`MocoOrientationTrackingGoal::setStatesReference()` should not require non-kinematic states

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SimTK OpenSim C++ libraries and command-line applications, and Java/Python wrapping.

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`MocoOrientationTrackingGoal::setStatesReference()` should not require non-kinematic states #3766

Open nickbianco opened 2 months ago

nickbianco commented 2 months ago

In MocoOrientationTrackingGoal, the input states table is converted to a StatesTrajectory using StatesTrajectory::createFromStatesTable(). We should pass flags to allow missing columns, since only kinematic states are needed for this goal. We should also check that all the expected kinematic states are provided, we so don't change the expected behavior.