ├── FileAdapter.cpp │ ├── FileAdapter.h │ ├── Function.cpp │ ├── Function.h │ ├── FunctionAdapter.cpp │ ├── FunctionAdapter.h │ ├── FunctionSet.cpp │ ├── FunctionSet.h │ ├── GCVSpline.cpp │ ├── GCVSpline.h │ ├── GCVSplineSet.cpp │ ├── GCVSplineSet.h │ ├── IMUDataReader.cpp │ ├── IMUDataReader.h │ ├── IO.cpp │ ├── IO.h │ ├── LatinHypercubeDesign.cpp │ ├── LatinHypercubeDesign.h │ ├── LinearFunction.cpp │ ├── LinearFunction.h │ ├── Lmdif.cpp │ ├── Lmdif.h │ ├── LoadOpenSimLibrary.cpp │ ├── LoadOpenSimLibrary.h │ ├── LogSink.h │ ├── Logger.cpp │ ├── Logger.h │ ├── MarkerData.cpp │ ├── MarkerData.h │ ├── MarkerFrame.cpp │ ├── MarkerFrame.h │ ├── ModelDisplayHints.h │ ├── MultiplierFunction.cpp │ ├── MultiplierFunction.h │ ├── MultivariatePolynomialFunction.cpp │ ├── MultivariatePolynomialFunction.h │ ├── Object.cpp │ ├── Object.h │ ├── ObjectGroup.cpp │ ├── ObjectGroup.h │ ├── OptimizationTarget.cpp │ ├── OptimizationTarget.h │ ├── PiecewiseConstantFunction.cpp │ ├── PiecewiseConstantFunction.h │ ├── PiecewiseLinearFunction.cpp │ ├── PiecewiseLinearFunction.h │ ├── PolynomialFunction.h │ ├── Property.cpp │ ├── Property.h │ ├── PropertyBool.cpp │ ├── PropertyBool.h │ ├── PropertyBoolArray.cpp │ ├── PropertyBoolArray.h │ ├── PropertyDbl.cpp │ ├── PropertyDbl.h │ ├── PropertyDblArray.cpp │ ├── PropertyDblArray.h │ ├── PropertyDblVec.h │ ├── PropertyGroup.cpp │ ├── PropertyGroup.h │ ├── PropertyInt.cpp │ ├── PropertyInt.h │ ├── PropertyIntArray.cpp │ ├── PropertyIntArray.h │ ├── PropertyObj.cpp │ ├── PropertyObj.h │ ├── PropertyObjArray.h │ ├── PropertyObjPtr.h │ ├── PropertySet.cpp │ ├── PropertySet.h │ ├── PropertyStr.cpp │ ├── PropertyStr.h │ ├── PropertyStrArray.cpp │ ├── PropertyStrArray.h │ ├── PropertyTable.cpp │ ├── PropertyTable.h │ ├── PropertyTransform.cpp │ ├── PropertyTransform.h │ ├── Property_Deprecated.cpp │ ├── Property_Deprecated.h │ ├── RegisterTypes_osimCommon.cpp │ ├── RegisterTypes_osimCommon.h │ ├── Reporter.cpp │ ├── Reporter.h │ ├── RootSolver.cpp │ ├── RootSolver.h │ ├── STOFileAdapter.cpp │ ├── STOFileAdapter.h │ ├── Scale.cpp │ ├── Scale.h │ ├── ScaleSet.cpp │ ├── ScaleSet.h │ ├── SegmentedQuinticBezierToolkit.cpp │ ├── SegmentedQuinticBezierToolkit.h │ ├── Set.h │ ├── Signal.cpp │ ├── Signal.h │ ├── SignalGenerator.cpp │ ├── SignalGenerator.h │ ├── SimmIO.cpp │ ├── SimmIO.h │ ├── SimmMacros.h │ ├── SimmSpline.cpp │ ├── SimmSpline.h │ ├── Sine.h │ ├── SmoothSegmentedFunction.cpp │ ├── SmoothSegmentedFunction.h │ ├── SmoothSegmentedFunctionFactory.cpp │ ├── SmoothSegmentedFunctionFactory.h │ ├── StateVector.cpp │ ├── StateVector.h │ ├── StepFunction.cpp │ ├── StepFunction.h │ ├── Stopwatch.h │ ├── Storage.cpp │ ├── Storage.h │ ├── StorageFactory.h │ ├── StorageInterface.h │ ├── TRCFileAdapter.cpp │ ├── TRCFileAdapter.h │ ├── TableSource.h │ ├── TableUtilities.cpp │ ├── TableUtilities.h │ ├── Test │ │ ├── CMakeLists.txt │ │ ├── ComponentsForTesting.h │ │ ├── ExampleVectorFunctionUncoupledNxN.h │ │ ├── SerializableObject.h │ │ ├── SerializableObject2.h │ │ ├── dataWithBlanksForMissingMarkers.trc │ │ ├── dataWithEformat.trc │ │ ├── dataWithNaNsOfDifferentCases.trc │ │ ├── dataWithNaNsWithSpaces.trc │ │ ├── exampleFormat.trc │ │ ├── obj1Bad.xml │ │ ├── obj1Defaults.xml │ │ ├── sampleOutputs.sto │ │ ├── sampleOutputsSpatialVec.sto │ │ ├── sampleOutputsVec3.sto │ │ ├── std_cop_walking2_grfs.sto │ │ ├── std_cop_walking5_grfs.sto │ │ ├── std_walking2_analog.sto │ │ ├── std_walking2_grfs.sto │ │ ├── std_walking2_markers.trc │ │ ├── std_walking5_analog.sto │ │ ├── std_walking5_grfs.sto │ │ ├── std_walking5_markers.trc │ │ ├── test.sto │ │ ├── testAPDMDataReader.cpp │ │ ├── testArray.cpp │ │ ├── testAssertion.cpp │ │ ├── testC3DFileAdapter.cpp │ │ ├── testCommonUtilities.cpp │ │ ├── testComponentInterface.cpp │ │ ├── testDataTable.cpp │ │ ├── testDiff.sto │ │ ├── testFunctionAdapter.cpp │ │ ├── testFunctions.cpp │ │ ├── testGCVSpline.cpp │ │ ├── testLatinHypercubeDesign.cpp │ │ ├── testMarkerData.cpp │ │ ├── testNCSpline.cpp │ │ ├── testPath.cpp │ │ ├── testRootSolver.cpp │ │ ├── testSTOFileAdapter.cpp │ │ ├── testSerialization.cpp │ │ ├── testSmoothSegmentedFunctionFactory.cpp │ │ ├── testStorage.cpp │ │ ├── testTRCFileAdapter.cpp │ │ └── testXsensDataReader.cpp │ ├── TimeSeriesTable.h │ ├── Units.cpp │ ├── Units.h │ ├── ValueArray.h │ ├── ValueArrayDictionary.h │ ├── VectorFunction.cpp │ ├── VectorFunction.h │ ├── VectorFunctionUncoupledNxN.cpp │ ├── VectorFunctionUncoupledNxN.h │ ├── XMLDocument.cpp │ ├── XMLDocument.h │ ├── XYFunctionInterface.cpp │ ├── XYFunctionInterface.h │ ├── XsensDataReader.cpp │ ├── XsensDataReader.h │ ├── XsensDataReaderSettings.h │ ├── gcvspl.c │ ├── gcvspl.h │ ├── osimCommon.h │ ├── osimCommonDLL.cpp │ ├── osimCommonDLL.h │ ├── osimCommonTemplates.cpp │ └── osimCommonTemplates.h ├── ExampleComponents │ ├── CMakeLists.txt │ ├── HopperDevice.h │ ├── RegisterTypes_osimExampleComponents.cpp │ ├── RegisterTypes_osimExampleComponents.h │ ├── ToyPropMyoController.h │ ├── ToyReflexController.cpp │ ├── ToyReflexController.h │ └── osimExampleComponentsDLL.h ├── Examples │ ├── BuildDynamicWalker │ │ ├── BuildDynamicWalkerModel.cpp │ │ └── CMakeLists.txt │ ├── CMakeLists.txt │ ├── ControllerExample │ │ ├── CMakeLists.txt │ │ ├── CONTROLLER_EXAMPLE_QUICK_GUIDE.txt │ │ ├── ControllerExample.cpp │ │ ├── OutputReference │ │ │ ├── ControllerExample_Solution.cpp │ │ │ ├── tugOfWar_controls.sto │ │ │ ├── tugOfWar_states.sto │ │ │ └── tugOfWar_states_degrees.mot │ │ ├── anchor1.vtp │ │ ├── anchor2.vtp │ │ ├── block.vtp │ │ ├── blockRemesh192.obj │ │ ├── ground.vtp │ │ ├── tugOfWar_desired_motion.sto │ │ └── tugOfWar_model_ThelenOnly.osim │ ├── CustomActuatorExample │ │ ├── CMakeLists.txt │ │ ├── ControllableSpring.h │ │ ├── OutputReference │ │ │ ├── SpringActuatedLeg_states_degrees.mot │ │ │ ├── actuator_forces.mot │ │ │ └── toyLeg.osim │ │ ├── PistonActuator.cpp │ │ ├── PistonActuator.h │ │ └── toyLeg_example.cpp │ ├── DataAdapter │ │ ├── CMakeLists.txt │ │ ├── exampleC3DFileAdapter.cpp │ │ └── exampleTRCFileAdapter.cpp │ ├── DataTable │ │ ├── CMakeLists.txt │ │ ├── example1.cpp │ │ └── example2.cpp │ ├── ExampleCMakeListsToInstall.txt.in │ ├── ExampleHopperDevice │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── buildDeviceModel.cpp │ │ ├── buildDeviceModel_answers.cpp │ │ ├── buildHopperModel.cpp │ │ ├── buildTestbedModel.cpp │ │ ├── defineDeviceAndController.h │ │ ├── defineDeviceAndController_answers.h │ │ ├── exampleHopperDevice.cpp │ │ ├── exampleHopperDevice_answers.cpp │ │ ├── video_step1.gif │ │ ├── video_step2.gif │ │ └── video_step3.gif │ ├── ExampleLuxoMuscle │ │ ├── Anterior_torso_bar.obj │ │ ├── Base_meters.obj │ │ ├── Bulb_meters.obj │ │ ├── CMakeLists.txt │ │ ├── H_Piece_meters.obj │ │ ├── Leg_meters.obj │ │ ├── LuxoMuscle_create_and_simulate.cpp │ │ ├── Pelvis_bracket_meters.obj │ │ ├── Posterior_torso_bar.obj │ │ ├── Shoulder_meters.obj │ │ ├── bottom_bracket_meters.obj │ │ ├── head_and_bulb_meters.obj │ │ ├── luxo_head_meters.obj │ │ └── thin_disc_0.11_by_0.01_meters.obj │ ├── ExampleMain │ │ ├── CMakeLists.txt │ │ ├── OutputReference │ │ │ ├── TugOfWar_Complete.cpp │ │ │ └── tugOfWar_model.osim │ │ ├── TugOfWar1_CreateModel.cpp │ │ └── blockMesh.obj │ ├── Moco │ │ ├── CMakeLists.txt │ │ ├── example2DWalking │ │ │ ├── 2D_gait.osim │ │ │ ├── CMakeLists.txt │ │ │ ├── example2DWalking.cpp │ │ │ ├── example2DWalkingMetabolics.cpp │ │ │ ├── referenceCoordinates.sto │ │ │ ├── referenceGRF.sto │ │ │ └── referenceGRF.xml │ │ ├── example3DWalking │ │ │ ├── CMakeLists.txt │ │ │ ├── README.txt │ │ │ ├── coordinates.sto │ │ │ ├── electromyography.sto │ │ │ ├── example3DWalking.cpp │ │ │ ├── exampleMocoInverse.cpp │ │ │ ├── exampleMocoTrack.cpp │ │ │ ├── grf_walk.mot │ │ │ ├── grf_walk.xml │ │ │ ├── id_walk.sto │ │ │ ├── ik_tasks_walk.xml │ │ │ ├── markers_walk.trc │ │ │ ├── subject_walk_scaled.osim │ │ │ ├── subject_walk_scaled_ContactForceSet.xml │ │ │ ├── subject_walk_scaled_ContactGeometrySet.xml │ │ │ ├── subject_walk_scaled_ExpressionBasedCoordinateForceSet.xml │ │ │ └── subject_walk_scaled_FunctionBasedPathSet.xml │ │ ├── exampleCustomImplicitAuxiliaryDynamics │ │ │ ├── CMakeLists.txt │ │ │ └── exampleCustomImplicitAuxiliaryDynamics.cpp │ │ ├── exampleHangingMuscle │ │ │ ├── CMakeLists.txt │ │ │ └── exampleHangingMuscle.cpp │ │ ├── exampleMarkerTracking │ │ │ ├── CMakeLists.txt │ │ │ └── exampleMarkerTracking.cpp │ │ ├── exampleMocoCustomEffortGoal │ │ │ ├── CMakeLists.txt │ │ │ ├── MocoCustomEffortGoal.cpp │ │ │ ├── MocoCustomEffortGoal.h │ │ │ ├── RegisterTypes_osimMocoCustomEffortGoal.cpp │ │ │ ├── RegisterTypes_osimMocoCustomEffortGoal.h │ │ │ ├── exampleMocoCustomEffortGoal.cpp │ │ │ └── osimMocoCustomEffortGoalDLL.h │ │ ├── exampleSlidingMass │ │ │ ├── CMakeLists.txt │ │ │ └── exampleSlidingMass.cpp │ │ ├── exampleSlidingMassAdvanced │ │ │ ├── CMakeLists.txt │ │ │ └── exampleSlidingMassAdvanced.cpp │ │ ├── exampleTracking │ │ │ ├── CMakeLists.txt │ │ │ └── exampleTracking.cpp │ │ └── exampleVariableScaling │ │ │ ├── CMakeLists.txt │ │ │ └── exampleVariableScaling.cpp │ ├── MuscleExample │ │ ├── CMakeLists.txt │ │ ├── FatigableMuscle.cpp │ │ ├── FatigableMuscle.h │ │ ├── mainFatigue.cpp │ │ └── tugOfWar_fatigue_model_GUI.osim │ ├── OptimizationExample_Arm26 │ │ ├── Arm26_Optimize.osim │ │ ├── CMakeLists.txt │ │ ├── OptimizationExample.cpp │ │ └── OutputReference │ │ │ ├── Arm26_noActivation_states.sto │ │ │ └── OptimizationExample.cpp │ ├── PluginExampleCMakeListsToInstall.txt.in │ ├── Plugins │ │ ├── AnalysisPluginExample │ │ │ ├── AnalysisPlugin_Template.cpp │ │ │ ├── AnalysisPlugin_Template.h │ │ │ ├── CMakeLists.txt │ │ │ ├── RegisterTypes_osimPlugin.cpp │ │ │ ├── RegisterTypes_osimPlugin.h │ │ │ ├── TestPlugin │ │ │ │ ├── ExpectedResults │ │ │ │ │ └── subject01_AnalysisPlugin_Template_pos.sto │ │ │ │ ├── readme.txt │ │ │ │ ├── subject01_Setup_AnalysisPluginTemplate.xml │ │ │ │ ├── subject01_simbody_adjusted.osim │ │ │ │ └── subject01_walk1_ik.mot │ │ │ ├── osimPluginDLL.h │ │ │ └── readme.txt │ │ ├── BodyDragExample │ │ │ ├── BodyDragForce.cpp │ │ │ ├── BodyDragForce.h │ │ │ ├── CMakeLists.txt │ │ │ ├── RegisterTypes_osimPlugin.cpp │ │ │ ├── RegisterTypes_osimPlugin.h │ │ │ ├── TestPlugin │ │ │ │ ├── BodyDrag_Example.ppt │ │ │ │ ├── Example1_ThreeMasses │ │ │ │ │ ├── ExpectedResults │ │ │ │ │ │ ├── Three Masses_ForceReporter_forces.sto │ │ │ │ │ │ ├── Three Masses_controls.sto │ │ │ │ │ │ ├── Three Masses_states.sto │ │ │ │ │ │ └── Three Masses_states_degrees.mot │ │ │ │ │ ├── ThreeMasses.osim │ │ │ │ │ └── forward.xml │ │ │ │ ├── Example2_Pendulum_Drag │ │ │ │ │ ├── ExpectedResults │ │ │ │ │ │ ├── pendulum_ForceReporter_forces.sto │ │ │ │ │ │ ├── pendulum_controls.sto │ │ │ │ │ │ ├── pendulum_states.sto │ │ │ │ │ │ └── pendulum_states_degrees.mot │ │ │ │ │ ├── forward.xml │ │ │ │ │ └── pendulum.osim │ │ │ │ └── readme.txt │ │ │ ├── osimPluginDLL.h │ │ │ └── readme.txt │ │ └── CoupledBushingForceExample │ │ │ ├── CMakeLists.txt │ │ │ ├── CoupledBushingForce.cpp │ │ │ ├── CoupledBushingForce.h │ │ │ ├── RegisterTypes_osimPlugin.cpp │ │ │ ├── RegisterTypes_osimPlugin.h │ │ │ └── osimPluginDLL.h │ ├── SimpleOptimizationExample │ │ ├── Arm26_Optimize.osim │ │ ├── CMakeLists.txt │ │ └── SimpleOptimizationExample.cpp │ ├── SymbolicExpressionReporter │ │ ├── CMakeLists.txt │ │ ├── RegisterTypes_osimExpPlugin.cpp │ │ ├── RegisterTypes_osimExpPlugin.h │ │ ├── SymbolicExpressionReporter.cpp │ │ ├── SymbolicExpressionReporter.h │ │ ├── osimExpPluginDLL.cpp │ │ └── osimExpPluginDLL.h │ ├── Wrapping │ │ ├── CMakeLists.txt │ │ └── exampleScholz2015GeometryPath.cpp │ └── checkEnvironment │ │ ├── CMakeLists.txt │ │ └── checkEnvironment.cpp ├── Moco │ ├── About.cpp │ ├── About.h │ ├── CMakeLists.txt │ ├── Components │ │ ├── AccelerationMotion.cpp │ │ ├── AccelerationMotion.h │ │ ├── ActuatorInputController.cpp │ │ ├── ActuatorInputController.h │ │ ├── ControlDistributor.cpp │ │ ├── ControlDistributor.h │ │ ├── DiscreteForces.cpp │ │ ├── DiscreteForces.h │ │ ├── StationPlaneContactForce.cpp │ │ └── StationPlaneContactForce.h │ ├── MocoBounds.cpp │ ├── MocoBounds.h │ ├── MocoCasADiSolver │ │ ├── CasOCFunction.cpp │ │ ├── CasOCFunction.h │ │ ├── CasOCHermiteSimpson.cpp │ │ ├── CasOCHermiteSimpson.h │ │ ├── CasOCIterate.h │ │ ├── CasOCLegendreGauss.cpp │ │ ├── CasOCLegendreGauss.h │ │ ├── CasOCLegendreGaussRadau.cpp │ │ ├── CasOCLegendreGaussRadau.h │ │ ├── CasOCProblem.cpp │ │ ├── CasOCProblem.h │ │ ├── CasOCSolver.cpp │ │ ├── CasOCSolver.h │ │ ├── CasOCTranscription.cpp │ │ ├── CasOCTranscription.h │ │ ├── CasOCTrapezoidal.cpp │ │ ├── CasOCTrapezoidal.h │ │ ├── MocoCasADiSolver.cpp │ │ ├── MocoCasADiSolver.h │ │ ├── MocoCasOCProblem.cpp │ │ └── MocoCasOCProblem.h │ ├── MocoConstraint.cpp │ ├── MocoConstraint.h │ ├── MocoConstraintInfo.cpp │ ├── MocoConstraintInfo.h │ ├── MocoControlBoundConstraint.cpp │ ├── MocoControlBoundConstraint.h │ ├── MocoDirectCollocationSolver.cpp │ ├── MocoDirectCollocationSolver.h │ ├── MocoFrameDistanceConstraint.cpp │ ├── MocoFrameDistanceConstraint.h │ ├── MocoGoal │ │ ├── MocoAccelerationTrackingGoal.cpp │ │ ├── MocoAccelerationTrackingGoal.h │ │ ├── MocoAngularVelocityTrackingGoal.cpp │ │ ├── MocoAngularVelocityTrackingGoal.h │ │ ├── MocoContactImpulseTrackingGoal.cpp │ │ ├── MocoContactImpulseTrackingGoal.h │ │ ├── MocoContactTrackingGoal.cpp │ │ ├── MocoContactTrackingGoal.h │ │ ├── MocoControlGoal.cpp │ │ ├── MocoControlGoal.h │ │ ├── MocoControlTrackingGoal.cpp │ │ ├── MocoControlTrackingGoal.h │ │ ├── MocoExpressionBasedParameterGoal.cpp │ │ ├── MocoExpressionBasedParameterGoal.h │ │ ├── MocoGeneralizedForceTrackingGoal.cpp │ │ ├── MocoGeneralizedForceTrackingGoal.h │ │ ├── MocoGoal.cpp │ │ ├── MocoGoal.h │ │ ├── MocoInitialActivationGoal.cpp │ │ ├── MocoInitialActivationGoal.h │ │ ├── MocoInitialForceEquilibriumDGFGoal.cpp │ │ ├── MocoInitialForceEquilibriumDGFGoal.h │ │ ├── MocoInitialVelocityEquilibriumDGFGoal.cpp │ │ ├── MocoInitialVelocityEquilibriumDGFGoal.h │ │ ├── MocoJointReactionGoal.cpp │ │ ├── MocoJointReactionGoal.h │ │ ├── MocoMarkerFinalGoal.cpp │ │ ├── MocoMarkerFinalGoal.h │ │ ├── MocoMarkerTrackingGoal.cpp │ │ ├── MocoMarkerTrackingGoal.h │ │ ├── MocoOrientationTrackingGoal.cpp │ │ ├── MocoOrientationTrackingGoal.h │ │ ├── MocoOutputGoal.cpp │ │ ├── MocoOutputGoal.h │ │ ├── MocoPeriodicityGoal.cpp │ │ ├── MocoPeriodicityGoal.h │ │ ├── MocoStateTrackingGoal.cpp │ │ ├── MocoStateTrackingGoal.h │ │ ├── MocoStepLengthAsymmetryGoal.cpp │ │ ├── MocoStepLengthAsymmetryGoal.h │ │ ├── MocoStepTimeAsymmetryGoal.cpp │ │ ├── MocoStepTimeAsymmetryGoal.h │ │ ├── MocoSumSquaredStateGoal.cpp │ │ ├── MocoSumSquaredStateGoal.h │ │ ├── MocoTranslationTrackingGoal.cpp │ │ └── MocoTranslationTrackingGoal.h │ ├── MocoInverse.cpp │ ├── MocoInverse.h │ ├── MocoOutputBoundConstraint.cpp │ ├── MocoOutputBoundConstraint.h │ ├── MocoOutputConstraint.cpp │ ├── MocoOutputConstraint.h │ ├── MocoParameter.cpp │ ├── MocoParameter.h │ ├── MocoProblem.cpp │ ├── MocoProblem.h │ ├── MocoProblemInfo.h │ ├── MocoProblemRep.cpp │ ├── MocoProblemRep.h │ ├── MocoScaleFactor.cpp │ ├── MocoScaleFactor.h │ ├── MocoSolver.cpp │ ├── MocoSolver.h │ ├── MocoStateBoundConstraint.cpp │ ├── MocoStateBoundConstraint.h │ ├── MocoStudy.cpp │ ├── MocoStudy.h │ ├── MocoStudyFactory.cpp │ ├── MocoStudyFactory.h │ ├── MocoTool.cpp │ ├── MocoTool.h │ ├── MocoTrack.cpp │ ├── MocoTrack.h │ ├── MocoTrajectory.cpp │ ├── MocoTrajectory.h │ ├── MocoUtilities.cpp │ ├── MocoUtilities.h │ ├── MocoVariableInfo.cpp │ ├── MocoVariableInfo.h │ ├── MocoWeightSet.h │ ├── ModelOperatorsDGF.h │ ├── RegisterTypes_osimMoco.cpp │ ├── RegisterTypes_osimMoco.h │ ├── Test │ │ ├── CMakeLists.txt │ │ ├── Testing.h │ │ ├── running_solution_full_stride.sto │ │ ├── std_testMocoInverse_subject_18musc_solution.sto │ │ ├── std_testMocoTrackGait10dof18musc_solution.sto │ │ ├── subject_20dof18musc_running.osim │ │ ├── subject_walk_armless_18musc.osim │ │ ├── subject_walk_armless_coordinates.mot │ │ ├── subject_walk_armless_external_loads.xml │ │ ├── subject_walk_armless_grfs.mot │ │ ├── testMocoActuators.cpp │ │ ├── testMocoAnalytic.cpp │ │ ├── testMocoConstraints.cpp │ │ ├── testMocoContact.cpp │ │ ├── testMocoControllers.cpp │ │ ├── testMocoGoals.cpp │ │ ├── testMocoImplicit.cpp │ │ ├── testMocoInterface.cpp │ │ ├── testMocoInverse.cpp │ │ ├── testMocoMetabolics.cpp │ │ ├── testMocoMetabolics_hanging_muscle.osim │ │ ├── testMocoParameters.cpp │ │ ├── testMocoTrack.cpp │ │ ├── walk_gait1018_state_reference.mot │ │ ├── walk_gait1018_subject01.osim │ │ ├── walk_gait1018_subject01_grf.mot │ │ └── walk_gait1018_subject01_grf.xml │ ├── osimMoco.h │ └── osimMocoDLL.h ├── OpenSim.h ├── Sandbox │ ├── CMakeLists.txt │ ├── ImplicitDifferentialEquations │ │ ├── ImplicitDifferentialEquations.md │ │ └── pseudoImplicitDifferentialEquations.cpp │ ├── ImuStreaming.cpp │ ├── ListInput.h │ ├── MatlabScripts │ │ ├── DeGrooteFregly2016MuscleDerivatives.m │ │ ├── build_and_simulate_simple_arm.m │ │ ├── createActuatorsFile.m │ │ ├── dataTable_example.m │ │ ├── double_pendulum_markers.osim │ │ ├── gait2354_simbody.osim │ │ ├── pendulum_markers.sto │ │ ├── plotMuscleFLCurves.m │ │ ├── simulate_double_pendulum_and_write_tables.m │ │ ├── temp_trc_file.trc │ │ ├── temp_trc_file_rotated.trc │ │ ├── test_walking.c3d │ │ └── test_walking.trc │ ├── Moco │ │ ├── CMakeLists.txt │ │ ├── DeGrooteFregly2016MuscleDerivatives.m │ │ ├── animate_iterations.py │ │ ├── plot_Ackermann2010_contact.py │ │ ├── plot_contact_models.py │ │ ├── plot_tug_of_war_roundtrip.py │ │ ├── sandboxCasADi.cpp │ │ ├── sandboxCasADiParallelMap.cpp │ │ ├── sandboxContact.cpp │ │ ├── sandboxDGFPassive.m │ │ ├── sandboxJointReaction │ │ │ ├── CMakeLists.txt │ │ │ └── sandboxJointReaction.cpp │ │ ├── sandboxMarkerTrackingWholeBody │ │ │ ├── CMakeLists.txt │ │ │ ├── MuscleLikeCoordinateActuator.cpp │ │ │ ├── MuscleLikeCoordinateActuator.h │ │ │ └── sandboxMarkerTrackingWholeBody.cpp │ │ ├── sandboxMocoTrack │ │ │ ├── CMakeLists.txt │ │ │ └── sandboxMocoTrack.cpp │ │ ├── sandboxMocoUserControlCost │ │ │ ├── CMakeLists.txt │ │ │ ├── MocoUserControlCost.cpp │ │ │ ├── MocoUserControlCost.h │ │ │ ├── marker_trajectories.trc │ │ │ ├── sandboxMocoUserControlCost.cpp │ │ │ ├── state_reference.mot │ │ │ └── subject01.osim │ │ ├── sandboxMuscle.cpp │ │ ├── sandboxOneLegCouplerKnee │ │ │ ├── CMakeLists.txt │ │ │ ├── Rajagopal2015_right_leg_9musc.osim │ │ │ └── sandboxOneLegCouplerKnee.cpp │ │ ├── sandboxSandbox.cpp │ │ ├── sandboxSimTKMotion.cpp │ │ ├── sandboxSquatToStand │ │ │ ├── CMakeLists.txt │ │ │ ├── assistedSquatToStand.m │ │ │ ├── getMuscleDrivenModel.m │ │ │ └── sandboxSquatToStand.cpp │ │ ├── sandboxWholeBodyTracking │ │ │ ├── CMakeLists.txt │ │ │ ├── sandboxWholeBodyTracking.cpp │ │ │ └── state_reference.mot │ │ ├── shared │ │ │ └── MocoSandboxShared.h │ │ ├── walk_gait1018_state_reference.mot │ │ ├── walk_gait1018_subject01_grf.mot │ │ └── walk_gait1018_subject01_grf.xml │ ├── OpenSimPocketGuide.pdf │ ├── README.txt │ ├── TaskSpace │ │ ├── CMakeLists.txt │ │ ├── TaskBasedController.cpp │ │ ├── TaskBasedController.h │ │ ├── TaskSpace.cpp │ │ ├── TaskSpace.h │ │ ├── futureTaskSpace.cpp │ │ └── futureTaskSpace.osim │ ├── UsefulComponents │ │ ├── CMakeLists.txt │ │ ├── FunctionComponentSocket.h │ │ └── futureComponents.cpp │ ├── chrisdembia │ │ ├── metabolics_opensimic.py │ │ └── metabolics_pythonic.py │ ├── futureIKListOutputs.cpp │ ├── futureMarkerPreview.cpp │ ├── futureMarkerPreviewData.trc │ ├── futureMuscleMetabolicsResponse.cpp │ ├── futureOrientationInverseKinematics.cpp │ ├── futureOrientationInverseKinematics.osim │ ├── futureOrientationInverseKinematics.trc │ ├── futureOutputVectorsAndChannels.cpp │ ├── futureProcessWalkSimulation.py │ ├── futureRigidContact.cpp │ ├── futureStatesTrajectoryUsage.cpp │ ├── pseudoInverseKinematicsStudy.cpp │ ├── pseudoJointMetabolics.cpp │ ├── pseudoKinematicsReporting.cpp │ ├── pseudoMuscleLinesOfAction.cpp │ ├── pseudoMuscleReporting.cpp │ ├── sandboxIKVectorOutputs.cpp │ └── xsens │ │ ├── CMakeLists.txt │ │ └── ImuStreaming.cpp ├── Simulation │ ├── About.cpp │ ├── AssemblySolver.cpp │ ├── AssemblySolver.h │ ├── BufferedOrientationsReference.cpp │ ├── BufferedOrientationsReference.h │ ├── CMakeLists.txt │ ├── Control │ │ ├── Control.cpp │ │ ├── Control.h │ │ ├── ControlConstant.cpp │ │ ├── ControlConstant.h │ │ ├── ControlLinear.cpp │ │ ├── ControlLinear.h │ │ ├── ControlLinearNode.cpp │ │ ├── ControlLinearNode.h │ │ ├── ControlSet.cpp │ │ ├── ControlSet.h │ │ ├── ControlSetController.cpp │ │ ├── ControlSetController.h │ │ ├── Controller.cpp │ │ ├── Controller.h │ │ ├── InputController.cpp │ │ ├── InputController.h │ │ ├── PrescribedController.cpp │ │ ├── PrescribedController.h │ │ ├── SynergyController.cpp │ │ ├── SynergyController.h │ │ ├── TrackingController.cpp │ │ └── TrackingController.h │ ├── CoordinateReference.cpp │ ├── CoordinateReference.h │ ├── InverseDynamicsSolver.cpp │ ├── InverseDynamicsSolver.h │ ├── InverseKinematicsSolver.cpp │ ├── InverseKinematicsSolver.h │ ├── Manager │ │ ├── Manager.cpp │ │ └── Manager.h │ ├── MarkersReference.cpp │ ├── MarkersReference.h │ ├── Model │ │ ├── AbstractGeometryPath.cpp │ │ ├── AbstractGeometryPath.h │ │ ├── AbstractPathPoint.cpp │ │ ├── AbstractPathPoint.h │ │ ├── AbstractTool.cpp │ │ ├── AbstractTool.h │ │ ├── ActivationFiberLengthMuscle.cpp │ │ ├── ActivationFiberLengthMuscle.h │ │ ├── ActivationFiberLengthMuscle_Deprecated.cpp │ │ ├── ActivationFiberLengthMuscle_Deprecated.h │ │ ├── Actuator.cpp │ │ ├── Actuator.h │ │ ├── ActuatorForceProbe.cpp │ │ ├── ActuatorForceProbe.h │ │ ├── ActuatorPowerProbe.cpp │ │ ├── ActuatorPowerProbe.h │ │ ├── Analysis.cpp │ │ ├── Analysis.h │ │ ├── AnalysisSet.cpp │ │ ├── AnalysisSet.h │ │ ├── Appearance.h │ │ ├── Bhargava2004MuscleMetabolicsProbe.cpp │ │ ├── Bhargava2004MuscleMetabolicsProbe.h │ │ ├── Bhargava2004SmoothedMuscleMetabolics.cpp │ │ ├── Bhargava2004SmoothedMuscleMetabolics.h │ │ ├── Blankevoort1991Ligament.cpp │ │ ├── Blankevoort1991Ligament.h │ │ ├── BodyScale.cpp │ │ ├── BodyScale.h │ │ ├── BodyScaleSet.cpp │ │ ├── BodyScaleSet.h │ │ ├── BodySet.h │ │ ├── BushingForce.cpp │ │ ├── BushingForce.h │ │ ├── CMCActuatorSubsystem.cpp │ │ ├── CMCActuatorSubsystem.h │ │ ├── ComponentSet.h │ │ ├── Condition.cpp │ │ ├── Condition.h │ │ ├── ConditionalPathPoint.cpp │ │ ├── ConditionalPathPoint.h │ │ ├── ConstraintSet.h │ │ ├── ContactGeometry.cpp │ │ ├── ContactGeometry.h │ │ ├── ContactGeometrySet.h │ │ ├── ContactHalfSpace.cpp │ │ ├── ContactHalfSpace.h │ │ ├── ContactMesh.cpp │ │ ├── ContactMesh.h │ │ ├── ControllerSet.cpp │ │ ├── ControllerSet.h │ │ ├── CoordinateLimitForce.cpp │ │ ├── CoordinateLimitForce.h │ │ ├── CoordinateSet.cpp │ │ ├── CoordinateSet.h │ │ ├── ElasticFoundationForce.cpp │ │ ├── ElasticFoundationForce.h │ │ ├── ExponentialContactForce.cpp │ │ ├── ExponentialContactForce.h │ │ ├── ExpressionBasedBushingForce.cpp │ │ ├── ExpressionBasedBushingForce.h │ │ ├── ExpressionBasedCoordinateForce.cpp │ │ ├── ExpressionBasedCoordinateForce.h │ │ ├── ExpressionBasedPathForce.cpp │ │ ├── ExpressionBasedPathForce.h │ │ ├── ExpressionBasedPointToPointForce.cpp │ │ ├── ExpressionBasedPointToPointForce.h │ │ ├── ExternalForce.cpp │ │ ├── ExternalForce.h │ │ ├── ExternalLoads.cpp │ │ ├── ExternalLoads.h │ │ ├── Force.cpp │ │ ├── Force.h │ │ ├── ForceAdapter.cpp │ │ ├── ForceAdapter.h │ │ ├── ForceApplier.cpp │ │ ├── ForceApplier.h │ │ ├── ForceConsumer.h │ │ ├── ForceProducer.cpp │ │ ├── ForceProducer.h │ │ ├── ForceSet.cpp │ │ ├── ForceSet.h │ │ ├── Frame.cpp │ │ ├── Frame.h │ │ ├── FunctionBasedBushingForce.cpp │ │ ├── FunctionBasedBushingForce.h │ │ ├── FunctionBasedPath.cpp │ │ ├── FunctionBasedPath.h │ │ ├── FunctionThresholdCondition.cpp │ │ ├── FunctionThresholdCondition.h │ │ ├── Geometry.cpp │ │ ├── Geometry.h │ │ ├── GeometryPath.cpp │ │ ├── GeometryPath.h │ │ ├── Ground.cpp │ │ ├── Ground.h │ │ ├── HuntCrossleyForce.cpp │ │ ├── HuntCrossleyForce.h │ │ ├── JointInternalPowerProbe.cpp │ │ ├── JointInternalPowerProbe.h │ │ ├── JointSet.h │ │ ├── Ligament.cpp │ │ ├── Ligament.h │ │ ├── Marker.cpp │ │ ├── Marker.h │ │ ├── MarkerSet.cpp │ │ ├── MarkerSet.h │ │ ├── Model.cpp │ │ ├── Model.h │ │ ├── ModelComponent.cpp │ │ ├── ModelComponent.h │ │ ├── ModelComponentSet.h │ │ ├── ModelVisualPreferences.h │ │ ├── ModelVisualizer.cpp │ │ ├── ModelVisualizer.h │ │ ├── MovingPathPoint.cpp │ │ ├── MovingPathPoint.h │ │ ├── Muscle.cpp │ │ ├── Muscle.h │ │ ├── MuscleActiveFiberPowerProbe.cpp │ │ ├── MuscleActiveFiberPowerProbe.h │ │ ├── OffsetFrame.h │ │ ├── PathActuator.cpp │ │ ├── PathActuator.h │ │ ├── PathPoint.cpp │ │ ├── PathPoint.h │ │ ├── PathPointSet.h │ │ ├── PathSpring.cpp │ │ ├── PathSpring.h │ │ ├── PhysicalFrame.cpp │ │ ├── PhysicalFrame.h │ │ ├── PhysicalOffsetFrame.cpp │ │ ├── PhysicalOffsetFrame.h │ │ ├── Point.cpp │ │ ├── Point.h │ │ ├── PointForceDirection.h │ │ ├── PointToPointSpring.cpp │ │ ├── PointToPointSpring.h │ │ ├── PrescribedForce.cpp │ │ ├── PrescribedForce.h │ │ ├── Probe.cpp │ │ ├── Probe.h │ │ ├── ProbeSet.h │ │ ├── Scholz2015GeometryPath.cpp │ │ ├── Scholz2015GeometryPath.h │ │ ├── SmoothSphereHalfSpaceForce.cpp │ │ ├── SmoothSphereHalfSpaceForce.h │ │ ├── Station.cpp │ │ ├── Station.h │ │ ├── StationDefinedFrame.cpp │ │ ├── StationDefinedFrame.h │ │ ├── SystemEnergyProbe.cpp │ │ ├── SystemEnergyProbe.h │ │ ├── TwoFrameLinker.h │ │ ├── Umberger2010MuscleMetabolicsProbe.cpp │ │ └── Umberger2010MuscleMetabolicsProbe.h │ ├── MomentArmSolver.cpp │ ├── MomentArmSolver.h │ ├── OpenSense │ │ ├── ExperimentalFrame.h │ │ ├── ExperimentalMarker.h │ │ ├── IMU.h │ │ ├── IMUPlacer.cpp │ │ ├── IMUPlacer.h │ │ ├── OpenSenseUtilities.cpp │ │ └── OpenSenseUtilities.h │ ├── OrientationsReference.cpp │ ├── OrientationsReference.h │ ├── PositionMotion.cpp │ ├── PositionMotion.h │ ├── Reference.h │ ├── RegisterTypes_osimSimulation.cpp │ ├── RegisterTypes_osimSimulation.h │ ├── SimbodyEngine │ │ ├── BallJoint.cpp │ │ ├── BallJoint.h │ │ ├── Body.cpp │ │ ├── Body.h │ │ ├── CMakeLists.txt │ │ ├── ConstantCurvatureJoint.cpp │ │ ├── ConstantCurvatureJoint.h │ │ ├── ConstantDistanceConstraint.cpp │ │ ├── ConstantDistanceConstraint.h │ │ ├── Constraint.cpp │ │ ├── Constraint.h │ │ ├── Coordinate.cpp │ │ ├── Coordinate.h │ │ ├── CoordinateCouplerConstraint.cpp │ │ ├── CoordinateCouplerConstraint.h │ │ ├── CustomJoint.cpp │ │ ├── CustomJoint.h │ │ ├── EllipsoidJoint.cpp │ │ ├── EllipsoidJoint.h │ │ ├── FreeJoint.cpp │ │ ├── FreeJoint.h │ │ ├── GimbalJoint.cpp │ │ ├── GimbalJoint.h │ │ ├── Joint.cpp │ │ ├── Joint.h │ │ ├── PinJoint.cpp │ │ ├── PinJoint.h │ │ ├── PlanarJoint.cpp │ │ ├── PlanarJoint.h │ │ ├── PointConstraint.cpp │ │ ├── PointConstraint.h │ │ ├── PointOnLineConstraint.cpp │ │ ├── PointOnLineConstraint.h │ │ ├── RollingOnSurfaceConstraint.cpp │ │ ├── RollingOnSurfaceConstraint.h │ │ ├── ScapulothoracicJoint.cpp │ │ ├── ScapulothoracicJoint.h │ │ ├── SimbodyEngine.cpp │ │ ├── SimbodyEngine.h │ │ ├── SliderJoint.cpp │ │ ├── SliderJoint.h │ │ ├── SpatialTransform.cpp │ │ ├── SpatialTransform.h │ │ ├── Test │ │ │ ├── CMakeLists.txt │ │ │ ├── double_pendulum_testReverse.osim │ │ │ ├── testConstraints.cpp │ │ │ ├── testJointConstraints.osim │ │ │ └── testJoints.cpp │ │ ├── TransformAxis.cpp │ │ ├── TransformAxis.h │ │ ├── UnilateralConstraint.cpp │ │ ├── UnilateralConstraint.h │ │ ├── UniversalJoint.cpp │ │ ├── UniversalJoint.h │ │ ├── WeldConstraint.cpp │ │ ├── WeldConstraint.h │ │ ├── WeldJoint.cpp │ │ └── WeldJoint.h │ ├── SimulationUtilities.cpp │ ├── SimulationUtilities.h │ ├── Solver.h │ ├── StatesDocument.cpp │ ├── StatesDocument.h │ ├── StatesTrajectory.cpp │ ├── StatesTrajectory.h │ ├── StatesTrajectoryReporter.cpp │ ├── StatesTrajectoryReporter.h │ ├── TableProcessor.h │ ├── Test │ │ ├── BothLegs22.osim │ │ ├── BouncingBallModelEF.osim │ │ ├── BouncingBall_HuntCrossley.osim │ │ ├── BouncingBall_SmoothSphereHalfSpace.osim │ │ ├── BushingForceModel_30000.osim │ │ ├── BushingForceOffsetModel_30000.osim │ │ ├── CMakeLists.txt │ │ ├── CoupledCoordinatesMPPsMomentArmTest.osim │ │ ├── MovingPathPointMomentArmTest.osim │ │ ├── MovingPointCustomJointMomentArmTest.osim │ │ ├── MultipleMPPsMomentArmTest.osim │ │ ├── P2PBallCustomJointMomentArmTest.osim │ │ ├── P2PBallJointMomentArmTest.osim │ │ ├── P2PCustomJointMomentArmTest.osim │ │ ├── PathOnConstrainedBodyMomentArmTest.osim │ │ ├── PushUpToesOnGroundExactConstraints.osim │ │ ├── PushUpToesOnGroundLessPreciseConstraints.osim │ │ ├── PushUpToesOnGroundWithMuscles.osim │ │ ├── SimulationComponentsForTesting.h │ │ ├── StationDefinedFrames_Advanced.osim │ │ ├── StationDefinedFrames_Basic.osim │ │ ├── WrapPathCustomJointMomentArmTest.osim │ │ ├── arm26.osim │ │ ├── arm26_StaticOptimization_controls.xml │ │ ├── bouncing_block_30000.osim │ │ ├── cube.obj │ │ ├── default.ctr │ │ ├── double_pendulum.osim │ │ ├── external_force_data.sto │ │ ├── gait2354_simbody.osim │ │ ├── knee_patella_ligament.osim │ │ ├── sphere.obj │ │ ├── sphere_10cm_radius.obj │ │ ├── sphere_10cm_radius.stl │ │ ├── sphere_10cm_radius.vtp │ │ ├── test.ctr │ │ ├── testAssemblySolver.cpp │ │ ├── testContactGeometry.cpp │ │ ├── testCopy.ctr │ │ ├── testExponentialContact.cpp │ │ ├── testForceFile.mot │ │ ├── testForceProducer.cpp │ │ ├── testForces.cpp │ │ ├── testFrames.cpp │ │ ├── testFunctionBasedPath.cpp │ │ ├── testInitState.cpp │ │ ├── testInverseKinematicsSolver.cpp │ │ ├── testManager.cpp │ │ ├── testModelInterface.cpp │ │ ├── testMomentArms.cpp │ │ ├── testMomentArmsConstraintA.osim │ │ ├── testMomentArmsConstraintB.osim │ │ ├── testMuscleMetabolicsProbes.cpp │ │ ├── testNestedModelComponents.cpp │ │ ├── testPointToPointSpring.cpp │ │ ├── testPoints.cpp │ │ ├── testPrescribedForce.cpp │ │ ├── testProbes.cpp │ │ ├── testReportersWithModel.cpp │ │ ├── testSimulationUtilities.cpp │ │ ├── testSimulationUtilities_leg69_IK_stance_pre4.mot │ │ ├── testSimulationUtilities_leg6dof9musc_20303.osim │ │ ├── testStatesDocument.cpp │ │ ├── testStatesTrajectory.cpp │ │ ├── testStationDefinedFrame.cpp │ │ ├── testTableProcessor.cpp │ │ └── wrist_mass.osim │ ├── VisualizerUtilities.cpp │ ├── VisualizerUtilities.h │ ├── Wrap │ │ ├── PathWrap.cpp │ │ ├── PathWrap.h │ │ ├── PathWrapPoint.cpp │ │ ├── PathWrapPoint.h │ │ ├── PathWrapSet.cpp │ │ ├── PathWrapSet.h │ │ ├── WrapCylinder.cpp │ │ ├── WrapCylinder.h │ │ ├── WrapEllipsoid.cpp │ │ ├── WrapEllipsoid.h │ │ ├── WrapMath.cpp │ │ ├── WrapMath.h │ │ ├── WrapObject.cpp │ │ ├── WrapObject.h │ │ ├── WrapObjectSet.h │ │ ├── WrapResult.cpp │ │ ├── WrapResult.h │ │ ├── WrapSphere.cpp │ │ ├── WrapSphere.h │ │ ├── WrapTorus.cpp │ │ └── WrapTorus.h │ ├── osimSimulation.h │ ├── osimSimulationDLL.cpp │ └── osimSimulationDLL.h ├── Tests │ ├── AddComponents │ │ ├── CMakeLists.txt │ │ └── testAddComponents.cpp │ ├── AnalysisPluginExample │ │ └── CMakeLists.txt │ ├── BodyDragExample │ │ └── CMakeLists.txt │ ├── BuildDynamicWalker │ │ └── CMakeLists.txt │ ├── CMakeLists.txt │ ├── Components │ │ ├── CMakeLists.txt │ │ └── testComponents.cpp │ ├── ConstantCurvatureExample │ │ ├── CMakeLists.txt │ │ └── testConstantCurvature.cpp │ ├── ControllerExample │ │ ├── CMakeLists.txt │ │ ├── std_tugOfWar_controls.sto │ │ ├── std_tugOfWar_states.sto │ │ └── testControllerExample.cpp │ ├── CoupledBushingForceExample │ │ └── CMakeLists.txt │ ├── CustomActuatorExample │ │ ├── CMakeLists.txt │ │ ├── std_SpringActuatedLeg_states_degrees.mot │ │ ├── std_actuator_forces.mot │ │ └── testCustomActuatorExample.cpp │ ├── Environment │ │ └── CMakeLists.txt │ ├── ExampleLuxoMuscle │ │ └── CMakeLists.txt │ ├── ExampleMain │ │ ├── CMakeLists.txt │ │ ├── std_tugOfWar_forces.mot │ │ ├── std_tugOfWar_states.sto │ │ └── testExampleMain.cpp │ ├── MuscleExample │ │ ├── CMakeLists.txt │ │ ├── std_tugOfWar_fatigue_states.sto │ │ ├── std_tugOfWar_forces.mot │ │ └── testMuscleExample.cpp │ ├── OptimizationExample_Arm26 │ │ ├── CMakeLists.txt │ │ └── testOptimizationExample.cpp │ ├── README │ │ ├── CMakeLists.txt │ │ └── testREADME.cpp │ ├── SimpleOptimizationExample │ │ ├── CMakeLists.txt │ │ └── testSimpleOptimizationExample.cpp │ ├── Wrapping │ │ ├── CMakeLists.txt │ │ ├── std_testGeometryPathWrapping_subject_walk_armless_muscle_lengths.sto │ │ ├── std_testGeometryPathWrapping_walk_gait1018_muscle_lengths.sto │ │ ├── testGeometryPathWrapping.cpp │ │ ├── testGeometryPathWrapping_ShoulderWrappingWithPathSprings.osim │ │ ├── testScholz2015GeometryPath.cpp │ │ ├── testWrapCylinder.cpp │ │ ├── testWrapObject.cpp │ │ └── testWrapObject_updateFromXMLNode30515.osim │ ├── shared │ │ ├── .gitattributes │ │ ├── IMUData │ │ │ ├── APDM │ │ │ │ ├── apdm_format7.csv │ │ │ │ └── imuData01.csv │ │ │ └── Xsens │ │ │ │ ├── MT2022_ACC_00B42D4B.txt │ │ │ │ ├── MT2022_ACC_GYRO_ROT_ALL_TAB_NAN_00B42D4B.txt │ │ │ │ ├── MT2022_ACC_GYRO_ROT_EULER_TAB_00B42D4F.txt │ │ │ │ ├── MT2022_ACC_GYRO_ROT_MAT_COMMA_00B42D4B.txt │ │ │ │ ├── MT2022_ACC_GYRO_ROT_MAT_SEMICOLON_00B42D4B.txt │ │ │ │ ├── MT2022_ACC_GYRO_ROT_MAT_SPACE_00B42D4B.txt │ │ │ │ ├── MT46_01-000_00B42D4D.txt │ │ │ │ ├── MT46_01-000_00B42D4E.txt │ │ │ │ ├── MT_01200312-002-000_00B474BA.txt │ │ │ │ ├── MT_01200454_000-000_00B40DE4.txt │ │ │ │ ├── MT_012005D6-000_sit_to_stand-000_00B421ED.txt │ │ │ │ ├── MT_012005D6_031-000_00B421AF.txt │ │ │ │ ├── MT_012005D6_031-000_00B4227B.txt │ │ │ │ └── test1_00B421E6.txt │ │ ├── ThoracoscapularShoulderModel.osim │ │ ├── arm26.osim │ │ ├── calibrated_model_imu.osim │ │ ├── gait10dof18musc_ik_CRLF_line_ending.mot │ │ ├── gait10dof18musc_subject01.osim │ │ ├── gait10dof18musc_walk_CRLF_line_ending.trc │ │ ├── orientation_quats.sto │ │ ├── std_subject01_walk1_states.sto │ │ ├── walking2.c3d │ │ └── walking5.c3d │ └── testIterators │ │ ├── CMakeLists.txt │ │ └── testIterators.cpp ├── Tools │ ├── About.cpp │ ├── ActuatorForceTarget.cpp │ ├── ActuatorForceTarget.h │ ├── ActuatorForceTargetFast.cpp │ ├── ActuatorForceTargetFast.h │ ├── AnalyzeTool.cpp │ ├── AnalyzeTool.h │ ├── CMC.cpp │ ├── CMC.h │ ├── CMCTool.cpp │ ├── CMCTool.h │ ├── CMC_Joint.cpp │ ├── CMC_Joint.h │ ├── CMC_Orientation.cpp │ ├── CMC_Orientation.h │ ├── CMC_Point.cpp │ ├── CMC_Point.h │ ├── CMC_Task.cpp │ ├── CMC_Task.h │ ├── CMC_TaskSet.cpp │ ├── CMC_TaskSet.h │ ├── CMakeLists.txt │ ├── CorrectionController.cpp │ ├── CorrectionController.h │ ├── DynamicsTool.cpp │ ├── DynamicsTool.h │ ├── ForwardTool.cpp │ ├── ForwardTool.h │ ├── GenericModelMaker.cpp │ ├── GenericModelMaker.h │ ├── IKCoordinateTask.cpp │ ├── IKCoordinateTask.h │ ├── IKMarkerTask.h │ ├── IKTask.h │ ├── IKTaskSet.h │ ├── IMUInverseKinematicsTool.cpp │ ├── IMUInverseKinematicsTool.h │ ├── InverseDynamicsTool.cpp │ ├── InverseDynamicsTool.h │ ├── InverseKinematicsTool.cpp │ ├── InverseKinematicsTool.h │ ├── InverseKinematicsToolBase.h │ ├── MarkerPair.cpp │ ├── MarkerPair.h │ ├── MarkerPairSet.cpp │ ├── MarkerPairSet.h │ ├── MarkerPlacer.cpp │ ├── MarkerPlacer.h │ ├── Measurement.cpp │ ├── Measurement.h │ ├── MeasurementSet.cpp │ ├── MeasurementSet.h │ ├── ModelScaler.cpp │ ├── ModelScaler.h │ ├── MuscleStateTrackingTask.cpp │ ├── MuscleStateTrackingTask.h │ ├── RRATool.cpp │ ├── RRATool.h │ ├── RegisterTypes_osimTools.cpp │ ├── RegisterTypes_osimTools.h │ ├── SMC_Joint.cpp │ ├── SMC_Joint.h │ ├── ScaleTool.cpp │ ├── ScaleTool.h │ ├── StateTrackingTask.h │ ├── Test │ │ ├── AppearanceTest.JPG │ │ ├── BothLegs22.osim │ │ ├── BuiltinGeometry.JPG │ │ ├── BuiltinGeometry.osim │ │ ├── CMakeLists.txt │ │ ├── ExternalLoadsInSubdir │ │ │ ├── external-loads-in-subdir.xml │ │ │ ├── forces-in-subdir.mot │ │ │ └── model-in-subdir.osim │ │ ├── Neck3dof_point_constraint.osim │ │ ├── Pendulum.osim │ │ ├── arm26.osim │ │ ├── arm26_Reserve_Actuators.xml │ │ ├── arm26_controls.xml │ │ ├── block.vtp │ │ ├── blockMesh.obj │ │ ├── cylinder.vtp │ │ ├── double_pendulum33.osim │ │ ├── double_pendulum_img33.tiff │ │ ├── double_pendulum_img40.png │ │ ├── doubletransform33.osim │ │ ├── gait2354_simbody.osim │ │ ├── sphere.vtp │ │ ├── std_BothLegs22_latest.osim │ │ ├── std_ForceGlobalPointLocalNoTorque_ForceReporter_forces.sto │ │ ├── std_ForceGlobalPointLocalNoTorque_Kinematics_dudt.sto │ │ ├── std_ForceGlobalPointLocalNoTorque_Kinematics_q.sto │ │ ├── std_Neck3dof_point_constraint_latest.osim │ │ ├── std_Pendulum_latest.osim │ │ ├── std_arm26_latest.osim │ │ ├── std_gait2354_simbody_latest.osim │ │ ├── testControllers.cpp │ │ ├── testControllers_TugOfWar.osim │ │ ├── testExternalLoads.cpp │ │ ├── testModelCopy.cpp │ │ ├── testSerializeOpenSimObjects.cpp │ │ ├── testVisualization.cpp │ │ ├── test_wrapAllVis.osim │ │ ├── vis_AppearanceTest.txt │ │ ├── vis_BuiltinGeometry.txt │ │ ├── vis_arm26.txt │ │ └── visualize_contacts.osim │ ├── Tool.h │ ├── TrackingTask.cpp │ ├── TrackingTask.h │ ├── VectorFunctionForActuators.cpp │ ├── VectorFunctionForActuators.h │ ├── osimTools.h │ ├── osimToolsDLL.cpp │ └── osimToolsDLL.h └── version.h ├── README.md ├── Vendors ├── CMakeLists.txt ├── docopt │ ├── CMakeLists.txt │ ├── LICENSE-Boost-1.0 │ ├── LICENSE-MIT │ ├── docopt.cpp │ ├── docopt.h │ ├── docopt_private.h │ ├── docopt_util.h │ └── docopt_value.h └── lepton │ ├── CMakeLists.txt │ ├── include │ ├── Lepton.h │ └── lepton │ │ ├── CompiledExpression.h │ │ ├── CustomFunction.h │ │ ├── Exception.h │ │ ├── ExpressionProgram.h │ │ ├── ExpressionTreeNode.h │ │ ├── Operation.h │ │ ├── ParsedExpression.h │ │ ├── Parser.h │ │ └── windowsIncludes.h │ ├── src │ ├── CompiledExpression.cpp │ ├── ExpressionProgram.cpp │ ├── ExpressionTreeNode.cpp │ ├── MSVC_erfc.h │ ├── Operation.cpp │ ├── ParsedExpression.cpp │ └── Parser.cpp │ └── test │ ├── CMakeLists.txt │ └── testLepton.cpp ├── cmake ├── CMakeLists.txt ├── FindIPOPT.cmake ├── FindMatlab.cmake ├── FindNumPy.cmake ├── MatlabTestsRedirect.cmake ├── OpenSimConfig.cmake.in ├── OpenSimMacros.cmake ├── OpenSimMocoInstallLinuxDependencyLibraries.cmake.in ├── OpenSimMocoInstallMacDependencyLibraries.cmake.in └── SampleCMakeLists.txt ├── dependencies ├── CMakeLists.txt └── get.Mumps.patch ├── doc ├── APIGuide.md ├── BuildOpenSimPluginSteps.doc ├── BuildOpenSimPluginSteps.pdf ├── CMakeLists.txt ├── Moco │ ├── Moco.dox │ ├── MocoCheatSheet.pdf │ ├── MocoCheatSheet.tex │ ├── MocoDeveloperGuide.dox │ ├── MocoExamples.dox │ ├── MocoFrequentlyAskedQuestions.dox │ ├── MocoGettingStarted.dox │ ├── MocoInterfaceReference.dox │ ├── MocoInverse.dox │ ├── MocoStudy.dox │ ├── MocoTheoryGuide.dox │ ├── MocoTrack.dox │ └── MocoUserGuide.dox ├── OpenSimAPI.html ├── OpenSimDoxygenMain.dox ├── OpenSimExamples.dox ├── doxyfile_developer.in ├── doxyfile_shared.in ├── doxyfile_user.in ├── doxygen-layout-developer.xml ├── doxygen-layout-user.xml ├── doxygen_developer.css ├── doxygen_shared.css ├── doxygen_user.css └── images │ ├── Analysis.gif │ ├── ClampingTotalHeatRate.png │ ├── ClampingTotalMetabolicRate.png │ ├── DoxygenFrontPage_small_01.gif │ ├── DoxygenFrontPage_small_02.gif │ ├── DoxygenFrontPage_small_04.gif │ ├── DoxygenFrontPage_small_06.gif │ ├── DoxygenFrontPage_small_07.gif │ ├── DoxygenFrontPage_small_09.gif │ ├── DoxygenFrontPage_small_10.gif │ ├── DoxygenFrontPage_small_11.gif │ ├── DoxygenFrontPage_small_12.gif │ ├── DoxygenFrontPage_small_13.gif │ ├── DoxygenFrontPage_small_15.gif │ ├── DoxygenFrontPage_small_17.gif │ ├── DoxygenFrontPage_small_18.gif │ ├── DoxygenFrontPage_small_21.gif │ ├── DoxygenFrontPage_small_22.gif │ ├── DoxygenFrontPage_small_24.gif │ ├── DoxygenFrontPage_small_25.gif │ ├── DoxygenFrontPage_small_27.gif │ ├── DoxygenFrontPage_small_28.gif │ ├── Dynamics-Engine.gif │ ├── InterfaceLayers.png │ ├── Manager.gif │ ├── MocoImplementationDiagram.svg │ ├── Model-Component.gif │ ├── Model_1-20.gif │ ├── Model_1.gif │ ├── Model_2.gif │ ├── OpenSimLogoWhiteHorizontal_small.png │ ├── Optimizer.gif │ ├── OverviewFigure1.png │ ├── OverviewFigure1_new.jpg │ ├── OverviewOfMoco.png │ ├── SimTK--System.png │ ├── SmoothMechanicalWorkRate.png │ ├── SmoothShorteningHeatRate.png │ ├── SmoothSphereHalfSpaceForce_HertzForce.png │ ├── SmoothSphereHalfSpaceForce_HuntCrossleyForce.png │ ├── Untitled-1_03.gif │ ├── Untitled-1_05.gif │ ├── Untitled-1_08.gif │ ├── Untitled-1_14-20.gif │ ├── Untitled-1_14.gif │ ├── Untitled-1_16.gif │ ├── Untitled-1_19.gif │ ├── Untitled-1_22.gif │ ├── Untitled-1_25.png │ ├── activationDynamics.png │ ├── ballJoint.gif │ ├── component.png │ ├── coordinate_limit_force.png │ ├── ellipsoid.gif │ ├── fig_ActiveForceLengthCurve.png │ ├── fig_Blankevoort1991Ligament.png │ ├── fig_FiberCompressiveForceCosPennationCurve.png │ ├── fig_FiberCompressiveForceLengthCurve.png │ ├── fig_FiberForceLengthCurve.png │ ├── fig_ForceVelocityCurve.png │ ├── fig_ForceVelocityInverseCurve.png │ ├── fig_Millard2012AccelerationMuscle.png │ ├── fig_Millard2012EquilibriumMuscle.png │ ├── fig_MuscleFixedWidthPennationModel.png │ ├── fig_MuscleSecondOrderActivationDynamicModel.png │ ├── fig_NormalizedFiberLengthDependenceOfMaintenanceHeatRateBhargava2004.png │ ├── fig_SmoothSegmentedFunctionFactory_falCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_fcCosPhiCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_fcLengthCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_fcphiCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_fpeCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_fseCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_fvCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_fvInvCurve.png │ ├── fig_SmoothSegmentedFunctionFactory_quinticCornerSections.png │ ├── fig_StepFunction.png │ ├── fig_TendonForceLengthCurve.png │ ├── freeJoint.gif │ ├── gimbalJoint.gif │ ├── inputs_and_outputs.png │ ├── opensim_double_pendulum_muscle.gif │ ├── opensim_run_cycle.mp4 │ ├── opensim_running.gif │ ├── physical_frames_figure.png │ ├── physical_system_to_model.png │ ├── pinJoint.gif │ ├── planarJoint.gif │ ├── reporters.png │ ├── sliderJoint.gif │ ├── spacer.gif │ ├── system_and_state.png │ └── universalJoint.gif └── scripts ├── build ├── opensim-core-linux-build-script.sh ├── opensim-core-macos-build-script.sh └── opensim-core-windows-build-script.ps1 └── docker └── ubuntu18.04 ├── Dockerfile └── README.md /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/opensim-org/opensim-core/HEAD/.clang-format -------------------------------------------------------------------------------- /.dockerignore: -------------------------------------------------------------------------------- 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