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 v0.5.3, and may or may not work on later versions.

Contents:

• Installation
  • Common Errors (and how to fix them)
• Get Started in 2 Minutes
• Understand Worlds and Skeletons
  • Generalized Coordinates: Position and Velocity
  • Types of Joints
  • Skeletons and the Origin
  • Putting it Together: The World
  • Control Forces and the Action Space
• Backprop through Physics Timesteps
  • Setting up the optimization problem
  • Doing the actual optimization
  • Complete Code
• Specify Loss in World Space
• Differentiable Human Body Models
  • Biomechanics-quality human body model
  • Converting motion between skeleton types
  • Doing real-time IK (ex. working with Azure Kinect sensors)
  • Working with marker data
  • Reconstructing joint forces from motion
• Inverse Dynamics (with Contact)
  • “Plain Vanilla” Inverse Dynamics
  • Inverse Dynamics with One Contact
  • Inverse Dynamics with Multiple Contacts
• System Identification
  • Tuning mass
  • Automatically Initializing Inertia
• Accessing Jacobians of Dynamics
• Working with AddBiomechanics Data
  • SubjectOnDisk
  • Frame
• Processing Mocap Data
  • C3DLoader
  • MarkerFixer
  • MarkersErrorReport
  • OpenSimParser
  • MarkerFitter