This C++ ROS package utilizes the Sparse Nonlinear OPTimizer (SNOPT) software package to determine an optimal mapping between the motion capture lab reference frame and the robot joint space. This mapping preserves the kinetic properties of the trajectory while minimizing the robot joint usage. The related identifiers also provide a C++ ROS package for performing the aforementioned mapping, but which utilizes the constrained optimization by linear approximation (COBYLA) numerical optimization method. In practice, the COBYLA-based optimization method outperforms the SNOPT-based optimization when the initial input guess to the optimization algorithm is far from optimal. However, once a close to optimal joint-space trajectory has been found, the SNOPT-based optimization outperforms the COBYLA-based optimization for minimizing joint velocity usage while satisfying joint and joint velocity limits. Also see related identifiers for the Motion Capture to Robot software package, which provides a full suite of algorithms for robotically replicating motion capture datasets. The related identifiers also provide a dataset that supports this package as well as the Motion Capture to Robot software package. The user manual PDF is attached to the release. Example configuration files for the optimization algorithm are also attached. Manual.pdf configurationFiles.zip Related publication can be found at: https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0242005

This work is supported by the US Army Medical Research and Materiel Command under Contract #W81XWH-15-C-0058, the National Institutes of Health (R01 AR067196), a Merit Review Award #I01RX001246 from the United States Department of Veterans Affairs Rehabilitation Research and Development Service, and the University of Utah Undergraduate Research Opportunity Program. The views, opinions and/or findings contained in this report are those of the authors and should not be construed as an official Department of the Army or National Institutes of Health position, policy or decision unless so designated by other documentation. Furthermore, the contents do not represent the views of either the U.S. Department of Veterans Affairs, or the United States Government.