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New Features for Working with Inertial Measurement Unit (IMU) Data:

  • We introduced an IMU Component was introduced, now IMUPlacer creates and places proper IMUs on the Model. IMU Component outputs match signals from typical commercial IMUs.IMUDataReporter analysis was introduced, allowing for reporting Orientations, , which can be added to any model, along with an IMUDataReporter analysis. This analysis allows users to report Orientations and Accelerometer and Gyroscope signals from IMUs placed on a Model. The analysis allows for adding users to add IMUs on the fly for post-hoc calculation of IMU signals.
  • With the new IMU Component, the IMUPlacer (part of the process in computing kinematics based on IMU data) now creates and places IMU Components on the Model. 


Moco Updates:

  • Various updates to Moco are also included in the OpenSim 4.3 release:Support We added support in Moco for IMUTracking and EMGTracking.
  • Added support for optimized We also added the ability to optimize scale factors, including the component MocoScaleFactor, and . There is also a new interface for MocoGoals to add these scale factors to a MocoProblem. This functionality allows users to, for example, (ADD EXAMPLE).


New Features and Examples for Matlab Users:

  • Examples for IMU signals tracking & EMG signal tracking New examples show how to track IMU and EMG signals with Moco in both Matlab and Python. Find these examples (ADD LOCATION).


Improvements and Additions to the API for Matlab, Python, and C++ Users:

  • Added We added a method to create Synthetic IMU data in SimulationUtilities. Upgraded to SWIG version 4.0.2 which allows for porting doxygen documentation to .py and .java files for scripting users. (What is the method called?)
  • Scripting users can now access the API documentation (Doxygen) through scripting in Matlab and Python. (How to access?)


Bug Fixes and Performance Enhancements:

  • Fixed We fixed a bug with Actuation analysis that would lead to extra columns in the output when an actuator is disabled (Issue #2977)
  • Fixed We fixed an issue where incorrect header information was produced in BodyKinematics file output
  • Fixed We fixed a bug applying non-uniform scaling to inertia matrix of a Body due to using local variable of type SysMat33 (Issue #2871) (What exactly was happening previously? Effect to users is not completely clear)


Upgrade Notes:

  • Default The default installation of OpenSim comes with bindings built against Python 3.8 and Numpy 1.20. Note that the installation process on windows has changed to follow the python 3.8 changes to how libraries are located as described here Scripting in Python. (What exactly changed in the install? Does this just affect Python users?)


Full list of changes and updates:

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