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_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_addMetabolicProbes():
model = osim.Model(os.environ['OPENSIM_HOME'] +
"/Models/Gait10dof18musc/gait10dof18musc.osim")
# Twitch ratios for gait1018.
twitchRatios = { 'hamstrings': 0.49, 'bifemsh': 0.53, 'glut_max': 0.55,
'iliopsoas': 0.50, 'rect_fem': 0.39, 'vasti': 0.50, 'gastroc':
0.54, 'soleus': 0.80, 'tib_ant': 0.70}
# Parameters used for all probes
# ------------------------------
# The following booleans are constructor arguments for the Umberger probe.
# These settings are used for all probes.
activationMaintenanceRateOn = True
shorteningRateOn = True
basalRateOn = False
mechanicalWorkRateOn = True
# The mass of each muscle will be calculated using data from the model:
# muscleMass = (maxIsometricForce / sigma) * rho * optimalFiberLength
# where sigma = 0.25e6 is the specific tension of mammalian muscle (in
# Pascals) and rho = 1059.7 is the density of mammalian muscle (in kg/m^3).
# The slow-twitch ratio used for muscles that either do not appear in the
# file, or appear but whose proportion of slow-twitch fibers is unknown.
defaultTwitchRatio = 0.5
# Whole-body probe
# ----------------
# Define a whole-body probe that will report the total metabolic energy
# consumption over the simulation.
wholeBodyProbe = osim.Umberger2010MuscleMetabolicsProbe(
activationMaintenanceRateOn,
shorteningRateOn,
basalRateOn,
mechanicalWorkRateOn)
wholeBodyProbe.setOperation("value")
wholeBodyProbe.set_report_total_metabolics_only(False);
# Add the probe to the model and provide a name.
# TODO SEGFAULT AT THIS NEXT LINE:
model.addProbe(wholeBodyProbe)
wholeBodyProbe.setName("metabolic_power")
# Loop through all muscles, adding parameters for each into the whole-body
# probe.
for iMuscle in range(model.getMuscles().getSize()):
thisMuscle = model.getMuscles().get(iMuscle)
# Get the slow-twitch ratio from the data we read earlier. Start with
# the default value.
slowTwitchRatio = defaultTwitchRatio
# Set the slow-twitch ratio to the physiological value, if it is known.
for key, val in twitchRatios.items():
if thisMuscle.getName().startswith(key) and val != -1:
slowTwitchRatio = val
# Add this muscle to the whole-body probe. The arguments are muscle
# name, slow-twitch ratio, and muscle mass. Note that the muscle mass
# is ignored unless we set useProvidedMass to True.
wholeBodyProbe.addMuscle(thisMuscle.getName(),
slowTwitchRatio)
name = os.path.join(this_file_dir, 'gait10dof18musc_probed.osim')
model.printToXML(name)
assert (open(name).readlines() ==
open(name.replace('.osim', '_desired.osim')).readlines())
os.remove(name)
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 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
