You are viewing an old version of this page. View the current version.

Compare with Current View Page History

« Previous Version 5 Next »


OpenSim 4.3 Beta is now available. You can download the release here


We are pleased to announce the following new features, bug fixes, and other improvements in OpenSim 4.3. We also provide a list of key details for upgrading to OpenSim 4.3 from previous versions of OpenSim (see section Upgrade Notes), as well as pointers to additional information on the changes in OpenSim 4.3.


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

  • We introduced an IMU Component, 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 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:

  • We added support in Moco for IMUTracking and EMGTracking.
  • We also added the ability to optimize scale factors, including the component MocoScaleFactor. 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:

  • 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:

  • We added a method to create Synthetic IMU data in SimulationUtilities. (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:

  • We fixed a bug with Actuation analysis that would lead to extra columns in the output when an actuator is disabled (Issue #2977)
  • We fixed an issue where incorrect header information was produced in BodyKinematics file output
  • 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:

  • 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: