Exo_Simulation

Table of contents

• Description
• Getting started
  • Dependencies
  • Build
• Contributing
  • Folder overview
  • Guidelines

Description

This project is an OpenSim simulation to evaluate and compare the metabolic cost of different control loops for BioGenius.

Getting started

Dependencies

• OpenSim 4.6
• Visual Studio Community 2026 (For MSVC and CMake)

Follow the installation guide for instructions.

Build

Clone the repository

git clone https://github.com/robotique-udes/Exo_Simulation.git
cd Exo_Simulation

Generate the project using CMake or CMake GUI

CMake

mkdir build && cd build
cmake ..

CMake GUI

1. Open CMake GUI
2. In "Where is the source code", enter the path to the project
3. In "Where to build the binaries", add a build directory to the project's path. CMake GUI will automatically create this directory if it does not exist
4. At the bottom, click 'Configure' then 'Generate'. Keep the default options

Open build/simulation.sln with Visual Studio. To run the project, press Ctrl+F5 or click on the "Start without debugging" button

Contributing

Folder overview

• src: C++ source files (*.cpp)
• include: C++ header files (*.hpp)
• docs: Documentation for the project
  • articles: Procedures, guidelines, notes, etc (*.md)
  • multimedia: Images and videos (*.png, *.jpg, *.mp4, etc)
• opensim: All files required for the simulation
  • Model: OpenSim models (*.osim)
  • Geometry: Meshes used by models (*.stl)
  • Motion: Motion files (*.mot)
  • Config: Configurations used by OpenSim tools (*.xml)
  • Results: Simulation results. NOT TRACKED BY GIT
• build: Build directory. NOT TRACKED BY GIT

Guidelines

All contributors must read and follow the C++ guidelines and the Git guidelines.