Welcome to Nimble’s documentation!

IMPORTANT NOTE: Nimble is currently in beta. We reserve the right to make backwards incompatible changes to the APIs until Nimble reaches v1.0. This documentation was written for Nimble v0.10.31, and may or may not work on earlier or later versions.

Contents:

• What is Nimble?
  • Does Nimble do general purpose robotics simulation?
• Installation
  • Common Errors (and how to fix them)
• Understand Skeletons
  • Built-in human body model
  • Loading custom OpenSim models
  • Visualizing your Skeleton
  • Generalized Coordinates:
  • Types of Joints
  • Skeletons and the Origin
  • Listing and Accessing BodyNodes
  • Transforming between the World frame and a BodyNode frame
  • BodyNode scaling and physical properties
  • Listing and Accessing Joints
  • Joint World Locations
• Solving Optimization Problems with Skeletons
  • A Brief Intro to Optimization
  • Computing Derivatives, Gradients, and Jacobians
  • List of Built-In Gradients and Jacobians
  • Composing your own Jacobians
  • Velocity and Acceleration are Linear
• Data: Markers and Joint Centers
  • Fitting Joint Centers
  • Working with Marker Data
  • Converting Motion Between Skeleton Types
• Data: Accelerometers, Gyros and Magnetometers
  • Representing IMUs in Nimble
  • Estimating Joint Velocity and Acceleration given IMU Readings
  • Estimating Poses given IMU Readings
• Computing Skeleton Joint Torques and Forces
  • “Plain Vanilla” Inverse Dynamics
  • Inverse Dynamics with One Contact
  • Inverse Dynamics with Multiple Contacts
• Working with AddBiomechanics Data
  • The Basics
  • Performance Considerations
  • API Reference
• Processing Mocap Data
  • C3DLoader
  • MarkerFixer
  • MarkersErrorReport
  • OpenSimParser
  • MarkerFitter
• Using the Nimble GUI
  • GUIStateMachine