body = osim.Body('body', 2.0, osim.Vec3(0), osim.Inertia(0))
model.addComponent(body)
# Allows translation along x.
joint = osim.SliderJoint('slider', model.getGround(), body)
coord = joint.updCoordinate()
coord.setName('position')
model.addComponent(joint)
actu = osim.CoordinateActuator()
actu.setCoordinate(coord)
actu.setName('actuator')
actu.setOptimalForce(1)
model.addComponent(actu)
body.attachGeometry(osim.Sphere(0.05))
model.finalizeConnections()
# Create MucoTool.
# ================
muco = osim.MucoTool()
muco.setName('sliding_mass')
# Define the optimal control problem.
# ===================================
problem = muco.updProblem()
# Model (dynamics).
# -----------------
problem.setModel(model)
rodTrsfrm = osim.Transform(osim.Vec3(0))
rodCenter = osim.PhysicalOffsetFrame("rodCenter", rodBdy, rodTrsfrm)
rodBdy.addComponent(rodCenter)
rodGeom.setColor(rodColor)
#//set the color of the first block so they are different
rodCenter.attachGeometry(rodGeom.clone())
pendulumDF.addBody(rodBdy)
# Connect the bodies with pin joints. Assume each body is 1 m long.
groundTrodJnt = osim.PinJoint("groundTrodJnt", pendulumDF.getGround(),
osim.Vec3(0), osim.Vec3(0), rodBdy, rodPos,
rodOrient)
pendulumDF.addJoint(groundTrodJnt)
sphBdy = osim.Body("sph", sphMass, sphCoM, sphInertia)
sphGeom = osim.Sphere(sphRd)
sphTrsfrm = osim.Transform(osim.Vec3(0))
sphCenter = osim.PhysicalOffsetFrame("sphCenter", sphBdy, sphTrsfrm)
sphBdy.addComponent(sphCenter)
sphGeom.setColor(sphColor)
#//set the color of the first block so they are different
sphCenter.attachGeometry(sphGeom.clone())
pendulumDF.addBody(sphBdy)
#rodTsphJnt = osim.PinJoint ("rodTsphJnt",rodBdy, osim.Vec3(sphX-rodHeight,sphY,0), rodOrient, sphBdy, sphPos, sphOrient);
rodTsphJnt = osim.PinJoint("rodTsphJnt", rodBdy, rodPos, rodOrient, sphBdy,
sphPos, sphOrient)
pendulumDF.addJoint(rodTsphJnt)
jntCord = rodTsphJnt.updCoordinate()
jntCord.setDefaultLocked(True)
def test_attachGeometry_memory_management(self):
model = osim.Model()
model.getGround().attachGeometry(osim.Sphere(1.5))
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
linkageMassCenter2 = osim.Vec3(0., linkageLength2 - 0.18647538, 0.)
linkageMassCenter3 = osim.Vec3(0., linkageLength3 - 0.17055675, 0.)
linkageMassCenter4 = osim.Vec3(0., linkageLength4 - 0.4237, 0.)
exothick = 0.025
exocenter = osim.Vec3(0., exothick / 2, 0.)
linkage1 = osim.Body("foot", linkageMass1, linkageMassCenter1,
osim.Inertia(0.1, 0.1, 0.00662, 0., 0., 0.))
linkage2 = osim.Body("shank", linkageMass2, linkageMassCenter2,
osim.Inertia(0.1, 0.1, 0.1057, 0., 0., 0.))
linkage3 = osim.Body("thigh", linkageMass3, linkageMassCenter3,
osim.Inertia(0.2, 0.1, 0.217584, 0., 0., 0.))
linkage4 = osim.Body("HAT", linkageMass4, linkageMassCenter4,
osim.Inertia(1.1, 1.1, 1.48, 0., 0., 0.))
ZAxis = osim.CoordinateAxis(2)
R = osim.Rotation(-pi / 2, ZAxis)
sphere = osim.Sphere(0.04)
exo = osim.Cylinder(.05, exothick)
linkage1.attachGeometry(sphere.clone())
cyl1 = osim.Cylinder(linkageDiameter / 2, linkageLength1 / 2)
cyl1Frame = osim.PhysicalOffsetFrame(
linkage1, osim.Transform(osim.Vec3(0.0, linkageLength1 / 2, 0.0)))
cyl1Frame.setName("Cyl1_frame")
cyl1Frame.attachGeometry(cyl1.clone())
osimModel.addComponent(cyl1Frame)
linkage2.attachGeometry(sphere.clone())
cyl2 = osim.Cylinder(linkageDiameter / 2, linkageLength2 / 2)
cyl2Frame = osim.PhysicalOffsetFrame(
linkage2, osim.Transform(osim.Vec3(0.0, linkageLength2 / 2, 0.0)))
cyl2Frame.setName("Cyl2_frame")
cyl2Frame.attachGeometry(cyl2.clone())