def attachGeometryWithOffset(frame, geometry):
"""Attach geometry to provided frame. This function adds an
intermediate offset frame between the geometry and the provided frame
to permit editing its properties to move the geometry around.
This function returns the intermediate offset frame so that you can
modify its location and orientation.
"""
offset = modeling.PhysicalOffsetFrame()
offset.setName(frame.getName() + '_offset')
offset.set_translation(modeling.Vec3(0.))
offset.set_orientation(modeling.Vec3(0.))
frame.addComponent(offset)
bf = modeling.PhysicalFrame.safeDownCast(frame)
offset.connectSocket_parent(bf)
offset.attachGeometry(geometry)
return offset
def addMuscle(model, muscleName, muscleType):
"""Add a muscle to the provided model, with the provided muscleName.
muscleType is either 'Thelen2003Muscle' or
'Millard2012EquilibriumMuscle'.
"""
validMuscleTypes = ['Thelen2003Muscle', 'Millard2012EquilibriumMuscle']
if not muscleType in validMuscleTypes:
raise Exception('Provided muscleType %s is not valid.' %
muscleType)
module = sys.modules['org.opensim.modeling']
MuscleClass = getattr(module, muscleType)
# Instantiate the requested muscle class.
muscle = MuscleClass()
muscle.setName(muscleName)
muscle.addNewPathPoint("muscle-pt1", model.getGround(),
modeling.Vec3(0, 0, 0))
muscle.addNewPathPoint("muscle-pt2", model.getGround(),
modeling.Vec3(0, 1, 0))
model.addForce(muscle)
def marker_error_for_frame(model, state, data, marker_names, trc):
for mname in marker_names:
marker = model.getMarkerSet().get(mname)
modelMarkerPosInGround = osm.Vec3()
engine.transformPosition(state, marker.getBody(),
marker.getOffset(), model.getGroundBody(),
modelMarkerPosInGround)
expMarkerPosInGround = trc.marker_at(mname, state.getTime())
a = modelMarkerPosInGround
b = np.array(expMarkerPosInGround) * 0.001
distance = np.sqrt((a.get(0) - b[0])**2 + (a.get(1) - b[1])**2 +
(a.get(2) - b[2])**2)
data[mname].append(distance)
def addBody(model, bodyName):
"""Create a Body, with the provided bodyName, and add it to the
provided model.
The Body has a mass of 1 and inertia (1,1,1,0,0,0).
If a body with the same name already exists in the model, then this
body will be automatically renamed, and a warning will appear in the
Scripting Shell.
This function returns the new body added to the model.
"""
body = modeling.Body(bodyName, 1.0, modeling.Vec3(1.0),
modeling.Inertia(1, 1, 1, 0, 0, 0))
model.addBody(body)
return body
def __init__(self, body_name, x, y, z, scale_set=None):
"""
Parameters
----------
body_name : str
org.opensim.modeling.Scale.setSegmentName(body_name)
x, y, z : float
org.opensim.modeling.Scale.setScaleFactors([x, y, z])
scaleset : org.opensim.modeling.ScaleSet, optional
A ScaleSet to adopt-and-append the org.opensim.modeling.Scale to.
"""
self.scale = osm.Scale()
self.scale.setName(body_name)
self.scale.setSegmentName(body_name)
self.scale.setScaleFactors(osm.Vec3(x, y, z))
if scale_set:
scale_set.cloneAndAppend(self.scale)