IMU IK Settings Files and XML Tag Definitions

There are groups of properties that need to be specified in an IMU inverse kinematics setup file that parallel the tool dialog:

1. The model to which the IK solver is to be applied, the sensor orientations to solve for, and the transformation from IMU world to OpenSim.
2. The weights to track individual sensors and the time range
3. The output specification (output motion, IMU tracking errors).

A sample IMU inverse kinematics setup file is provided in the example below: 

Model Specification

This corresponds to the xml tag <model_file> and specifies the .osim file for a model that had IMUs placed on it (using the IMU Placer Tool).

Orientations File

This corresponds to the xml tag <orientations_file> and specifies the path to the sto file containing the time histories of IMU orientations specified as quaternions. The labels in the sto file must correspond to the names of the sensors/IMUs placed on the model.