def generate_results(self, root_dir, args):
model = osim.Model()
body = osim.Body("b", 1, osim.Vec3(0), osim.Inertia(0))
model.addBody(body)
joint = osim.SliderJoint("j", model.getGround(), body)
joint.updCoordinate().setName("coord")
model.addJoint(joint)
damper = osim.SpringGeneralizedForce("coord")
damper.setViscosity(-1.0)
model.addForce(damper)
actu = osim.CoordinateActuator("coord")
model.addForce(actu)
model.finalizeConnections()
moco = osim.MocoStudy()
problem = moco.updProblem()
problem.setModel(model)
problem.setTimeBounds(0, 2)
problem.setStateInfo("/jointset/j/coord/value", [-10, 10], 0, 5)
problem.setStateInfo("/jointset/j/coord/speed", [-10, 10], 0, 2)
problem.setControlInfo("/forceset/coordinateactuator", [-50, 50])
problem.addGoal(osim.MocoControlGoal("effort", 0.5))
solver = moco.initCasADiSolver()
solver.set_num_mesh_intervals(50)
solution = moco.solve()
solution.write(self.solution_file % root_dir)
def test_Joint(self):
a = osim.Model()
body = osim.Body('body', 1.0, osim.Vec3(0, 0, 0),
osim.Inertia(0, 0, 0))
loc_in_parent = osim.Vec3(0, -0, 0)
orient_in_parent = osim.Vec3(0, 0, 0)
loc_in_body = osim.Vec3(0, 0, 0)
orient_in_body = osim.Vec3(0, 0, 0)
joint = osim.FreeJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
spatialTransform = osim.SpatialTransform()
joint = osim.CustomJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent, spatialTransform)
del joint
joint = osim.EllipsoidJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent, osim.Vec3(1, 1, 1))
del joint
joint = osim.BallJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.PinJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.SliderJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.WeldJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.GimbalJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.UniversalJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.PlanarJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
def test_createRep(self):
model = osim.Model()
model.setName('sliding_mass')
model.set_gravity(osim.Vec3(0, 0, 0))
body = osim.Body('body', 2.0, osim.Vec3(0), osim.Inertia(0))
model.addComponent(body)
joint = osim.SliderJoint('slider', model.getGround(), body)
coord = joint.updCoordinate()
coord.setName('position')
model.addComponent(joint)
model.finalizeConnections()
study = osim.MocoStudy()
study.setName('sliding_mass')
mp = study.updProblem()
mp.setModel(model)
pr = mp.createRep()
assert (len(pr.createStateInfoNames()) == 2)
def createSlidingMassModel():
model = osim.Model()
model.setName("sliding_mass")
model.set_gravity(osim.Vec3(0, 0, 0))
body = osim.Body("body", 10.0, osim.Vec3(0), osim.Inertia(0))
model.addComponent(body)
# Allows translation along x.
joint = osim.SliderJoint("slider", model.getGround(), body)
coord = joint.updCoordinate(osim.SliderJoint.Coord_TranslationX)
coord.setName("position")
model.addComponent(joint)
actu = osim.CoordinateActuator()
actu.setCoordinate(coord)
actu.setName("actuator")
actu.setOptimalForce(1)
actu.setMinControl(-10)
actu.setMaxControl(10)
model.addComponent(actu)
return model
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. #
# See the License for the specific language governing permissions and #
# limitations under the License. #
# -------------------------------------------------------------------------- #
import os
import opensim as osim
model = osim.Model()
model.setName('sliding_mass')
model.set_gravity(osim.Vec3(0, 0, 0))
body = osim.Body('body', 2.0, osim.Vec3(0), osim.Inertia(0))
model.addComponent(body)
# Allows translation along x.
joint = osim.SliderJoint('slider', model.getGround(), body)
coord = joint.updCoordinate()
coord.setName('position')
model.addComponent(joint)
actu = osim.CoordinateActuator()
actu.setCoordinate(coord)
actu.setName('actuator')
actu.setOptimalForce(1)
model.addComponent(actu)
body.attachGeometry(osim.Sphere(0.05))
model.finalizeConnections()
# Create MucoTool.
import numpy as np
model = osim.Model()
model.setName('planar_point_mass')
g = abs(model.get_gravity()[1])
# We use an intermediate massless body for the X translation degree of freedom.
massless = osim.Body('massless', 0, osim.Vec3(0), osim.Inertia(0))
model.addBody(massless)
mass = 1.0
body = osim.Body('body', mass, osim.Vec3(0), osim.Inertia(0))
model.addBody(body)
body.attachGeometry(osim.Sphere(0.05))
jointX = osim.SliderJoint('tx', model.getGround(), massless)
coordX = jointX.updCoordinate(osim.SliderJoint.Coord_TranslationX)
coordX.setName('tx')
model.addJoint(jointX)
# The joint's x axis must point in the global "+y" direction.
jointY = osim.SliderJoint('ty', massless, osim.Vec3(0),
osim.Vec3(0, 0, 0.5 * np.pi), body, osim.Vec3(0),
osim.Vec3(0, 0, 0.5 * np.pi))
coordY = jointY.updCoordinate(osim.SliderJoint.Coord_TranslationX)
coordY.setName('ty')
model.addJoint(jointY)
# Add the kinematic constraint ty = tx^2.
constraint = osim.CoordinateCouplerConstraint()
independentCoords = osim.ArrayStr()
def createHangingMuscleModel(ignore_activation_dynamics,
ignore_tendon_compliance):
model = osim.Model()
model.setName("hanging_muscle")
model.set_gravity(osim.Vec3(9.81, 0, 0))
body = osim.Body("body", 0.5, osim.Vec3(0), osim.Inertia(1))
model.addComponent(body)
# Allows translation along x.
joint = osim.SliderJoint("joint", model.getGround(), body)
coord = joint.updCoordinate()
coord.setName("height")
model.addComponent(joint)
# The point mass is supported by a muscle.
# The DeGrooteFregly2016Muscle is the only muscle model in OpenSim that
# has been tested with Moco.
actu = osim.DeGrooteFregly2016Muscle()
actu.setName("muscle")
actu.set_max_isometric_force(30.0)
actu.set_optimal_fiber_length(0.10)
actu.set_tendon_slack_length(0.05)
actu.set_tendon_strain_at_one_norm_force(0.10)
actu.set_ignore_activation_dynamics(ignore_activation_dynamics)
actu.set_ignore_tendon_compliance(ignore_tendon_compliance)
actu.set_fiber_damping(0.01)
# The DeGrooteFregly2016Muscle is the only muscle model in OpenSim that
# can express its tendon compliance dynamics using an implicit
# differential equation.
actu.set_tendon_compliance_dynamics_mode("implicit")
actu.set_max_contraction_velocity(10)
actu.set_pennation_angle_at_optimal(0.10)
actu.addNewPathPoint("origin", model.updGround(), osim.Vec3(0))
actu.addNewPathPoint("insertion", body, osim.Vec3(0))
model.addForce(actu)
# Add metabolics probes: one for the total metabolic rate,
# and one for each term in the metabolics model.
probe = osim.Umberger2010MuscleMetabolicsProbe()
probe.setName("metabolics")
probe.addMuscle("muscle", 0.5)
model.addProbe(probe)
probe = osim.Umberger2010MuscleMetabolicsProbe()
probe.setName("activation_maintenance_rate")
probe.set_activation_maintenance_rate_on(True)
probe.set_shortening_rate_on(False)
probe.set_basal_rate_on(False)
probe.set_mechanical_work_rate_on(False)
probe.addMuscle("muscle", 0.5)
model.addProbe(probe)
probe = osim.Umberger2010MuscleMetabolicsProbe()
probe.setName("shortening_rate")
probe.set_activation_maintenance_rate_on(False)
probe.set_shortening_rate_on(True)
probe.set_basal_rate_on(False)
probe.set_mechanical_work_rate_on(False)
probe.addMuscle("muscle", 0.5)
model.addProbe(probe)
probe = osim.Umberger2010MuscleMetabolicsProbe()
probe.setName("basal_rate")
probe.set_activation_maintenance_rate_on(False)
probe.set_shortening_rate_on(False)
probe.set_basal_rate_on(True)
probe.set_mechanical_work_rate_on(False)
probe.addMuscle("muscle", 0.5)
model.addProbe(probe)
probe = osim.Umberger2010MuscleMetabolicsProbe()
probe.setName("mechanical_work_rate")
probe.set_activation_maintenance_rate_on(False)
probe.set_shortening_rate_on(False)
probe.set_basal_rate_on(False)
probe.set_mechanical_work_rate_on(True)
probe.addMuscle("muscle", 0.5)
model.addProbe(probe)
body.attachGeometry(osim.Sphere(0.05))
model.finalizeConnections()
return model
model = opensim.Model()
if useInput: model.setUseVisualizer(True)
model.setName('TelerehabSimulator')
model.setGravity(opensim.Vec3(0, 0, 0))
master = opensim.Body('master', OPERATOR_INERTIA, opensim.Vec3(0, 0, 0),
opensim.Inertia(0, 0, 0))
model.addBody(master)
slave = opensim.Body('slave', OPERATOR_INERTIA, opensim.Vec3(0, 0, 0),
opensim.Inertia(0, 0, 0))
model.addBody(slave)
ground = model.getGround()
masterToGround = opensim.SliderJoint('master2ground', ground, master)
model.addJoint(masterToGround)
slaveToGround = opensim.SliderJoint('slave2ground', ground, slave)
model.addJoint(slaveToGround)
blockMesh = opensim.Brick(opensim.Vec3(0.5, 0.5, 0.5))
blockMesh.setColor(opensim.Red)
masterOffsetFrame = opensim.PhysicalOffsetFrame()
masterOffsetFrame.setParentFrame(master)
masterOffsetFrame.setOffsetTransform(
opensim.Transform(opensim.Vec3(0, 0, 0.5)))
master.addComponent(masterOffsetFrame)
masterOffsetFrame.attachGeometry(blockMesh.clone())
blockMesh.setColor(opensim.Blue)
slaveOffsetFrame = opensim.PhysicalOffsetFrame()
slaveOffsetFrame.setParentFrame(slave)
def test_bounds(self):
model = osim.Model()
model.setName('sliding_mass')
model.set_gravity(osim.Vec3(0, 0, 0))
body = osim.Body('body', 2.0, osim.Vec3(0), osim.Inertia(0))
model.addComponent(body)
joint = osim.SliderJoint('slider', model.getGround(), body)
coord = joint.updCoordinate()
coord.setName('position')
model.addComponent(joint)
actu = osim.CoordinateActuator()
actu.setCoordinate(coord)
actu.setName('actuator')
actu.setOptimalForce(1)
model.addComponent(actu)
study = osim.MocoStudy()
study.setName('sliding_mass')
mp = study.updProblem()
mp.setModel(model)
ph0 = mp.getPhase()
mp.setTimeBounds(osim.MocoInitialBounds(0.),
osim.MocoFinalBounds(0.1, 5.))
assert ph0.getTimeInitialBounds().getLower() == 0
assert ph0.getTimeInitialBounds().getUpper() == 0
self.assertAlmostEqual(ph0.getTimeFinalBounds().getLower(), 0.1)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getUpper(), 5.0)
mp.setTimeBounds([0.2, 0.3], [3.5])
self.assertAlmostEqual(ph0.getTimeInitialBounds().getLower(), 0.2)
self.assertAlmostEqual(ph0.getTimeInitialBounds().getUpper(), 0.3)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getLower(), 3.5)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getUpper(), 3.5)
# Use setter on MocoPhase.
ph0.setTimeBounds([2.2, 2.3], [4.5])
self.assertAlmostEqual(ph0.getTimeInitialBounds().getLower(), 2.2)
self.assertAlmostEqual(ph0.getTimeInitialBounds().getUpper(), 2.3)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getLower(), 4.5)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getUpper(), 4.5)
mp.setStateInfo('slider/position/value', osim.MocoBounds(-5, 5),
osim.MocoInitialBounds(0))
assert -5 == ph0.getStateInfo(
'slider/position/value').getBounds().getLower()
assert 5 == ph0.getStateInfo(
'slider/position/value').getBounds().getUpper()
assert isnan(
ph0.getStateInfo(
'slider/position/value').getFinalBounds().getLower())
assert isnan(
ph0.getStateInfo(
'slider/position/value').getFinalBounds().getUpper())
mp.setStateInfo('slider/position/speed', [-50, 50], [-3], 1.5)
assert -50 == ph0.getStateInfo(
'slider/position/speed').getBounds().getLower()
assert 50 == ph0.getStateInfo(
'slider/position/speed').getBounds().getUpper()
assert -3 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getLower()
assert -3 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getUpper()
self.assertAlmostEqual(
1.5,
ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getLower())
self.assertAlmostEqual(
1.5,
ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getUpper())
# Use setter on MocoPhase.
ph0.setStateInfo('slider/position/speed', [-6, 10], [-4, 3], [0])
assert -6 == ph0.getStateInfo(
'slider/position/speed').getBounds().getLower()
assert 10 == ph0.getStateInfo(
'slider/position/speed').getBounds().getUpper()
assert -4 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getLower()
assert 3 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getUpper()
assert 0 == ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getLower()
assert 0 == ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getUpper()
# Controls.
mp.setControlInfo('actuator', osim.MocoBounds(-50, 50))
assert -50 == ph0.getControlInfo('actuator').getBounds().getLower()
assert 50 == ph0.getControlInfo('actuator').getBounds().getUpper()
mp.setControlInfo('actuator', [18])
assert 18 == ph0.getControlInfo('actuator').getBounds().getLower()
assert 18 == ph0.getControlInfo('actuator').getBounds().getUpper()
