def test_markAdopted2(self):
a = osim.Model()
# We just need the following not to cause a segfault.
# Model add*
pa = osim.PathActuator()
pa.setName('pa')
a.addForce(pa)
probe = osim.Umberger2010MuscleMetabolicsProbe()
probe.setName('probe')
a.addProbe(probe)
ma = osim.MuscleAnalysis()
ma.setName('ma')
a.addAnalysis(ma)
pc = osim.PrescribedController()
pc.setName('pc')
a.addController(pc)
body = osim.Body('body1', 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)
print "creating Weld Joint.."
joint = osim.WeldJoint("weld_joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
print "adding a body .."
a.addBody(body)
print "adding a joint .."
a.addJoint(joint)
print "Creating a ConstantDistanceConstraint.."
constr = osim.ConstantDistanceConstraint()
constr.setBody1ByName("ground")
constr.setBody1PointLocation(osim.Vec3(0, 0, 0))
constr.setBody2ByName("body")
constr.setBody2PointLocation(osim.Vec3(1, 0, 0))
constr.setConstantDistance(1)
a.addConstraint(constr)
f = osim.BushingForce("bushing", "ground", "body", osim.Vec3(2, 2, 2),
osim.Vec3(1, 1, 1), osim.Vec3(0, 0, 0),
osim.Vec3(0, 0, 0))
a.addForce(f)
f2 = osim.BushingForce()
a.addForce(f2)
f3 = osim.SpringGeneralizedForce()
a.addForce(f3)
model = osim.Model(os.path.join(test_dir, "arm26.osim"))
g = osim.CoordinateActuator('r_shoulder_elev')
model.addForce(g)
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_markAdopted():
a = osim.Model()
# We just need the following not to not cause a segfault.
# Model add*
a.addComponent(osim.PathActuator())
a.addProbe(osim.Umberger2010MuscleMetabolicsProbe())
a.addAnalysis(osim.MuscleAnalysis())
a.addController(osim.PrescribedController())
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.WeldJoint("weld_joint", a.getGroundBody(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
a.addBody(body)
constr = osim.ConstantDistanceConstraint()
constr.setBody1ByName("ground")
constr.setBody1PointLocation(osim.Vec3(0, 0, 0))
constr.setBody2ByName("body")
constr.setBody2PointLocation(osim.Vec3(1, 0, 0))
constr.setConstantDistance(1)
a.addConstraint(constr)
# Force requires body names. If not provided, you get a segfault.
f = osim.BushingForce()
f.setBody1ByName("ground")
f.setBody2ByName("body")
a.addForce(f)
model = osim.Model(os.environ['OPENSIM_HOME'] + "/Models/Arm26/arm26.osim")
g = osim.CoordinateActuator('r_shoulder_elev')
model.addForce(g)
def test_markAdoptedSets():
# Set's.
fus = osim.FunctionSet()
fu1 = osim.Constant()
fus.adoptAndAppend(fu1)
del fus
del fu1
s = osim.ScaleSet()
o = osim.Scale()
s.adoptAndAppend(o)
del s
del o
s = osim.ControlSet()
o = osim.ControlLinear()
s.adoptAndAppend(o)
del s
del o
s = osim.BodyScaleSet()
o = osim.BodyScale()
s.adoptAndAppend(o)
del s
del o
s = osim.PathPointSet()
o = osim.PathPoint()
s.adoptAndAppend(o)
del s
del o
s = osim.IKTaskSet()
o = osim.IKMarkerTask()
s.adoptAndAppend(o)
del s
del o
s = osim.MarkerPairSet()
o = osim.MarkerPair()
s.adoptAndAppend(o)
del s
del o
s = osim.MeasurementSet()
o = osim.Measurement()
s.adoptAndAppend(o)
del s
del o
s = osim.FrameSet()
o = osim.Body()
s.adoptAndAppend(o)
del s
del o
s = osim.ForceSet()
o = osim.CoordinateLimitForce()
s.adoptAndAppend(o)
del s
del o
s = osim.ForceSet()
o = osim.SpringGeneralizedForce()
s.append(o)
s = osim.ProbeSet()
o = osim.Umberger2010MuscleMetabolicsProbe()
s.adoptAndAppend(o)
del s
del o
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.WeldJoint("weld_joint",
a.getGround(),
loc_in_parent, orient_in_parent,
body,
loc_in_body, orient_in_parent)
a.addBody(body)
constr = osim.ConstantDistanceConstraint()
constr.setBody1ByName("ground")
constr.setBody1PointLocation(osim.Vec3(0, 0, 0))
constr.setBody2ByName("body")
constr.setBody2PointLocation(osim.Vec3(1, 0, 0))
constr.setConstantDistance(1)
a.addConstraint(constr)
def test_markAdoptedSets():
# Set's.
fus = osim.FunctionSet()
fu1 = osim.Constant()
fus.adoptAndAppend(fu1)
del fus
del fu1
gs = osim.GeometrySet()
dg = osim.DisplayGeometry()
gs.adoptAndAppend(dg)
del gs
del dg
s = osim.ScaleSet()
o = osim.Scale()
s.adoptAndAppend(o)
del s
del o
s = osim.ForceSet()
o = osim.BushingForce()
s.adoptAndAppend(o)
del s
del o
cs = osim.ControllerSet()
csc = osim.PrescribedController()
cs.adoptAndAppend(csc)
del cs
del csc
s = osim.ContactGeometrySet()
o = osim.ContactHalfSpace()
s.adoptAndAppend(o)
del s
del o
s = osim.AnalysisSet()
o = osim.MuscleAnalysis()
s.adoptAndAppend(o)
del s
del o
s = osim.ControlSet()
o = osim.ControlLinear()
s.adoptAndAppend(o)
del s
del o
s = osim.MarkerSet()
o = osim.Marker()
s.adoptAndAppend(o)
del s
del o
s = osim.BodySet()
o = osim.Body()
s.adoptAndAppend(o)
del s
del o
s = osim.BodyScaleSet()
o = osim.BodyScale()
s.adoptAndAppend(o)
del s
del o
s = osim.CoordinateSet()
o = osim.Coordinate()
s.adoptAndAppend(o)
del s
del o
s = osim.JointSet()
o = osim.BallJoint()
s.adoptAndAppend(o)
del s
del o
s = osim.PathPointSet()
o = osim.PathPoint()
s.adoptAndAppend(o)
del s
del o
s = osim.IKTaskSet()
o = osim.IKMarkerTask()
s.adoptAndAppend(o)
del s
del o
s = osim.MarkerPairSet()
o = osim.MarkerPair()
s.adoptAndAppend(o)
del s
del o
s = osim.MeasurementSet()
o = osim.Measurement()
s.adoptAndAppend(o)
del s
del o
# TODO
# s = osim.ProbeSet()
# o = osim.Umberger2010MuscleMetabolicsProbe()
# s.adoptAndAppend(o)
# del s
# del o
s = osim.ConstraintSet()
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.WeldJoint("weld_joint", a.getGroundBody(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
a.addBody(body)
constr = osim.ConstantDistanceConstraint()
constr.setBody1ByName("ground")
constr.setBody1PointLocation(osim.Vec3(0, 0, 0))
constr.setBody2ByName("body")
constr.setBody2PointLocation(osim.Vec3(1, 0, 0))
constr.setConstantDistance(1)
s.adoptAndAppend(constr)
myModel.addJoint(crankToGround)
# === Cleats
cleat_r = osim.Body("cleat_r",cleat_mass,cleat_orParent,cleat_inertia)
cleat_l = osim.Body("cleat_l",cleat_mass,cleat_orParent,cleat_inertia)
cleat_geometry = osim.Mesh("cleat_simple.stl")
cleat_geometry.setColor(osim.Red)
cleat_r.attachGeometry(cleat_geometry.clone())
cleat_l.attachGeometry(cleat_geometry.clone())
myModel.addBody(cleat_r)
myModel.addBody(cleat_l)
cleat_r = osim.WeldJoint("cleat_rToCalc",calcn_r,cleat_locParent,cleat_orParent,cleat_r,cleat_locChild,cleat_orChild)
cleat_l = osim.WeldJoint("cleat_lToCalc",calcn_l,cleat_locParent,cleat_orParent,cleat_l,cleat_locChild,cleat_orChild)
myModel.addJoint(cleat_r)
myModel.addJoint(cleat_l)
# ==== Pedals
cleat_r_body = find_body(myModel,"cleat_r")
cleat_l_body = find_body(myModel,"cleat_l")
pedal_r = osim.Body("pedal_r",pedal_mass,pedal_orParent,pedal_inertia)
pedal_l = osim.Body("pedal_l",pedal_mass,pedal_orParent,pedal_inertia)
pedal_geometry = osim.Mesh("pedal_simple.stl")
pedal_geometry.setColor(osim.Orange)
pedal_r.attachGeometry(pedal_geometry.clone())
pedal_l.attachGeometry(pedal_geometry.clone())
#TODO: check order these should be in
distalMedialSensorBody.attachGeometry(osim.Brick(osim.Vec3(sensorWidth/2, sensorLength/2, sensorDepth/2)))
distalMedialSensorBody.get_attached_geometry(0).setColor(osim.Vec3(0/255,102/255,255/255)) #blue
adjustedModel.addBody(distalMedialSensorBody)
#Join the distal medial tibia sensor to the model
#Get the marker location for the parent location
locationInParent = adjustedModel.getMarkerSet().get('R.Tibia.Distal.Medial').get_location()
orientationInParent = osim.Vec3(0,0,0) #Align to same axis as tibia
#Set child details
locationInChild = osim.Vec3(0,0,0)
orientationInChild = osim.Vec3(0,0,0)
#Create the joint
distalMedialSensorJoint = osim.WeldJoint('distalMedialTibia_joint_r', #joint name
adjustedModel.getBodySet().get('tibia_r'), #parent body
locationInParent, orientationInParent,
distalMedialSensorBody, #new body
locationInChild, orientationInChild)
#Add joint to the model
adjustedModel.addJoint(distalMedialSensorJoint)
#Edit color
adjustedModel.getBodySet().get('distalMedialTibia_sensor_r').get_attached_geometry(0).getColor().get(2)
#Finalise connections
adjustedModel.finalizeConnections()
# #Initialize the system (checks model consistency).
# adjustedModel.initSystem()
pullymass = .001
resting_length = 0.4
stiffness = 4454.76 * 4.
dissipation = 0.01
pulleyBody = osim.Body("PulleyBody", pullymass, Vec3(0),
osim.Inertia(0.1, 0.1, 0.1, 0.1, 0.1, 0.1))
#brick.inertia??
pulley = osim.WrapCylinder()
pulley.set_radius(0.05)
pulley.set_length(0.05)
pulley.set_quadrant("-y")
pulleyBody.addWrapObject(pulley)
osimModel.addBody(pulleyBody)
weld = osim.WeldJoint("weld", linkage3, Vec3(0), Vec3(0), pulleyBody, Vec3(0),
Vec3(0))
osimModel.addJoint(weld)
spring = osim.PathSpring("path_spring", resting_length, stiffness, dissipation)
spring.updGeometryPath().appendNewPathPoint("origin", linkage3,
Vec3(0.05, 0.2, 0))
spring.updGeometryPath().appendNewPathPoint("insert", linkage2,
Vec3(0.05, linkageLength2 - .2, 0))
spring.updGeometryPath().addPathWrap(pulley)
osimModel.addForce(spring)
osimModel.finalizeConnections()
osimModel.buildSystem()
si = osimModel.initializeState()
