def test_connecting(self):
# We'll create a model from scratch and set up its joints with
# the socket interface.
model = osim.Model()
b1 = osim.Body("b1", 1, osim.Vec3(1), osim.Inertia(1))
b2 = osim.Body("b2", 2, osim.Vec3(1), osim.Inertia(1))
j1 = osim.PinJoint()
j1.setName("j1")
j1.updSocket("parent_frame").connect(model.getGround())
j1.connectSocket_child_frame(b1)
j2 = osim.PinJoint()
j2.setName("j2")
j2.connectSocket_parent_frame(b1)
j2.updSocket("child_frame").connect(b2)
model.addBody(b1)
model.addBody(b2)
model.addJoint(j1)
model.addJoint(j2)
state = model.initSystem()
# Check that the connectees point to the correct object.
assert j1.getConnectee("parent_frame").this == model.getGround().this
assert j1.getConnectee("child_frame").this == b1.this
assert j2.getConnectee("parent_frame").this == b1.this
assert j2.getConnectee("child_frame").this == b2.this
# Make sure we can call methods of the concrete connectee type
# (that the downcast succeeded).
assert j1.getConnectee("child_frame").getMass() == 1
assert j2.getConnectee("child_frame").getMass() == 2
def test_vec3_typemaps(self):
npv = np.array([5, 3, 6])
v1 = osim.Vec3(npv)
v2 = v1.to_numpy()
assert (npv == v2).all()
# Incorrect size.
with self.assertRaises(RuntimeError):
osim.Vec3(np.array([]))
with self.assertRaises(RuntimeError):
osim.Vec3(np.array([5, 1]))
with self.assertRaises(RuntimeError):
osim.Vec3(np.array([5, 1, 6, 3]))
# createFromMat()
npv = np.array([1, 6, 8])
v1 = osim.Vec3.createFromMat(npv)
v2 = v1.to_numpy()
assert (npv == v2).all()
# Incorrect size.
with self.assertRaises(RuntimeError):
osim.Vec3.createFromMat(np.array([]))
with self.assertRaises(RuntimeError):
osim.Vec3.createFromMat(np.array([5, 1]))
with self.assertRaises(RuntimeError):
osim.Vec3.createFromMat(np.array([5, 1, 6, 3]))
def test_vector_rowvector(self):
print()
print('Test transpose RowVector to Vector.')
row = osim.RowVector([1, 2, 3, 4])
col = row.transpose()
assert (col[0] == row[0] and
col[1] == row[1] and
col[2] == row[2] and
col[3] == row[3])
print('Test transpose Vector to RowVector.')
row_copy = col.transpose()
assert (row_copy[0] == row[0] and
row_copy[1] == row[1] and
row_copy[2] == row[2] and
row_copy[3] == row[3])
print('Test transpose RowVectorOfVec3 to VectorOfVec3.')
row = osim.RowVectorOfVec3([osim.Vec3(1, 2, 3),
osim.Vec3(4, 5, 6),
osim.Vec3(7, 8, 9)])
col = row.transpose()
assert (str(col[0]) == str(row[0]) and
str(col[1]) == str(row[1]) and
str(col[2]) == str(row[2]))
print('Test transpose VectorOfVec3 to RowVectorOfVec3.')
row_copy = col.transpose()
assert (str(row_copy[0]) == str(row[0]) and
str(row_copy[1]) == str(row[1]) and
str(row_copy[2]) == str(row[2]))
def test_vec3_operators(self):
v1 = osim.Vec3(1, 2, 3)
# Tests __getitem__().
assert v1[0] == 1
assert v1[1] == 2
# Out of bounds.
with self.assertRaises(RuntimeError):
v1[-1]
with self.assertRaises(RuntimeError):
v1[3]
with self.assertRaises(RuntimeError):
v1[5]
# Tests __setitem__().
v1[0] = 5
assert v1[0] == 5
# Out of bounds.
with self.assertRaises(RuntimeError):
v1[-1] = 5
with self.assertRaises(RuntimeError):
v1[3] = 1.3
# Add. TODO removed for now.
v2 = osim.Vec3(5, 6, 7)
#v3 = v1 + v2
#assert v3[0] == 10
#assert v3[1] == 8
#assert v3[2] == 10
# Length.
assert len(v2) == 3
def __init__(self,
*args,
one_target=False,
max_speed=5.,
kin_coef=0.,
vel_prof_coef=0.,
acc_coef=0.,
**kwargs):
super(Arm2DEnv, self).__init__(*args, **kwargs)
blockos = opensim.Body('target', 0.0001, opensim.Vec3(0),
opensim.Inertia(1, 1, .0001, 0, 0, 0))
self.target_joint = opensim.PlanarJoint(
'target-joint',
self.osim_model.model.getGround(), # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0),
blockos, # PhysicalFrame
opensim.Vec3(0, 0, -0.25),
opensim.Vec3(0, 0, 0))
geometry = opensim.Ellipsoid(0.02, 0.02, 0.02)
geometry.setColor(opensim.Green)
blockos.attachGeometry(geometry)
self.one_target = one_target
self.target_generated = False
self.osim_model.model.addJoint(self.target_joint)
self.osim_model.model.addBody(blockos)
self.osim_model.model.initSystem()
self.kin_coef = kin_coef
self.vel_prof_coef = vel_prof_coef
self.max_speed = max_speed
def test(model_path, visualize):
model = opensim.Model(model_path)
brain = opensim.PrescribedController()
model.addController(brain)
state = model.initSystem()
muscleSet = model.getMuscles()
for j in range(muscleSet.getSize()):
brain.addActuator(muscleSet.get(j))
func = opensim.Constant(1.0)
brain.prescribeControlForActuator(j, func)
block = opensim.Body('block', 0.0001, opensim.Vec3(0),
opensim.Inertia(1, 1, .0001, 0, 0, 0))
model.addComponent(block)
pj = opensim.PlanarJoint(
'pin',
model.getGround(), # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0),
block, # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0))
model.addComponent(pj)
model.initSystem()
pj.getCoordinate(1)
def print_model():
model = osim.Model()
model.setName('model')
# Create a body with name 'body', mass of 1 kg, center of mass at
# the origin of the body, and unit inertia
# (Ixx = Iyy = Izz = 1 kg-m^2).
body = osim.Body('body', 1.0, osim.Vec3(0), osim.Inertia(1))
# Create a free joint (all 6 degrees of freedom) with Ground as
# the parent body and 'body' as the child body.
joint = osim.FreeJoint('joint', model.getGround(), body)
# Add the body and joint to the model.
model.addComponent(body)
model.addComponent(joint)
# Create a TableReporter to save quantities to a file after
# simulating.
reporter = osim.TableReporterVec3()
reporter.setName('reporter')
reporter.set_report_time_interval(0.1)
reporter.addToReport(model.getOutput('com_position'))
reporter.getInput('inputs').setAlias(0, 'com_pos')
# Display what input-output connections look like in XML
# (in .osim files).
print("Reporter input-output connections in XML:\n" + \
reporter.dump())
model.addComponent(reporter)
model.printToXML(model_filename)
def print_model():
model = osim.Model()
model.setName('model')
# Create a body with name 'body', mass of 1 kg, center of mass at the
# origin of the body, and unit inertia (Ixx = Iyy = Izz = 1 kg-m^2).
body = osim.Body('body', 1.0, osim.Vec3(0), osim.Inertia(1))
# Create a free joint (all 6 degrees of freedom) with Ground as the parent
# body and 'body' as the child body.
joint = osim.FreeJoint('joint', model.getGround(), body)
# Add the body and joint to the model.
model.addComponent(body)
model.addComponent(joint)
# Create a TableReporter to save quantities to a file after simulating.
reporter = osim.TableReporterVec3()
reporter.setName('reporter')
reporter.set_report_time_interval(0.1)
# Report the position of the origin of the body.
reporter.addToReport(body.getOutput('position'))
# For comparison, we will also get the center of mass position from the
# Model, and we can check that the two outputs are the same for our
# one-body system. The (optional) second argument is an alias for the name
# of the output; it is used as the column label in the table.
reporter.addToReport(model.getOutput('com_position'), 'com_pos')
# Display what input-output connections look like in XML (in .osim files).
print("Reporter input-output connections in XML:\n" + reporter.dump())
model.addComponent(reporter)
model.printToXML(model_filename)
def slackLenCom(num):
slackLen = float(num)
fibLen = lo.get()
totLen = fibLen + slackLen
if totLen > 0.45:
diff = totLen - 0.45
setter = fibLen - diff
scaleLo.set(setter)
elif totLen < 0.15:
diff = 0.15 - totLen
setter = diff + fibLen
scaleLo.set(setter)
setter = float(lo.get()) + float(ls.get())
labelTotLen.configure(
text="distance between origin and attachment: %0.2f" % setter)
newMuscle.set_tendon_slack_length(float(num))
blockLoc = newMuscle.getGeometryPath().getPathPointSet().get(
1).getLocation().get(2)
# Left muscle
if blockLoc > 0:
groundLoc = blockLoc + fibLen + slackLen
# Right muscle
else:
groundLoc = blockLoc - fibLen - slackLen
vector = osim.Vec3(0, 0.5, groundLoc)
newMuscle.updGeometryPath().getPathPointSet().get(0).setLocation(
initState, vector)
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 _load_virtual_markers():
markers = {}
marker_coords = {}
if opensim_version == 4.0:
_dummy_model = opensim.Model()
_osim_markerset = opensim.MarkerSet(_dummy_model, MARKERSET_PATH)
else:
_osim_markerset = opensim.MarkerSet(MARKERSET_PATH)
for mi in range(_osim_markerset.getSize()):
osim_marker = _osim_markerset.get(mi)
# create a copy because the markerset and its marers only exists
# in the function
_v = opensim.Vec3()
osim_marker.getOffset(_v)
offset = np.array([_v.get(i) for i in range(3)])
marker = Marker(
name=osim_marker.getName(),
bodyname=osim_marker.getBodyName(),
offset=offset,
)
markers[marker.name] = marker
marker_coords[marker.name] = marker.offset
return markers, marker_coords
def test_SimTKArray(self):
# Initally created to test the creation of a separate simbody module.
ad = osim.SimTKArrayDouble()
ad.push_back(1)
av3 = osim.SimTKArrayVec3()
av3.push_back(osim.Vec3(8))
assert av3.at(0).get(0) == 8
def test_SimbodyMatterSubsystem(self):
model = osim.Model(
os.path.join(test_dir, "gait10dof18musc_subject01.osim"))
s = model.initSystem()
smss = model.getMatterSubsystem()
assert smss.calcSystemMass(s) == model.getTotalMass(s)
assert (smss.calcSystemMassCenterLocationInGround(s)[0] ==
model.calcMassCenterPosition(s)[0])
assert (smss.calcSystemMassCenterLocationInGround(s)[1] ==
model.calcMassCenterPosition(s)[1])
assert (smss.calcSystemMassCenterLocationInGround(s)[2] ==
model.calcMassCenterPosition(s)[2])
J = osim.Matrix()
smss.calcSystemJacobian(s, J)
# 6 * number of mobilized bodies
assert J.nrow() == 6 * (model.getBodySet().getSize() + 1)
assert J.ncol() == model.getCoordinateSet().getSize()
v = osim.Vec3()
smss.calcStationJacobian(s, 2, v, J)
assert J.nrow() == 3
assert J.ncol() == model.getCoordinateSet().getSize()
# Inverse dynamics from SimbodyMatterSubsystem.calcResidualForce().
# For the given inputs, we will actually be computing the first column
# of the mass matrix. We accomplish this by setting all inputs to 0
# except for the acceleration of the first coordinate.
# f_residual = M udot + f_inertial + f_applied
# = M ~[1, 0, ...] + 0 + 0
model.realizeVelocity(s)
appliedMobilityForces = osim.Vector()
appliedBodyForces = osim.VectorOfSpatialVec()
knownUdot = osim.Vector(s.getNU(), 0.0)
knownUdot[0] = 1.0
knownLambda = osim.Vector()
residualMobilityForces = osim.Vector()
smss.calcResidualForce(s, appliedMobilityForces, appliedBodyForces,
knownUdot, knownLambda, residualMobilityForces)
assert residualMobilityForces.size() == s.getNU()
# Explicitly compute the first column of the mass matrix, then copmare.
massMatrixFirstColumn = osim.Vector()
smss.multiplyByM(s, knownUdot, massMatrixFirstColumn)
assert massMatrixFirstColumn.size() == residualMobilityForces.size()
for i in range(massMatrixFirstColumn.size()):
self.assertAlmostEqual(massMatrixFirstColumn[i],
residualMobilityForces[i])
# InverseDynamicsSolver.
# Using accelerations from forward dynamics should give 0 residual.
model.realizeAcceleration(s)
idsolver = osim.InverseDynamicsSolver(model)
residual = idsolver.solve(s, s.getUDot())
assert residual.size() == s.getNU()
for i in range(residual.size()):
assert abs(residual[i]) < 1e-10
def _load_from_property_list(self, property_list):
self.model = property_list["model"]
self.sensor_to_opensim_rotations = opensim.Vec3(
property_list["sensor_to_opensim_rotations"])
self.experimental_orientations = opensim.TimeSeriesTableQuaternion(
property_list["experimental_orientations"])
self.time_start = property_list["time_start"]
self.time_final = property_list["time_final"]
def test_connecting_and_iterate_inputs(self):
m = osim.Model()
b = osim.Body('b1', 2.0, osim.Vec3(1, 0, 0), osim.Inertia(1))
j = osim.PinJoint('pin', m.getGround(), b)
# Source.
source = osim.TableSource()
source.setName("source")
table = osim.TimeSeriesTable()
table.setColumnLabels(('col1', 'col2', 'col3', 'col4'))
row = osim.RowVector([1, 2, 3, 4])
table.appendRow(0.0, row)
row = osim.RowVector([2, 3, 4, 5])
table.appendRow(1.0, row)
source.setTable(table)
# Reporter.
rep = osim.ConsoleReporter()
rep.setName("rep")
m.addBody(b)
m.addJoint(j)
m.addComponent(source)
m.addComponent(rep)
# Connect.
# There are multiple ways to perform the connection, especially
# for reporters.
coord = j.get_coordinates(0)
rep.updInput('inputs').connect(coord.getOutput('value'))
rep.connectInput_inputs(coord.getOutput('speed'), 'spd')
rep.connectInput_inputs(source.getOutput('column').getChannel('col1'))
rep.addToReport(
source.getOutput('column').getChannel('col2'), 'second_col')
s = m.initSystem()
# Access and iterate through AbstractInputs, using names.
expectedLabels = [
'/model/jointset/pin/pin_coord_0|value', 'spd',
'/model/source|column:col1', 'second_col'
]
i = 0
for name in rep.getInputNames():
# Actually, there is only one input, which we connected to 4
# channels.
assert rep.getInput(name).getNumConnectees() == 4
for j in range(4):
assert (rep.getInput(name).getLabel(j) == expectedLabels[j])
i += 1
# Access concrete Input.
# Input value is column 2 at time 0.
assert (osim.InputDouble.safeDownCast(rep.getInput('inputs')).getValue(
s, 3) == 2.0)
def __init__(self, *args, **kwargs):
super(Arm2DEnv, self).__init__(*args, **kwargs)
blockos = opensim.Body('target', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );
self.target_joint = opensim.PlanarJoint('target-joint',
self.osim_model.model.getGround(), # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0),
blockos, # PhysicalFrame
opensim.Vec3(0, 0, -0.25),
opensim.Vec3(0, 0, 0))
geometry = opensim.Ellipsoid(0.02, 0.02, 0.02);
geometry.setColor(opensim.Green);
blockos.attachGeometry(geometry)
self.osim_model.model.addJoint(self.target_joint)
self.osim_model.model.addBody(blockos)
self.osim_model.model.initSystem()
def mirror_z(table, label):
"""Mirror the z-component of the vector.
Parameters
----------
label: string containing the name of the column you want to convert
"""
c = table.updDependentColumn(label)
for i in range(c.size()):
c[i] = opensim.Vec3(c[i][0], c[i][1], -c[i][2])
def mm_to_m(table, label):
"""Scale from units in mm for units in m.
Parameters
----------
label: string containing the name of the column you want to convert
"""
c = table.updDependentColumn(label)
for i in range(c.size()):
c[i] = opensim.Vec3(c[i][0] * 0.001, c[i][1] * 0.001, c[i][2] * 0.001)
def createPointActuator(body,
point,
direction,
name,
optimal_force=10,
min_control=-float('inf'),
max_control=float('inf'),
point_is_global=False,
force_is_global=True):
point_actuator = opensim.PointActuator()
point_actuator.set_body(body)
point_actuator.set_point(opensim.Vec3(point[0], point[1], point[2]))
point_actuator.set_direction(
opensim.Vec3(direction[0], direction[1], direction[2]))
point_actuator.setOptimalForce(optimal_force)
point_actuator.setMinControl(min_control)
point_actuator.setMaxControl(max_control)
point_actuator.setName(name)
point_actuator.set_point_is_global(point_is_global)
point_actuator.set_force_is_global(force_is_global)
return (point_actuator)
def __init__(self, property_list=None):
# Define properties, set default values.
self.model = None
self.sensor_to_opensim_rotations = opensim.Vec3()
self.static_orientations = opensim.TimeSeriesTableQuaternion()
self.base_heading_axis = ""
self.base_imu = ""
self.output_file_name = ""
# Initialise from OpenSim's IK setup file.
if property_list:
self._load_properties(property_list)
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 test_TimeSeriesTableVec3(self):
table = osim.TimeSeriesTableVec3()
# Set columns labels.
table.setColumnLabels(['0', '1', '2'])
assert table.getColumnLabels() == ('0', '1', '2')
# Append a row to the table.
row = osim.RowVectorOfVec3(
[osim.Vec3(1, 2, 3),
osim.Vec3(4, 5, 6),
osim.Vec3(7, 8, 9)])
table.appendRow(0.1, row)
assert table.getNumRows() == 1
assert table.getNumColumns() == 3
row0 = table.getRowAtIndex(0)
assert (str(row0[0]) == str(row[0]) and str(row0[1]) == str(row[1])
and str(row0[2]) == str(row[2]))
# Append another row to the table.
row = osim.RowVectorOfVec3(
[osim.Vec3(2, 4, 6),
osim.Vec3(8, 10, 12),
osim.Vec3(14, 16, 18)])
table.appendRow(0.2, row)
assert table.getNumRows() == 2
assert table.getNumColumns() == 3
row1 = table.getRow(0.2)
assert (str(row1[0]) == str(row[0]) and str(row1[1]) == str(row[1])
and str(row1[2]) == str(row[2]))
# Append another row to the table with a timestamp
# less than the previous one. Exception expected.
try:
table.appendRow(0.15, row)
assert False
except RuntimeError:
pass
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
def _load_from_setup_file(self, file_path):
# Initialise properties for the IMU IK tool from an OpenSim Inverse Kinematics setup file.
tool = opensim.IMUInverseKinematicsTool(file_path)
self.accuracy = tool.get_accuracy()
self.constraint_weight = tool.get_constraint_weight()
self.sensor_to_opensim_rotations = opensim.Vec3(
tool.get_sensor_to_opensim_rotations()
) # must be copied into Vec3, or will disappear when passed
self.model_file = tool.get_model_file()
self.orientation_file = tool.get_orientations_file()
self.time_final = tool.getEndTime()
self.time_start = tool.getStartTime()
def com_in_pelvis():
import opensim
m = opensim.Model(self.output_model_fpath)
init_state = m.initSystem()
com_in_ground = m.calcMassCenterPosition(init_state)
com_in_pelvis = opensim.Vec3()
simbody_engine = m.getSimbodyEngine()
simbody_engine.transformPosition(init_state,
m.getBodySet().get('ground'), com_in_ground,
m.getBodySet().get('pelvis'), com_in_pelvis)
com_xmeas = str(com_in_pelvis.get(0))
com_ymeas = str(com_in_pelvis.get(1))
com_zmeas = str(com_in_pelvis.get(2))
return com_xmeas, com_ymeas, com_zmeas
def callBack():
try:
#makes a copy of the original model
newModel.printToXML("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/Python Code/newVersion.osim")
newVersionModel = osim.Model("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/Python Code/newVersion.osim")
newVersionBase = newVersionModel.getMuscles().get(0)
newVersionMuscle = osim.Millard2012EquilibriumMuscle.safeDownCast(newVersionBase)
fibLen = float(lo.get())
slackLen = float(ls.get())
blockLoc = newVersionMuscle.getGeometryPath().getPathPointSet().get(1).getLocation().get(2)
# Left muscle
if blockLoc > 0:
groundLoc = blockLoc + fibLen + slackLen
#right muscle
else:
groundLoc = blockLoc - fibLen - slackLen
vector = osim.Vec3(0, 0.05, groundLoc)
newVersionMuscle.updGeometryPath().getPathPointSet().get(0).setLocation(initState, vector)
newVersionModel.initSystem()
#creates a new states file that corresponds to the sliders
new_states_file = open("corrected_tug_of_war_states.sto", "w")
new_states_file.write("Tug_of_War_Competition\n")
new_states_file.write("nRows = 1\n")
new_states_file.write("nColumns = 7\n")
new_states_file.write("inDegree = no\n")
new_states_file.write("endheader\n")
new_states_file.write("time\tblock_tz\tblock_tz_u\tRightMuscle.activation\tRightMuscle.fiber_length\tLeftMuscle.activation\tLeftMuscle.fiber_length\n")
new_states_file.write("0\t0\t0\t0.01\t" + str(newVersionMuscle.get_optimal_fiber_length()) +"\t0.01\t0.1")
new_states_file.close()
#creates the forward tool and force reporter
reporter = osim.ForceReporter(newVersionModel)
newVersionModel.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setControlsFileName("C:\OpenSim 3.3\Models\Tug_of_War\Tug_of_War_Millard_controls_corrected.xml")
fwd_tool.setStatesFileName("C:\Users\mhmdk\Desktop\Co-op files\co-op semester 1\Python Code\corrected_tug_of_war_states.sto")
fwd_tool.setModel(newVersionModel)
fwd_tool.run()
updater()
except osim.OpenSimException:
messagebox.showwarning("Warning", "The parameter combination is physiologically impossible")
def to_trc(self, filename):
"""
Write a trc file from a Markers3dOsim
Parameters
----------
filename : string
path of the file to write
"""
filename = Path(filename)
# Make sure the directory exists, otherwise create it
if not filename.parents[0].is_dir():
filename.parents[0].mkdir()
# Make sure the metadata are set
if not self.get_rate:
raise ValueError(
'get_rate is empty. Please fill with `your_variable.get_rate = 100.0` for example'
)
if not self.get_unit:
raise ValueError(
'get_unit is empty. Please fill with `your_variable.get_unit = "mm"` for example'
)
if not self.get_labels:
raise ValueError(
'get_labels is empty. Please fill with `your_variable.get_labels = ["M1", "M2"]` for example'
)
table = osim.TimeSeriesTableVec3()
# set metadata
table.setColumnLabels(self.get_labels)
table.addTableMetaDataString('DataRate', str(self.get_rate))
table.addTableMetaDataString('Units', self.get_unit)
time_vector = np.arange(start=0,
stop=1 / self.get_rate * self.shape[2],
step=1 / self.get_rate)
for iframe in range(self.shape[-1]):
a = np.round(self.get_frame(iframe)[:-1, ...], decimals=4)
row = osim.RowVectorOfVec3([
osim.Vec3(a[0, i], a[1, i], a[2, i])
for i in range(a.shape[-1])
])
table.appendRow(time_vector[iframe], row)
adapter = osim.TRCFileAdapter()
adapter.write(table, str(filename))
def rotate_data_table(table, axis, deg):
"""Rotate OpenSim::TimeSeriesTableVec3 entries using an axis and angle.
Parameters
----------
table: OpenSim.common.TimeSeriesTableVec3
axis: 3x1 vector
deg: angle in degrees
"""
R = opensim.Rotation(np.deg2rad(deg),
opensim.Vec3(axis[0], axis[1], axis[2]))
for i in range(table.getNumRows()):
vec = table.getRowAtIndex(i)
vec_rotated = R.multiply(vec)
table.setRowAtIndex(i, vec_rotated)
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 createTorqueActuator(bodyA,
bodyB,
axis,
name,
optimal_force=10,
torque_global=True,
min_control=-float('inf'),
max_control=float('inf')):
torque_actuator = opensim.TorqueActuator()
torque_actuator.setBodyA(bodyA)
torque_actuator.setBodyB(bodyB)
torque_actuator.setAxis(opensim.Vec3(axis[0], axis[1], axis[2]))
torque_actuator.setOptimalForce(optimal_force)
torque_actuator.setTorqueIsGlobal(torque_global)
torque_actuator.setMinControl(min_control)
torque_actuator.setMaxControl(max_control)
torque_actuator.setName(name)
return (torque_actuator)