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The inverse kinematics (IK) tasks file <IKTaskSet> referred to from the main __40__ Scale Setup File is shown in the example below. The IK tasks file specifies properties associated with error terms. A brief description of the tags used to describe these properties is given below. The section on __40__Inverse Kinematics provides more details.
Marker Tasks
The <IKMarkerTask> tags are used to specify the weights associated with the marker error terms in the IK formulation. See the IK chapter (__40__Inverse Kinematics) for more details.
Example: XML markup for an inverse kinematics tasks set
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The <IKCoordinateTask> tags are optional and are used to specify properties associated with the coordinate error terms in the IK formulation. See the IK chapter (__40__Inverse Kinematics) for more details. In the example above, the subtalar and mtp angles are locked, and are assigned to the constant value of 0 radians. Additionally, we have a task which attempts to keep the (unprescribed) lumbar_extension coordinate close to 0 by setting its desired value to 0 and giving it a large weight.
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