def test_component_list(self):
model = osim.Model(os.path.join(test_dir, "arm26.osim"))
model.finalizeFromProperties()
num_components = 0
for comp in model.getComponentsList():
num_components += 1
assert num_components > 0
num_bodies = 0
for body in model.getBodyList():
num_bodies += 1
body.getMass()
assert num_bodies == 2
num_joints = 0
for joint in model.getJointList():
num_joints += 1
joint.numCoordinates()
assert num_joints == 2
# Custom filtering.
num_bodies = 0
for frame in model.getFrameList():
body = osim.Body.safeDownCast(frame)
if body != None:
num_bodies += 1
print(body.getName())
body.getInertia()
assert num_bodies == 2
model = osim.Model()
thelenMuscle = osim.Thelen2003Muscle("Darryl", 1, 0.5, 0.5, 0)
millardMuscle = osim.Millard2012EquilibriumMuscle("Matt", 1, 0.5,
0.5, 0)
model.addComponent(thelenMuscle)
model.addComponent(millardMuscle)
# Total number of muscles is 2.
assert len(set(model.getMuscleList())) == 2
for muscle in model.getMuscleList():
assert (isinstance(muscle, osim.Thelen2003Muscle) or
isinstance(muscle, osim.Millard2012EquilibriumMuscle))
# There is exactly 1 Thelen2003Muscle.
assert len(set(model.getThelen2003MuscleList())) == 1
for muscle in model.getThelen2003MuscleList():
assert isinstance(muscle, osim.Thelen2003Muscle)
# There is exactly 1 Millard2012EquilibriumMuscle.
assert len(set(model.getMillard2012EquilibriumMuscleList())) == 1
for muscle in model.getMillard2012EquilibriumMuscleList():
assert isinstance(muscle, osim.Millard2012EquilibriumMuscle)
def test_muscle_helper_classes(self):
# This test exists because some classes that Thelen2003Muscle used were
# not accessibly in the bindings.
muscle = osim.Thelen2003Muscle()
fwpm = muscle.getPennationModel()
fwpm.get_optimal_fiber_length()
adm = muscle.getActivationModel()
adm.get_activation_time_constant()
muscle = osim.Millard2012EquilibriumMuscle()
tendonFL = osim.TendonForceLengthCurve()
muscle.setTendonForceLengthCurve(tendonFL)
elbow = osim.PinJoint(
"elbow",
humerus, # PhysicalFrame
osim.Vec3(0, 0, 0),
osim.Vec3(0, 0, 0),
radius, # PhysicalFrame
osim.Vec3(0, 1, 0),
osim.Vec3(0, 0, 0))
# ---------------------------------------------------------------------------
# Add a muscle that flexes the elbow (actuator for robotics people).
# ---------------------------------------------------------------------------
biceps = osim.Millard2012EquilibriumMuscle(
"biceps", # Muscle name
200.0, # Max isometric force
0.6, # Optimal fibre length
0.55, # Tendon slack length
0.0) # Pennation angle
biceps.addNewPathPoint("origin", humerus, osim.Vec3(0, 0.8, 0))
biceps.addNewPathPoint("insertion", radius, osim.Vec3(0, 0.7, 0))
# ---------------------------------------------------------------------------
# Add a controller that specifies the excitation of the muscle.
# ---------------------------------------------------------------------------
brain = osim.PrescribedController()
brain.addActuator(biceps)
brain.prescribeControlForActuator("biceps",
osim.StepFunction(0.5, 3.0, 0.3, 1.0))
def replace_thelen_muscles_with_millard(model_file, target_folder):
"""Replaces Thelen muscles with Millard muscles so that we can disable
tendon compliance and perform MuscleAnalysis to compute normalized
fiber length/velocity without spikes.
"""
model = opensim.Model(model_file)
new_force_set = opensim.ForceSet()
force_set = model.getForceSet()
for i in range(force_set.getSize()):
force = force_set.get(i)
muscle = opensim.Muscle.safeDownCast(force)
millard_muscle = opensim.Millard2012EquilibriumMuscle.safeDownCast(
force)
thelen_muscle = opensim.Thelen2003Muscle.safeDownCast(force)
if muscle is None:
new_force_set.adoptAndAppend(force.clone())
elif millard_muscle is not None:
millard_muscle = millard_muscle.clone()
millard_muscle.set_ignore_tendon_compliance(True)
new_force_set.adoptAndAppend(millard_muscle)
elif thelen_muscle is not None:
millard_muscle = opensim.Millard2012EquilibriumMuscle()
# properties
millard_muscle.set_default_activation(
thelen_muscle.getDefaultActivation())
millard_muscle.set_activation_time_constant(
thelen_muscle.get_activation_time_constant())
millard_muscle.set_deactivation_time_constant(
thelen_muscle.get_deactivation_time_constant())
# millard_muscle.set_fiber_damping(0)
# millard_muscle.set_tendon_strain_at_one_norm_force(
# thelen_muscle.get_FmaxTendonStrain())
millard_muscle.setName(thelen_muscle.getName())
millard_muscle.set_appliesForce(thelen_muscle.get_appliesForce())
millard_muscle.setMinControl(thelen_muscle.getMinControl())
millard_muscle.setMaxControl(thelen_muscle.getMaxControl())
millard_muscle.setMaxIsometricForce(
thelen_muscle.getMaxIsometricForce())
millard_muscle.setOptimalFiberLength(
thelen_muscle.getOptimalFiberLength())
millard_muscle.setTendonSlackLength(
thelen_muscle.getTendonSlackLength())
millard_muscle.setPennationAngleAtOptimalFiberLength(
thelen_muscle.getPennationAngleAtOptimalFiberLength())
millard_muscle.setMaxContractionVelocity(
thelen_muscle.getMaxContractionVelocity())
# millard_muscle.set_ignore_tendon_compliance(
# thelen_muscle.get_ignore_tendon_compliance())
millard_muscle.set_ignore_tendon_compliance(True)
millard_muscle.set_ignore_activation_dynamics(
thelen_muscle.get_ignore_activation_dynamics())
# muscle path
pathPointSet = thelen_muscle.getGeometryPath().getPathPointSet()
geomPath = millard_muscle.updGeometryPath()
for j in range(pathPointSet.getSize()):
pathPoint = pathPointSet.get(j).clone()
geomPath.updPathPointSet().adoptAndAppend(pathPoint)
# append
new_force_set.adoptAndAppend(millard_muscle)
else:
raise RuntimeError('cannot handle the type of muscle: ' +
force.getName())
new_force_set.printToXML(os.path.join(target_folder, 'muscle_set.xml'))
